CN109870153B - Magnetometer orthogonality calibration test method and calibration test device - Google Patents
Magnetometer orthogonality calibration test method and calibration test device Download PDFInfo
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- CN109870153B CN109870153B CN201910241470.XA CN201910241470A CN109870153B CN 109870153 B CN109870153 B CN 109870153B CN 201910241470 A CN201910241470 A CN 201910241470A CN 109870153 B CN109870153 B CN 109870153B
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Abstract
The invention provides a magnetometer orthogonality calibration test method and a calibration test device, wherein the method comprises the steps of placing a magnetometer in calibration equipment, wherein the magnetometer is positioned in a uniform area of an alternating current magnetic field of the calibration equipment; rotating the magnetometer in the alternating magnetic field, the magnetometer rotating in the alternating magnetic field in a plurality of different orientations; and recording the output data of the alternating current magnetic field detected by the magnetometer in each azimuth within recording time, and performing calibration test on the alternating current orthogonality of the magnetometer by adopting the magnetic field modulus of the alternating current magnetic field given by the coil. The method and the device can calibrate the alternating current orthogonality of the magnetometer and fill the blank of the magnetometer, particularly the three-axis magnetometer in the field of alternating current calibration testing. The invention has accurate calibration test result for the calibration test of the alternating current orthogonality of the magnetometer. The calibration test device is simple to operate and convenient to calculate, and can complete calibration of all error items.
Description
Technical Field
The invention relates to the field of calibration of a three-axis magnetometer, in particular to a magnetometer orthogonality calibration test method and a magnetometer orthogonality calibration test device.
Background
Due to the manufacturing error and the assembly error of the three-axis magnetometer and the interference of an external ferromagnetic object to the magnetic field, the precision of measuring the geomagnetic field is low. The errors of the magnetometer are derived from environmental disturbances and the self-errors of the magnetometer. The environmental interference comprises hard magnetic interference and soft magnetic interference, and the main errors of the magnetometer comprise zero offset error, scale factor error, non-orthogonal error and installation alignment error. These errors seriously affect the accuracy of the magnetometer for course determination and attitude measurement, and need to be calibrated to obtain error coefficients, thereby compensating the original output of the magnetometer.
At present, there are many calibration methods, mainly including:
1. the magnetometer rotates for a circle in the horizontal plane, and the maximum value and the minimum value of the output of the magnetometer are utilized to complete the calibration of the scale factor error and the zero offset error of the 2-axis magnetometer. However, the method can only complete the calibration of the magnetometer with 2 axes, and can only calibrate partial error terms, so that the precision is low.
2. The ellipsoid fitting calibration method of the rotating magnetometer in the three-dimensional space cannot calibrate a rotation error item caused by soft magnetic interference, non-orthogonal error and installation error, has limited compensation effect, and has large calculation amount in the ellipsoid fitting process by the least square method.
3. The direction is determined by using the high-precision non-magnetic rotary table, magnetic field data is obtained by using the magnetometer with higher precision, and an error coefficient is determined through experiments, so that the correction precision is high, the requirement on equipment is high, and the operation is complex.
4. The magnetometer is fixed in the cube, and the error coefficient of the magnetometer is solved through 12 different placing directions. However, this method has high requirement on the accuracy of 12 placement orientations, depends on fewer data points, and is prone to generate larger calibration errors when random noise is larger.
In general, the related calibration method at present has the disadvantages of high equipment requirement, complex operation, complex calculation, only completing the calibration of partial error terms or only being suitable for the calibration of the 2-axis magnetometer, and the like.
Disclosure of Invention
In order to overcome the defects of a magnetometer, particularly a three-axis magnetometer calibration method in the prior art, the invention provides a magnetometer alternating current orthogonality calibration test method and a magnetometer alternating current orthogonality calibration test device.
