CN109839666A - The full tensor magnetic gradient data collection system of aviation superconduction and method based on NI cRIO - Google Patents
The full tensor magnetic gradient data collection system of aviation superconduction and method based on NI cRIO Download PDFInfo
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Abstract
The invention discloses the full tensor magnetic gradient data collection systems of aviation superconduction and method based on NI cRIO, including NI cRIO controller, C series I/O module, the operating point SQUID adjusting control module and human-computer interaction interface；The model NI 9033 of NI cRIO controller, including 1 NI Real-Time controller and 14 slot FPGA cabinet；C series I/O module includes 1 piece of 9202 collection of simulant signal card of NI, 1 piece of RS232 serial acquisition card and 1 piece of 9401 number I/O capture card of NI；This three pieces of boards are all inserted on the FPGA cabinet slot of 9033 controller of NI；The present invention is mainly using NI9033 as real-time controller, the full tensor acquisition and control system of a set of aviation superconduction is built, the data of human-computer interaction interface real-time display acquisition, and using the PPS signal of 40M crystal oscillator and GPS on FPGA cabinet, the synchronization accuracy of the posture, position data that make SQUID magnetic data and inertial navigation reaches 1000ns.
Description
Technical field
The present invention relates to a kind of full tensor magnetic gradient acquisition and control system of aviation superconduction based on NI cRIO and sides
Method belongs to aeromagnetic detection field.
Background technique
Magnetic survey work is different according to the regional context of observation magnetic anomaly, be divided into ground magnetic survey, aeromagnetic detection, marine magnetic survey and
Magnetic survey in well, the invention belongs to aeromagnetic scopes.Aeromagnetic detection, which refers to, carries out magnetic with being mounted on carry-on magnetometer
It surveys.The full tensor magnetic gradient TT&C system of aviation superconduction is by carrying magnetic survey equipment on airborne platform, using in flight course
The magnetic anomaly information as caused by magnetic mineral resources obtained is realized to geological structure and mineral resource distribution rule efficiently
Rate, high-precision positioning, obtain their space distribution information.Aeromagnetic detection as a kind of rapid evaluation magnetism mineral resources and
The geophysical prospecting method of its distribution overview, is not influenced by sedimentary cover, small by earth's surface magnetic interference, detection efficient height etc.
Feature, can apparent reflection it is shallow-in-deep magnetic construction element characteristic.With being more advantageous to Magnetic Sensor record deep regional
The magnetic field that texture is made.
Since magnetic prospecting technology commercial applications, resultant field measure theory and technical method are occupied always predominantly
Position, aviation, ground, magnetometer used in marine magnetic prospecting measure the total field strength or total field gradient in earth's magnetic field more, but total
Field intensity or total field gradient are scalar measurements, have ignored the directional information of characterization geomagnetic fieldvector, and the full tensor magnetic gradient of the magnetic that navigates
Measurement can obtain whole geomagnetic elements in earth's magnetic field, therefore carry out the research and development of the boat full tensor gradiometry system of magnetic, in conjunction with total
The many reference amounts geomagnetic survey system that field and resultant field gradiometry system are formed, can provide new technical method for Deep Geophysical Exploration
With means.
The core sensor of the full tensor magnetic gradient of superconduction is superconducting quantum interference device (SQUID) (SQUID:Superconducting
Quantum Interference Device), and be the highest magnetic of current sensitivity by the superconducting magnetic sensor that SQUID is formed
Sensor can measure small magnetic signal.However, there is also some limitations by SQUID, firstly, the full tensor magnetic gradient of superconduction
The working curve of the core sensor SQUID of meter be not it is linear, therefore, when powering on every time, need to readjust its work
Parameter；Secondly as SQUID is very sensitive to tiny signal, so SQUID can deviate work when external magnetic field interference is larger
Point even direct losing lock, cisco unity malfunction；Again, it since aviation carrying platform is movement, needs through high-precision appearance
State projection carries out magnetic compensation to eliminate the interference introduced by carrying platform movement；Finally, due to the acquisition of aviation superconduction data and control
System EMC processed is poor, introduces radio frequency and vortex interference, makes in SQUID measurement data that there are much noises.Due to
The development of these limitations, the full tensor magnetic gradient acquisition and control system of aviation superconduction faces very big challenge.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of aviation based on NI cRIO in view of the deficiencies of the prior art
The full tensor magnetic gradient data collection system of superconduction and method.
Technical scheme is as follows:
A kind of full tensor magnetic gradient data collection system of aviation superconduction based on NI cRIO, including NI cRIO controller, C
Serial I/O module, the operating point SQUID adjust control module and human-computer interaction interface；
The model NI 9033 of NI cRIO controller, including 1 NI Real-Time controller and 14 slot FPGA machine
Case；
C series I/O module includes 1 piece of 9202 collection of simulant signal card of NI, 1 piece of RS232 serial acquisition card and 1 piece of NI
9401 number I/O capture cards；This three pieces of boards are all inserted on the FPGA cabinet slot of 9033 controller of NI；9202 capture card of NI
The magnetic gradient data from SQUID are received, NI 9033 is transferred data to after AD conversion；The clamping of 9870 serial acquisition of NI
The data such as posture, the position of the inertial navigation system from SPAN-CPT are received, and send NI9033 to；The reception of NI 9401 comes from
The pulse per second (PPS) PPS signal of SPAN-CPT generates frequency-doubled signal as NI as triggering commencing signal, and by resampling
9033 controller magnetic datas start acquisition signal；
It includes 485 control modules that the operating point SQUID, which adjusts control module, and 485 modules are connected to NI9033 controller
Serial line interface on, the bias voltage and bias current of SQUID how are adjusted come real-time judge according to the magnetic data of acquisition, by
485 send the control instruction of uniform protocol, the optimal working point until finding SQUID；
Magnetic data is triggered using the high-precision PPS signal that SPAN-CPT is provided to acquire, and guarantees the magnetic gradient of full tensor
The synchronism that data and position, attitude data acquisition start, the record secondly provided without using inertial navigation system SPAN-CPT
Store function, but the position and attitude data of 9870 modules reading inertial navigation system SPAN-CPT are utilized, 9202 modules are read
Magnetic gradient data, both data send FPGA cabinet to simultaneously, and FPGA cabinet, can parallel data processing, carry simultaneously
The clock crystal oscillator of one 40M, so in the magnetic gradient data and 9870 transmission come up simultaneously to 9202 transmission on FPGA cabinet
The position and attitude data come stamp the timestamp of FPGA cabinet.To guarantee that crystal oscillator does not generate cumulative errors on FPGA cabinet, every 1 second
FPGA crystal oscillator of time adjustment of clock SPAN-CPT, can be such that magnetic gradient data and the synchronization accuracy of position and attitude data obtain
To within 1000ns.
According to the method for the acquisition system, comprising the following steps:
Step 1, NI9033 controller and computer are connected by cable；
Step 2, after the completion of all hardware connection, the power supply for opening NI9033 controller and NI9870 module starts to power,
NI9022 and NI9401 module does not need individually to power, after confirmation power supply is normal, check host computer and NI9033, NI9022,
Whether the communication between NI9401 and NI9870 is intact；
Step 3, it after confirmation host computer communicates normally between NI controller and C series I/O module, is controlled in host soft
Bias voltage is arranged by the operating point SQUID adjustment module on part and bias current adjusts the operating point of SQUID, modulation waveform choosing
Selecting amplitude is 1.5, and frequency is the triangular wave of 50HZ, until 9 SQUID can be worked normally；
Step 4, after the completion of the operating point SQUID is adjusted, operating point is locked, at this point, shaking one near SQUID Magnetic Sensor
Whether a ferromagnetic object, the magnetic data observed on human-computer interaction interface change；
Step 5, if the magnetic data waveform that host computer is shown changes, illustrate that SQUID is working properly；
Step 6, the connection of computer and NI9033 controller is disconnected, it is at this time that this set system is winged loaded on carrying out on airborne platform
Row measurement, until region to be measured of having flown.