According to an embodiment of the invention, a method for calibrating and testing alternating current orthogonality of a magnetometer is provided, which comprises the following steps:
placing the magnetometer in calibration equipment, wherein the magnetometer is positioned in a uniform area of an alternating-current magnetic field of the calibration equipment, and the total magnetic field intensity B of any point in the alternating-current magnetic field2The relationship with the three magnetic field components is shown in equation (1):
rotating the magnetometer in the alternating current magnetic field, the magnetometer rotating a plurality of different orientations in the alternating current magnetic field, measuring three magnetic field components of the alternating current magnetic field in each orientation, respectively, due to the non-orthogonality of the three axes of the magnetometer, the measurement values B 'of the three magnetic field components of the alternating current magnetic field'x、B'y、B'zAs shown in equations (2) - (3), respectively:
B'x＝Sx+Bx+x0(2)，
B'y＝Sy(Bycos(ρ)+Bxsin(ρ))+y0(3)，
recording the output data of the alternating current magnetic field detected by the magnetometer in each azimuth within recording time, and performing calibration test on the alternating current orthogonality of the magnetometer by adopting the magnetic field modulus of the alternating current magnetic field given by a coil;
wherein S isx、Sy、SzIs a scale factor error of three of said magnetic field components of said magnetic field;
x0、y0、z0is the zero point of the alternating magnetic field;
ρ represents a measured value B'yOff angle in the y direction;
represents a measured value B'zOff angle in the z direction; λ represents the measured value BzOff angle in the x direction.
Optionally, according to said equations (2) - (4), obtaining a coefficient Sx、Sy、Sz、x0、y0、z0、ρ、
And λ further comprising the steps of:
combining the equations (2) - (4) to obtain Bx、By、BzSubstituting said equation (1) results in the following equation (5):
wherein the coefficients A1, B1, C1, D1, E1, F1, G1, H1, I1 and J1 are Sx、Sy、Sz、x0、y0、z0、ρ、
And λ, by a plurality of sets of said measured values B'x、B'y、B'zAnd fitting the coefficients A1, B1, C1, D1, E1, F1, G1, H1, I1 and J1 by using a least square method.
Optionally, the amplitude of the alternating magnetic field is in the range of 0nT to 100000nT, and the frequency is in the range of 0.0001Hz to 100 kHz.
Optionally, said magnetometer is rotated in said alternating magnetic field for at least 9 different said orientations, said recording time being not less than 1 min.
Optionally, after the magnetometer is placed in the calibration device, the method further includes a step of preheating the magnetometer, where the preheating time of the magnetometer is not less than 15 min.
Optionally, the output data of the alternating magnetic field comprises magnetic field peak-to-peak values or power spectrum values.
Optionally, the calibration device includes a three-axis magnetic field coil, a magnetic field interference cancellation system, and a three-way constant current power supply, the magnetic field interference cancellation system includes a three-axis compensation coil, an optical pump magnetometer, and an interference magnetic field compensation control system,
after the magnetometer is placed in the calibration equipment, current is applied to the three-axis magnetic field coil to form the alternating-current magnetic field, and meanwhile, the magnetic field interference elimination system works to eliminate the interference of an environmental magnetic field on the magnetic field.
Optionally, before the step of placing the magnetometer in the calibration device, the step of fixing the magnetometer on a non-magnetic three-axis turntable placed in the three-axis magnetic field coil is further included.
Optionally, the nonmagnetic three-axis turntable comprises:
a horizontally disposed turntable α;
a turntable gamma which is positioned above the turntable α and is also horizontally arranged, and
a turntable β disposed perpendicular to the turntable α and the turntable γ;
wherein the turntable α and the turntable γ are disposed in parallel and spaced apart from each other, the turntable β includes at least one pair of oppositely disposed turntables, the center of the turntable β is disposed outside the edge of the turntable γ and the turntable β supports the turntable γ, and the edge of the turntable α is connected with the edge of the turntable β to support the turntable β.
Optionally, the nonmagnetic three-axis turntable further comprises a supporting frame, the supporting frame comprises a supporting surface and a supporting column for fixing and supporting the supporting surface, and the turntable α is rotatably disposed on the supporting surface of the supporting frame.
Optionally, the magnetometer is fixed at a center position of the turntable γ, and the center of the magnetometer coincides with the center of the turntable γ and rotates with the rotation of the turntable γ.
According to another embodiment of the present invention, there is provided a magnetometer ac orthogonality calibration testing apparatus, including:
the calibration equipment is used for generating an alternating-current magnetic field;
the nonmagnetic three-axis turntable is used for fixing the magnetometer and placing the nonmagnetic three-axis turntable fixed with the magnetometer in a uniform area of the alternating-current magnetic field, and the nonmagnetic three-axis turntable drives the magnetometer to rotate in a plurality of different directions in the alternating-current magnetic field;
and the data processing unit is electrically connected with the magnetometer and used for receiving the output data of the alternating current magnetic field detected by the magnetometer in each azimuth in recording time and analyzing and processing the output data.