The method in the step 2, checks between host computer and NI9033, NI9022, NI9401 and NI9870
Whether communication is intact, and detailed process is as follows:
1) start NI MAX software in host computer, NI9033 controller is found in the remote system of NI MAX software, this
Illustrate that NI9033 is normal with compunlcation；
2) tri- modules of NI9022, NI9401 and NI9870 are found under NI9033 controller, this illustrate three modules with
The connection of FPGA cabinet is normal；
3) NI MAX software is closed, starts host computer data acquisition and control software, in the present invention after system electrification not
Have and start data acquisition, only after NI9401 detects PPS signal, just starts to acquire data, at this point, in human-computer interaction interface
Whether upper observation magnetic data and position and attitude data are normal；
4) instruction of shaking hands is sent in host computer, whether the observation operating point SQUID adjustment module returns to the instruction for shaking hands into confession；
5) whether mobile inertial navigation system, the situation of change for observing position attitude data in main interface are consistent with actual act；
6) at this point, SQUID Magnetic Sensor adjusts operating point not yet, all magnetic datas at this time be it is insecure, it is above-mentioned
Situation is all corresponding, then illustrating that the communication between host and NI9033, NI9022, NI9401 and NI9870 is normal.
The present invention has built the full tensor data acquisition of a set of aviation superconduction and control mainly using NI9033 as real-time controller
System, the present invention realize the data of the operating point SQUID acquired from main regulation, human-computer interaction interface real-time display, and utilize
The PPS signal of 40M crystal oscillator and GPS on FPGA cabinet makes SQUID magnetic data and the posture of inertial navigation, the synchronous essence of position data
Degree reaches 1000ns.
Detailed description of the invention
Fig. 1 is hardware structural diagram of the invention；
Fig. 2 is software configuration schematic diagram of the invention；
Specific embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.
With reference to Fig. 1, the full tensor magnetic gradient data collection system of aviation superconduction based on NI cRIO, including NI cRIO control
Device, C series I/O module, the operating point SQUID adjust control module and human-computer interaction interface three parts.
The model NI 9033 of NI cRIO controller, including 1 NI Real-Time controller and 14 slot FPGA machine
Case, NI Real-Time controller are used for independent operating software program, and FPGA cabinet is for connecting C series I/O module.NI9033
Controller is the control centre of entire acquisition and control system.
C series I/O module includes 1 piece of 9202 collection of simulant signal card of NI, 1 piece of RS232 serial acquisition card and 1 piece of NI
9401 number I/O capture cards.This three pieces of boards are all inserted on the FPGA cabinet slot of 9033 controller of NI, and NI 9033 shares four
A slot, this system occupy first three slot.9202 capture card of NI receives the magnetic gradient data from SQUID, will after AD conversion
Data transmission is to NI 9033；The posture of the inertial navigation system from SPAN-CPT, position are received in the clamping of 9870 serial acquisition of NI
Etc. data, and send NI9033 to；NI 9401 receives the pulse per second (PPS) PPS signal from SPAN-CPT, starts letter as triggering
Number, and frequency-doubled signal is generated as 9033 controller magnetic data of NI by resampling and starts acquisition signal.
It includes 485 control modules that the operating point SQUID, which adjusts control module, and 485 modules are connected to NI9033 controller
Serial line interface on, the bias voltage and bias current of SQUID how are adjusted come real-time judge according to the magnetic data of acquisition, by
485 send the control instruction of uniform protocol, the optimal working point until finding SQUID.
For the high-precise synchronization for realizing position, attitude data and magnetic gradient data, provided first with SPAN-CPT
High-precision PPS signal acquires to trigger magnetic data, guarantees that the magnetic gradient data of full tensor start with position, attitude data acquisition
Synchronism, secondly without using inertial navigation system SPAN-CPT provide record storage function, but utilize 9870 modules read
The position and attitude data of inertial navigation system SPAN-CPT are taken, 9202 modules read magnetic gradient data, both data pass simultaneously
Give FPGA cabinet, and FPGA cabinet, can parallel data processing, while the clock crystal oscillator of an included 40M, so in FPGA
The position and attitude data come up, which are transmitted, to the 9202 magnetic gradient data come up of transmission and 9870 simultaneously on cabinet stamps FPGA cabinet
Timestamp.To guarantee that crystal oscillator does not generate cumulative errors on FPGA cabinet, every 1 second primary with the time adjustment of SPAN-CPT
FPGA crystal oscillator, this synchronous method can be such that magnetic gradient data and the synchronization accuracy of position and attitude data obtain within 1000ns.