Optionally, the amplitude of the alternating magnetic field generated by the calibration device ranges from 0nT to 100000nT, and the frequency ranges from 0.0001Hz to 100 khz.
Optionally, the calibration device comprises a three-axis magnetic field coil, a magnetic field interference elimination system and a three-way constant current power supply,
wherein a current is applied to the tri-axial magnetic field coil to form the alternating magnetic field;
the magnetic field interference elimination system comprises a triaxial compensation coil, an optical pump magnetometer and an interference magnetic field compensation control system, and is used for eliminating the interference of an environmental magnetic field to the magnetic field.
Optionally, the nonmagnetic three-axis turntable comprises:
a horizontally disposed turntable α;
a turntable gamma which is positioned above the turntable α and is also horizontally arranged, and
a turntable β disposed perpendicular to the turntable α and the turntable γ;
wherein the turntable α and the turntable γ are disposed in parallel and spaced apart from each other, the turntable β includes at least one pair of oppositely disposed turntables, the center of the turntable β is disposed outside the edge of the turntable γ and the turntable β supports the turntable γ, and the edge of the turntable α is connected with the edge of the turntable β to support the turntable β.
Optionally, the nonmagnetic three-axis turntable further comprises a supporting portion, the supporting portion comprises a supporting surface and a supporting column for fixing and supporting the supporting surface, and the turntable α is rotatably disposed on the supporting surface of the supporting frame.
Alternatively, the magnetometer is fixed at the center of the turntable γ to be rotatable with the rotation of the turntable γ.
As described above, the calibration test method and the calibration test device for the alternating current orthogonality of the magnetometer have the following technical effects:
the method and the device can calibrate the alternating current orthogonality of the magnetometer and fill the blank of the magnetometer, particularly the three-axis magnetometer in the field of alternating current calibration testing. The invention has accurate calibration test result for the calibration test of the alternating current orthogonality of the magnetometer.
The calibration test device is simple to operate and convenient to calculate, and can complete calibration of all error items.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are schematic and should not be construed as limiting the invention in any way, and in which:
fig. 1 is a flowchart illustrating a method for calibrating and testing orthogonality of a magnetometer according to an embodiment.
FIG. 2 is a schematic diagram of the apparatus for calibrating the apparatus in the method shown in FIG. 1.
Fig. 3 shows a schematic view of the calibration apparatus in the method of fig. 1.
Fig. 4 shows a schematic view of a non-magnetic three-axis turntable in the method of fig. 1.
FIG. 5 is a schematic diagram showing angles between three axes of the magnetometer and the coordinate axes when the axes are not orthogonal.
Reference numerals
10 magnetometer
20 nonmagnetic three-axis turntable
201 turntable gamma
202 carousel β
203 carousel α
204 bearing surface
205 support column
30 calibration equipment
301 three-axis magnetic field coil
302 shield case
303 accommodating chamber
304 fixed part
305 triaxial compensation coil a
306 triaxial compensation coil B
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
The embodiment provides a method for calibrating and testing orthogonality of a magnetometer, and as shown in fig. 1, the method includes the following steps:
placing a magnetometer in calibration equipment, wherein the magnetometer is positioned in a uniform area of an alternating current magnetic field of the calibration equipment;
in a preferred embodiment of the embodiment, after placing the magnetometer in the calibration device, the magnetometer may also be first preheated, for example, the magnetometer may be preheated for at least 15 min. Through this preheating process, on the one hand, the temperature of the magnetometer itself, e.g. its probe, tends to equilibrate; on the other hand, the electronic performance of each electronic device in the magnetometer, such as a probe and the like, can be stabilized in the process, so that the performance of the entire magnetometer is in a stable state. Therefore, the calibration error caused by unstable temperature or performance of the magnetometer can be avoided, and the accuracy of the orthogonality calibration of the magnetometer is improved.
As shown in fig. 2, the magnetometer 10 is located in the calibration apparatus 30, specifically, in the housing chamber 303 of the calibration apparatus 30. In the preferred embodiment of the present embodiment, before placing the magnetometer 10 in the calibration apparatus, the magnetometer is first fixed on the nonmagnetic three-axis turntable 20 shown in fig. 4, and then the nonmagnetic three-axis turntable 20 with the magnetometer 10 fixed thereon is placed in the receiving chamber 303 of the calibration apparatus 30.