Human-computer interaction interface be mainly used for display acquisition SQUID magnetic data, position, attitude data and control system reality
When parameter.
The full tensor magnetic gradient acquisition and control system of aviation superconduction not only needs to acquire magnetic gradient data, it is also necessary to
Magnetic gradient data corresponding position and attitude data in real time, and the higher the better for synchronism.Wherein attitude data is for effectively disappearing
Except the interference that full tensor gradometer introduces under motion state, it is corresponding with location information then the data after interfering will to be eliminated
The space distribution information of surveyed region ore body could be obtained.Therefore the measurement accuracy of position and attitude data and with magnetic gradient number
According to synchronism determine the quality of data of the full tensor magnetic gradient acquisition and control system of aviation superconduction.
The present invention is applied to the acquisition of aeromagnetic detection FIELD Data and control system measurement method, includes the following steps:
Step 1, NI9033 controller and computer are connected by cable, computer is acquisition and control system
Host computer.
Step 2, the operating point SQUID adjustment module is connected on the serial line interface of NI9033 controller.
Step 3, NI9202, NI9401 and NI9870 are inserted into respectively on first three slot of FPGA cabinet.
Step 4, SQUID magnetic signal is connected on preceding 9 channels of NI9202 module, inertial navigation signal is connected to
First channel in NI9870 module, while the PPS signal of inertial navigation being connected on first channel of NI9401.
Step 5, after the completion of all hardware connection, the power supply for opening NI9033 controller and NI9870 module starts to power,
NI9022 and NI9401 module does not need individually to power, after confirmation power supply is normal, check host computer and NI9033, NI9022,
Whether the communication between NI9401 and NI9870 is intact, and detailed process is as follows:
1) start NI MAX software in host computer, NI9033 controller is found in the remote system of NI MAX software, this
Illustrate that NI9033 is normal with compunlcation
2) tri- modules of NI9022, NI9401 and NI9870 are found under NI9033 controller, this illustrate three modules with
The connection of FPGA cabinet is normal；
3) NI MAX software is closed, starts host computer data acquisition and control software, in the present invention after system electrification not
Have and start data acquisition, only after NI9401 detects PPS signal, just starts to acquire data, at this point, in human-computer interaction interface
Whether upper observation magnetic data and position and attitude data are normal；
4) instruction of shaking hands is sent in host computer, whether the observation operating point SQUID adjustment module returns to the instruction for shaking hands into confession；
5) whether mobile inertial navigation system, the situation of change for observing position attitude data in main interface are consistent with actual act；
6) at this point, SQUID Magnetic Sensor adjusts operating point not yet, all magnetic datas at this time be it is insecure, it is above-mentioned
Situation is all corresponding, then illustrating that the communication between host and NI9033, NI9022, NI9401 and NI9870 is normal.
Step 6, it after confirmation host computer communicates normally between NI controller and C series I/O module, is controlled in host soft
Bias voltage is arranged by the operating point SQUID adjustment module on part and bias current adjusts the operating point of SQUID, modulation waveform choosing
Selecting amplitude is 1.5, and frequency is the triangular wave of 50HZ, until 9 SQUID can be worked normally.
Step 7, after the completion of the operating point SQUID is adjusted, operating point is locked, at this point, shaking one near SQUID Magnetic Sensor
Whether a ferromagnetic object (adz-eye hammer), the magnetic data observed on human-computer interaction interface change.
Step 8, if the magnetic data waveform that host computer is shown changes, illustrate that SQUID is working properly, the acquisition of this data
It can work normally with control system.
Step 9, the connection of computer and NI9033 controller is disconnected, it at this time can be enterprising loaded on airborne platform by this set system
Row flight measurement, until region to be measured of having flown；
Step 10, measurement data is read after the completion of flight from NI9033 controller storage card, and imports relevant speciality
It is handled in software；
The present invention has built the full tensor data acquisition of a set of aviation superconduction and control mainly using NI9033 as real-time controller
System, the present invention realize the data of the operating point SQUID acquired from main regulation, human-computer interaction interface real-time display, and utilize
The PPS signal of 40M crystal oscillator and GPS on FPGA cabinet makes SQUID magnetic data and the posture of inertial navigation, the synchronous essence of position data
Degree reaches 1000ns.
All programs of NIcRIO system are write in LabVIEW platform, are unified graphic programming interfaces,
According to the implementation procedure of the full tensor magnetic gradient acquisition and control system of aviation superconduction, software flow pattern is as shown in Figure 2.
The general frame of software program is divided into three ranks, is FPGA program, RT program and PC graphic interface journey respectively
Sequence.
FPGA program execution speed is most fast, can directly operate to C series I/O module, the program after the completion of writing
Need to download on FPGA and reconfigured after compiling, the major function that FPGA program is realized include acquisition SQUID magnetic data,
Acquisition inertial navigation posture position plus timestamp, acquisition PPS pulse and is generated to SQUID magnetic data and inertial navigation data
It frequency multiplication sampling clock and is communicated by FIFO and RT.
RT program, can be directly to all input and output controls of FPGA front panel directly on real-time controller NI9033
It is written and read, while connection can also be established by the program of TCP/IP control and the end PC graphic interface, complete LabVIEW journey
It can directly be run after prelude administration.The major function that RT program is realized includes storage inertial guidance data and SQUID magnetic data, transmitting
Magnetic data and the end inertial guidance data PC graphic interface are shown, are transmitted the parameter and real-time detection of the operating point SQUID adjusting
Whether SQUID deviates operating point.
Graphic interface is the host computer procedure executed in Windows operating system, and mainly realization human-computer interaction, this is
System mainly when SQUID adjusts operating point, is observed the SQUID magnetic data that NI cRIO is acquired back in real time, is referred to according to the collected data
Lead and how to adjust in next step, cut away host computer graphic software platform interface once after the completion of the operating point SQUID is adjusted, RT program and
FPGA is just according to the parameter independent operating after adjusting on NI cRIO controller.
It should be understood that for those of ordinary skills, it can be modified or changed according to the above description,
And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.
Claims (3)
1. a kind of full tensor magnetic gradient data collection system of aviation superconduction based on NI cRIO, which is characterized in that including NI
CRIO controller, C series I/O module, the operating point SQUID adjust control module and human-computer interaction interface；
The model NI 9033 of NI cRIO controller, including 1 NI Real-Time controller and 14 slot FPGA cabinet；
C series I/O module includes 1 piece of 9202 collection of simulant signal card of NI, 1 piece of RS232 serial acquisition card and 1 piece of number of NI 9401
Word I/O capture card；This three pieces of boards are all inserted on the FPGA cabinet slot of 9033 controller of NI；9202 capture card of NI, which receives, to be come
From the magnetic gradient data of SQUID, NI 9033 is transferred data to after AD conversion；The clamping of 9870 serial acquisition of NI, which is received, to be come from
The data such as posture, the position of the inertial navigation system of SPAN-CPT, and send NI9033 to；NI 9401, which is received, comes from SPAN-
The pulse per second (PPS) PPS signal of CPT as triggering commencing signal, and generates frequency-doubled signal as NI 9033 by resampling and controls
Device magnetic data starts acquisition signal；
It includes 485 control modules that the operating point SQUID, which adjusts control module, and 485 modules are connected to the string of NI9033 controller
On line interface, the bias voltage and bias current of SQUID how are adjusted come real-time judge according to the magnetic data of acquisition, by 485 hairs
The control instruction for sending uniform protocol, the optimal working point until finding SQUID；
Magnetic data is triggered using the high-precision PPS signal that SPAN-CPT is provided to acquire, and guarantees the magnetic gradient data of full tensor
The synchronism started with position, attitude data acquisition, the record storage secondly provided without using inertial navigation system SPAN-CPT
Function, but 9870 modules is utilized to read the position and attitude data of inertial navigation system SPAN-CPT, it is terraced that 9202 modules read magnetic
Degree evidence, both data send FPGA cabinet to simultaneously, and FPGA cabinet, can parallel data processing, while it is one included
The clock crystal oscillator of 40M, so transmitting on FPGA cabinet to come up to the 9202 magnetic gradient data come up of transmission and 9870 simultaneously
Position and attitude data stamp the timestamp of FPGA cabinet.To guarantee that crystal oscillator does not generate cumulative errors on FPGA cabinet, every 1 second with
FPGA crystal oscillator of time adjustment of SPAN-CPT, can be such that magnetic gradient data and the synchronization accuracy of position and attitude data obtain
Within 1000ns.