In a preferred embodiment of this embodiment, as shown in fig. 3, the calibration apparatus 30 includes a magnetic field interference cancellation system and a three-axis magnetic field coil 301, wherein the magnetic field interference cancellation system includes a first three-axis compensation coil 305 and a second three-axis compensation coil 306, an optical pumping magnetometer, and an interference magnetic field compensation control system (not shown), and the magnetic field interference cancellation system is configured to cancel interference of an ambient magnetic field on an ac magnetic field generated by the calibration apparatus 30. The three-axis magnetic field coil 301 of the calibration apparatus 30 is used to generate an ac magnetic field, and in a preferred embodiment of the present embodiment, the amplitude of the generated ac magnetic field ranges from 0nT to 100000nT, and the frequency ranges from 0.0001Hz to 100 khz. In a more preferred embodiment, the alternating magnetic field has an amplitude of 50nT and a frequency of 1 Hz.
At any point in the uniform region of the alternating magnetic field, the total magnetic field intensity B of the magnetic field2The relationship with the three magnetic field components is shown in equation (1):
in addition, in another preferred embodiment of this embodiment, as shown in fig. 2, the calibration apparatus 30 further includes a shielding case 302, and the shielding case 302 can also play a role in eliminating the ambient magnetic field interference. The calibration device 30 further comprises a fixing portion 304, and the fixing portion 304 enables the whole calibration device 30 to be in a stable state without mechanical vibration or movement, so as not to affect the calibration result.
Rotating the magnetometer in the alternating magnetic field, the magnetometer rotating in the alternating magnetic field in a plurality of different orientations;
in the preferred embodiment of this embodiment, at least 9 different orientations of the magnetometers are rotated, for example, in the preferred embodiment of this embodiment the magnetometers are affixed to a nonmagnetic tri-axial turntable 20. as shown in FIG. 4, the nonmagnetic tri-axial turntable 20 includes a horizontally disposed turntable α 203, a turntable γ 201 disposed above the turntable α 203 and also horizontally disposed, and a turntable α 0202 disposed perpendicularly to the turntable α 203 and the turntable γ 201. in the preferred embodiment of this embodiment, the turntable α 203 and the turntable γ 201 are disposed in parallel spaced relation to each other. turntable α 1202 includes at least one pair of oppositely disposed turntables, for example, a pair of oppositely disposed turntables β 202 as shown in FIG. 3. the center of the turntable β 202 is disposed outside the edge of the turntable γ 201, the turntable β 202 supports the turntable γ. the edge of the turntable α is coupled to the edge of the turntable β to support the turntable β.
In another preferred embodiment of this embodiment, the magnetometer 10 is fixed at the center of the turntable γ 201, and the center of the magnetometer 10 is arranged to coincide with the center of the turntable γ 201. when the magnetometer 10 is calibrated, a driving force is applied to the turntable 20 to rotate the turntable α 203, the turntable β 202 and the turntable γ 20 of the turntable 20, thereby driving the magnetometer 10 fixed on the turntable γ 201 to rotate, at least 9 different directions are rotated according to the calibration test, for example, the turntable β 1203 is rotated in the horizontal plane, the turntable β 0202 is not rotated relative to the turntable α 203, but is rotated in the horizontal plane by the turntable α 203, the turntable γ 201 itself rotates the turntable α 203 or the turntable β 202, but is rotated by the turntable β 202 to rotate in the horizontal plane, thereby rotating the magnetometer in the horizontal plane by different pitch angles according to the requirements, in addition, the turntable α 203 is made stationary, and the turntable β 202 rotates in the vertical plane relative to the turntable α 203, thereby driving the turntable γ 201 to rotate together with the magnetometer 10 in the vertical plane, thereby rotating the turntable γ 201.
In a preferred embodiment of this embodiment, the magnetometer is rotated as shown in table 1 below:
TABLE 1 direction of rotation of magnetometer
As shown in Table 1, the magnetometer is rotated at least a number of different angles within the hemisphere, thereby increasing the output data of the magnetometer and increasing the accuracy of the calibration test.
Recording output data of the alternating current magnetic field detected by the magnetometer in each azimuth in preset time, and performing calibration test on the alternating current orthogonality of the magnetometer by adopting the magnetic field modulus of the alternating current magnetic field given by the coil; in a preferred embodiment of this embodiment, the output data of the alternating magnetic field comprises an output magnetic field peak-to-peak value or a power spectrum value.
Due to the non-orthogonality of the three axes of the magnetometer, angles exist between the three axes of the magnetometer 10 and the coordinate axes, and ρ represents a measurement value B 'as shown in FIG. 5'yOff angle in the y direction;
represents a measured value B'zOff angle in the z direction; λ represents the measured value BzOff angle in the x direction.
The measured values of the three magnetic field components of the alternating magnetic field are shown in equations (2) to (3), respectively:
B'x＝Sx+Bx+x0(2)；
B'y＝Sy(Bycos(ρ)+Bxsin(ρ))+y0(3)；
combining the equations (2) - (4) to obtain Bx、By、Bz. Substituting said equation (1) results in the following equation (5):
wherein the coefficients A1, B1, C1, D1, E1, F1, G1, H1, I1 and J1 are Sx、Sy、Sz、x0、y0、z0、ρ、
And λ, by a plurality of sets of said measured values B'x、B'y、B'zAnd fitting the coefficients A1, B1, C1, D1, E1, F1, G1, H1, I1 and J1 by using a least square method.
Then solving equations (2) - (4) to obtain the coefficient Sx、Sy、Sz、x0、y0、z0、ρ、
And lambda;
wherein S isx、Sy、SzIs a scale factor error of three of said magnetic field components of said magnetic field;
x0、y0、z0is the zero point of the alternating magnetic field.
In the preferred embodiment of the present embodiment, the recording time of each azimuth is not less than 1min, so that the output data of the magnetometer 10 can be recorded more accurately, and the error of the calibration test of the magnetometer is reduced.
Example two
The embodiment provides a magnetometer orthogonality calibration testing device, which comprises:
the calibration equipment is used for generating an alternating-current magnetic field;
the non-magnetic three-axis turntable is used for fixing a magnetometer to be calibrated and tested, the magnetometer is arranged in a uniform area of the alternating-current magnetic field, and the non-magnetic three-axis turntable drives the magnetometer to rotate in a plurality of different directions in the alternating-current magnetic field;
and the data processing unit is electrically connected with the magnetometer 10 and used for receiving the output data of the alternating current magnetic field detected by the magnetometer in each azimuth in recording time and analyzing and processing the output data. For example, the data processing unit may perform the operation described in the first embodiment on the basis of the output data of the magnetometer to obtain each coefficient.
As shown in fig. 3, the calibration apparatus 30 includes a magnetic field interference cancellation system including a first three-axis compensation coil a 305 and a second three-axis compensation coil B306, an optical pumping magnetometer, and an interference magnetic field compensation control system (not shown), and a three-axis magnetic field coil 301, wherein the magnetic field interference cancellation system is configured to cancel interference of an ambient magnetic field on an ac magnetic field generated by the calibration apparatus. The three-axis magnetic field coil 301 is used to generate an ac magnetic field, and in a preferred embodiment of the present embodiment, the amplitude of the generated ac magnetic field ranges from 0nT to 100000nT, and the frequency ranges from 0.0001Hz to 100 khz. In a more preferred embodiment, the alternating magnetic field has an amplitude of 50nT and a frequency of 1 Hz.
As shown in fig. 4, the nonmagnetic three-axis turntable 20 comprises a turntable α 203 horizontally arranged, a turntable γ 201 horizontally arranged above the turntable α 203, and a turntable α 0202 arranged perpendicularly to the turntable α 203 and the turntable γ 201. in the preferred embodiment of the present embodiment, the turntable α 203 and the turntable γ 201 are arranged in parallel and spaced apart from each other, a turntable α 1202 comprises at least one pair of oppositely arranged turntables, such as the pair of oppositely arranged turntables β 202 shown in fig. 3, and the center of the turntable β 202 is arranged outside the edge of the turntable γ 201, the turntable β 202 supports the turntable γ, and the edge of the turntable α is connected with the edge of the turntable β to support the turntable β.
In another preferred embodiment of the present embodiment, the magnetometer 10 is fixed at the center of the turntable γ 201, and the center of the magnetometer 10 is overlapped with the center of the turntable γ 201. when the calibration test of the magnetometer 10 is performed, a driving force is applied to the nonmagnetic three-axis turntable 20, so that the nonmagnetic three-axis turntable 20 rotates, the turntable α 203, the turntable β 202 and the turntable γ 20 rotate simultaneously, and thereby the magnetometer 10 fixed on the turntable γ 201 is driven to rotate, and the nonmagnetic three-axis turntable 20 can rotate at least 9 different directions according to the requirement of the calibration test.