2. the method for acquisition system according to claim 1, which comprises the following steps:
Step 1, NI9033 controller and computer are connected by cable；
Step 2, after the completion of all hardware connection, the power supply for opening NI9033 controller and NI9870 module starts to power,
NI9022 and NI9401 module does not need individually to power, after confirmation power supply is normal, check host computer and NI9033, NI9022,
Whether the communication between NI9401 and NI9870 is intact；
Step 3, after confirmation host computer communicates normally between NI controller and C series I/O module, on Host control software
Bias voltage is set by the operating point SQUID adjustment module and bias current adjusts the operating point of SQUID, modulation waveform selects width
Value is 1.5, and frequency is the triangular wave of 50HZ, until 9 SQUID can be worked normally；
Step 4, after the completion of the operating point SQUID is adjusted, operating point is locked, at this point, shaking an iron near SQUID Magnetic Sensor
Whether magnetic bodies, the magnetic data observed on human-computer interaction interface change；
Step 5, if the magnetic data waveform that host computer is shown changes, illustrate that SQUID is working properly；
Step 6, the connection of computer and NI9033 controller is disconnected, this set system is loaded on airborne platform carries out flight survey at this time
Amount, until region to be measured of having flown.
3. according to the method described in claim 2, in the step 2, check host computer and NI9033, NI9022, NI9401 and
Whether intact detailed process is as follows for communication between NI9870:
1) start NI MAX software in host computer, NI9033 controller is found in the remote system of NI MAX software, this explanation
NI9033 is normal with compunlcation；
2) tri- modules of NI9022, NI9401 and NI9870 are found under NI9033 controller, this three module of explanation and FPGA
Cabinet connection is normal；
3) NI MAX software is closed, starts host computer data acquisition and control software, is not opened after system electrification in the present invention
The acquisition of beginning data just starts to acquire data, at this point, seeing on human-computer interaction interface only after NI9401 detects PPS signal
It examines magnetic data and whether position and attitude data is normal；
4) instruction of shaking hands is sent in host computer, whether the observation operating point SQUID adjustment module returns to the instruction for shaking hands into confession；
5) whether mobile inertial navigation system, the situation of change for observing position attitude data in main interface are consistent with actual act；
6) at this point, SQUID Magnetic Sensor adjusts operating point not yet, all magnetic datas at this time are insecure, above situations
It is all corresponding, then illustrating that the communication between host and NI9033, NI9022, NI9401 and NI9870 is normal.
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| CN114268854A (en) * | 2021-11-19 | 2022-04-01 | 重庆大学 | Multi-source heterogeneous data synchronous acquisition device for intelligent production line |
| CN116125540A (en) * | 2023-04-12 | 2023-05-16 | 中国科学院空天信息创新研究院 | Low-temperature super-navigation magnetic full tensor gradient measurement system and method |
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| CN113377054A (en) * | 2021-06-22 | 2021-09-10 | 中国科学院空天信息创新研究院 | Data synchronization method and device |
| CN113377054B (en) * | 2021-06-22 | 2022-08-02 | 中国科学院空天信息创新研究院 | Data synchronization method and device |
| CN114268854A (en) * | 2021-11-19 | 2022-04-01 | 重庆大学 | Multi-source heterogeneous data synchronous acquisition device for intelligent production line |
| CN116125540A (en) * | 2023-04-12 | 2023-05-16 | 中国科学院空天信息创新研究院 | Low-temperature super-navigation magnetic full tensor gradient measurement system and method |
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