In a preferred embodiment of this embodiment, the magnetometer is also rotated as shown in table 1 in the first embodiment. As shown in Table 1, the magnetometer is rotated at least a number of different angles within the hemisphere, thereby increasing the output data of the magnetometer and increasing the accuracy of the calibration test.
The alternating current orthogonality calibration test method and the calibration test device for the magnetometer have the following technical effects:
the method and the device can calibrate the alternating current orthogonality of the magnetometer and fill the blank of the magnetometer, particularly the three-axis magnetometer in the field of alternating current calibration testing. The invention has accurate calibration test result for the calibration test of the alternating current orthogonality of the magnetometer,
the calibration test device is simple to operate and convenient to calculate, and can complete calibration of all error items.
The foregoing embodiments are merely illustrative of the principles of this invention and its efficacy, rather than limiting it, and various modifications and variations can be made by those skilled in the art without departing from the spirit and scope of the invention, which is defined in the appended claims.
Claims (17)
1. A magnetometer alternating current orthogonality calibration test method is characterized by comprising the following steps:
placing the magnetometer in calibration equipment, wherein the magnetometer is positioned in a uniform area of an alternating-current magnetic field of the calibration equipment, and the total magnetic field intensity B of any point in the alternating-current magnetic field2The relationship with the three magnetic field components is shown in equation (1):
rotating the magnetometer in the alternating current magnetic field, the magnetometer rotating a plurality of different orientations in the alternating current magnetic field, measuring three magnetic field components of the alternating current magnetic field in each orientation, respectively, due to the non-orthogonality of the three axes of the magnetometer, the measurement values B 'of the three magnetic field components of the alternating current magnetic field'x、B'y、B'zAs shown in equations (2) - (3), respectively:
B'x＝Sx+Bx+x0(2)，
B'y＝Sy(Bycos(ρ)+Bxsin(ρ))+y0(3)，
recording the output data of the alternating current magnetic field detected by the magnetometer in each azimuth within recording time, and performing calibration test on the alternating current orthogonality of the magnetometer by adopting the magnetic field modulus of the alternating current magnetic field given by a coil;
wherein S isx、Sy、SzIs a scale factor error of three of said magnetic field components of said magnetic field;
x0、y0、z0is the zero point of the alternating magnetic field;
ρ represents a measured value B'yOff angle in the y direction; phi denotes measured value B'zOff angle in the z direction; λ represents the measured value BzOff angle in the x direction;
the recording time is not less than 1 min.
2. Calibration according to claim 1Test method, characterized in that, according to said equations (2) - (4), a coefficient S is obtainedx、Sy、Sz、x0、y0、z0、ρ、
And λ further comprising the steps of:
combining the equations (2) - (4) to obtain Bx、By、BzSubstituting said equation (1) results in the following equation (5):
wherein the coefficients A1, B1, C1, D1, E1, F1, G1, H1, I1 and J1 are Sx、Sy、Sz、x0、y0、z0、ρ、
And λ, by a plurality of sets of said measured values B'x、B'y、B'zAnd fitting the coefficients A1, B1, C1, D1, E1, F1, G1, H1, I1 and J1 by using a least square method.
3. The calibration test method according to claim 1, wherein the amplitude of the alternating magnetic field is in the range of 0nT to 100000nT, and the frequency is in the range of 0.0001Hz to 100 kHz.
4. The calibration test method of claim 1, wherein said magnetometer is rotated in said alternating magnetic field in at least 9 different said orientations.
5. The calibration test method of claim 1, wherein the output data of the alternating magnetic field comprises magnetic field peak-to-peak values or power spectrum values.
6. The calibration testing method of claim 1, further comprising the step of preheating the magnetometer after the magnetometer is placed in the calibration device, wherein the preheating time of the magnetometer is not less than 15 min.
7. The calibration testing method according to claim 1, wherein the calibration device comprises a three-axis magnetic field coil, a magnetic field interference cancellation system and a three-way constant current power supply, the magnetic field interference cancellation system comprises a three-axis compensation coil, an optical pump magnetometer and an interference magnetic field compensation control system,
after the magnetometer is placed in the calibration equipment, current is applied to the three-axis magnetic field coil to form the alternating-current magnetic field, and meanwhile, the magnetic field interference elimination system works to eliminate the interference of an environmental magnetic field on the magnetic field.
8. The calibration testing method of claim 7, further comprising, prior to placing the magnetometer on the calibration device, securing the magnetometer on a non-magnetic tri-axial turntable placed in the tri-axial magnetic field coil.
9. The calibration testing method of claim 8, wherein the nonmagnetic three-axis turntable comprises:
a horizontally disposed turntable α;
a turntable gamma which is positioned above the turntable α and is also horizontally arranged, and
a turntable β disposed perpendicular to the turntable α and the turntable γ;
wherein the turntable α and the turntable γ are disposed in parallel and spaced apart from each other, the turntable β includes at least one pair of oppositely disposed turntables, the center of the turntable β is disposed outside the edge of the turntable γ and the turntable β supports the turntable γ, and the edge of the turntable α is connected with the edge of the turntable β to support the turntable β.
10. The calibration testing method of claim 9, wherein the nonmagnetic three-axis turntable further comprises a supporting frame, the supporting frame comprises a supporting surface and a supporting column for fixing and supporting the supporting surface, and the turntable α is rotatably disposed on the supporting surface of the supporting frame.
11. The calibration testing method according to claim 10, wherein the magnetometer is fixed at a center position of the turntable γ, and a center of the magnetometer coincides with a center of the turntable γ and rotates with the rotation of the turntable γ.
12. A magnetometer alternating current orthogonality calibration testing device is characterized by comprising:
the calibration equipment is used for generating an alternating-current magnetic field;
the nonmagnetic three-axis turntable is used for fixing the magnetometer and placing the nonmagnetic three-axis turntable fixed with the magnetometer in a uniform area of the alternating-current magnetic field, and the nonmagnetic three-axis turntable drives the magnetometer to rotate in a plurality of different directions in the alternating-current magnetic field;
and the data processing unit is electrically connected with the magnetometer and used for receiving the output data of the alternating current magnetic field detected by the magnetometer in each azimuth in recording time, and analyzing and processing the output data, wherein the recording time is not less than 1 min.
13. The calibration test device according to claim 12, wherein the amplitude of the alternating magnetic field generated by the calibration apparatus is in the range of 0nT to 100000nT, and the frequency is in the range of 0.0001Hz to 100 khz.
14. The calibration test device of claim 12, wherein the calibration equipment comprises a three-axis magnetic field coil, a magnetic field interference cancellation system, and a three-way constant current power supply,
wherein a current is applied to the tri-axial magnetic field coil to form the alternating magnetic field;
the magnetic field interference elimination system comprises a triaxial compensation coil, an optical pump magnetometer and an interference magnetic field compensation control system, and is used for eliminating the interference of an environmental magnetic field to the magnetic field.
15. The calibration testing device of claim 12, wherein the nonmagnetic three-axis turntable comprises:
a horizontally disposed turntable α;
a turntable gamma which is positioned above the turntable α and is also horizontally arranged, and
a turntable β disposed perpendicular to the turntable α and the turntable γ;
wherein the turntable α and the turntable γ are disposed in parallel and spaced apart from each other, the turntable β includes at least one pair of oppositely disposed turntables, the center of the turntable β is disposed outside the edge of the turntable γ and the turntable β supports the turntable γ, and the edge of the turntable α is connected with the edge of the turntable β to support the turntable β.
16. The calibration testing device of claim 15, wherein the nonmagnetic three-axis turntable further comprises a support portion, the support portion comprises a support surface and a support pillar for fixing and supporting the support surface, and the turntable α is rotatably disposed on the support surface of the support frame.
17. The calibration test device according to claim 15, wherein the magnetometer is fixed at a central position of the turntable γ so as to rotate with the turntable γ.
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| CN201910241470.XA CN109870153B (en) | 2019-03-28 | 2019-03-28 | Magnetometer orthogonality calibration test method and calibration test device |
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| CN109870153B true CN109870153B (en) | 2020-07-31 |
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| CN111239667B (en) * | 2020-03-16 | 2021-07-30 | 吉林大学 | Unified correction method for magnetic gradient dilatometer of each order |
| CN111413651B (en) * | 2020-03-30 | 2021-04-13 | 中国科学院上海微系统与信息技术研究所 | Compensation method, device and system for total magnetic field and storage medium |
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