CN110161578A - A kind of backdeeps convected curvilinear coordinate system and method - Google Patents
A kind of backdeeps convected curvilinear coordinate system and method Download PDFInfo
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- CN110161578A CN110161578A CN201910525630.3A CN201910525630A CN110161578A CN 110161578 A CN110161578 A CN 110161578A CN 201910525630 A CN201910525630 A CN 201910525630A CN 110161578 A CN110161578 A CN 110161578A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/38—Processing data, e.g. for analysis, for interpretation, for correction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/40—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for measuring magnetic field characteristics of the earth
Abstract
The present invention provides a kind of backdeeps convected curvilinear coordinate system and method, and system includes body, and rotatable horizontal tail is installed in the left and right sides of body；The tail portion of the body is installed by swingable empennage；The rear end installation propeller of the body；Buoyancy unit, power unit, control and posture control unit, measurement sensor unit and satellite positioning communication unit are carried in the inside of the body.Backdeeps convected curvilinear coordinate system and method provided by the invention, carry small low-consumption geomagnetic total field, the multiple sensors such as magnetic tricomponent and temperature, depth, magnetic survey system is directly deep into the specific measuring point of marine bottom, so as to accurately measure geomagnetic parameter, in addition, due to for new flow formula deep sea geomagnetic field survey system, the unmanned convected curvilinear coordinate of backdeeps is realized, it is very small to have the advantages that the marine environment such as the at low cost, typhoon of human input influence measurement result.
Description
Technical field
The invention belongs to deep-sea geophysical probing technique fields, and in particular to a kind of backdeeps convected curvilinear coordinate system
System and method.
Background technique
Currently, marine geomagnetic flow measurement generallys use two methods of aerial survey and hull towing measurement.In abysmal area
It is interior, since measurement sensor is equipped on aircraft or sea hull, farther out with the detection target range of backdeeps point, because
This, can not directly obtain the geophysics field data of backdeeps, reduce the detection accuracy of the earth magnetism feature of detection target.Separately
Outside, traditional measurement method requires the greatly also influence vulnerable to marine extreme environments such as typhoons for human input.
Summary of the invention
In view of the defects existing in the prior art, the present invention provides a kind of backdeeps convected curvilinear coordinate system and method,
It can effectively solve the above problems.
The technical solution adopted by the invention is as follows:
The present invention provides a kind of backdeeps convected curvilinear coordinate system, including body (1), the left and right of the body (1)
Two sides are installed by rotatable horizontal tail (2)；The tail portion of the body (1) is installed by swingable empennage (3)；The body (1)
Rear end installation propeller (4)；The inside of the body (1) is separated to form five cabins by support plate, by side from front to back
To being followed successively by front deck, the first middle deck, the second middle deck, third middle deck and deck store；The front deck, first middle deck, described second
Buoyancy unit, power unit, control and posture control unit, measurement are respectively carried in middle deck, the third middle deck and the deck store
Sensor unit and satellite positioning communication unit；
Wherein, the buoyancy unit is used to realize measuring system rising, hovering and dive control by control water pump plumbing
System；The power unit is used for the buoyancy unit, the control and posture control unit, the measurement sensor unit
And the satellite positioning communication unit provides continuation of the journey for a long time and guarantees；The control and posture control unit, for adjusting control
The angle of the horizontal tail (2) is made, realizes the adjustment of measuring system angle of elevation and dive angle；The measurement sensor list
Member, including scalar geomagnetic total field probe, vector three-component fluxgate magnetic core, temperature sensor, depth transducer and attitude measurement
Sensor realizes undersea majority according to parameter composite measurement；The satellite positioning communication unit, for floating to sea when measuring system
When face, realizes the real-time positioning of measuring system and carry out telecommunication with remote server.
Preferably, the satellite positioning communication unit is that maritime affairs and day lead to satellite positioning communication unit, carries GPS and Beidou
Satellite positioning module.
Preferably, the body (1) uses the ocean aluminium material or titanium alloy material of weak magnetic.
The present invention also provides a kind of measurement methods of backdeeps convected curvilinear coordinate system, comprising the following steps:
Step 1, remote server obtains magnetic survey initial parameter value；Wherein, the magnetic survey initial parameter value packet
It includes: needing to carry out four vertex latitude and longitude coordinates values on the sea area sea of magnetic survey, measuring point depth value, on same survey line
The distance values of measuring point and it is close to Duplication to survey line；The sea area sea shape that four vertex surround is rectangle；
Step 2, the remote server measures route planning according to the magnetic survey initial parameter value, is needed
Carry out the survey line quantity of magnetic survey and the measurement track of every survey line；Wherein, the measurement track is positioned by sea
Point connects the broken line to be formed with measuring point, it is assumed that certain survey line plans n measuring point altogether, then: the 1st sea anchor point D1, the 1st measuring point P1、
2nd sea anchor point D2, the 2nd measuring point P2, the 3rd sea anchor point D3..., the n-th measuring point Pn, the (n+1)th sea anchor point Dn+1Successively
It is end to end, form the survey line of broken line form；Also, for arbitrary i-th measuring point Pi, i=1,2 ..., n, the i-th measuring point
PiWith the i-th sea anchor point DiThe distance of line is L1, the i-th measuring point PiWith i+1 sea anchor point Dn+1The distance of line is L2,
L1=L2；For the measurement track, the 1st sea anchor point D1To the 1st measuring point P1Line be the 1st dive track；1st surveys
Point P1To the 2nd sea anchor point D2Line be the 1st floating track；2nd sea anchor point D2To the 2nd measuring point P2Line be
2nd dive track；2nd measuring point P2To the 3rd sea anchor point D3Line be the 2nd floating track；The rest may be inferred, in formation
The path of floating track and dive track alternant；
The remote server obtains the measuring point theory longitude and latitude of each measuring point according to the measurement track of survey line described in every
The anchor point theory latitude and longitude coordinates of coordinate and each sea anchor point, it may be assumed that for arbitrary i-th measuring point Pi, measuring point reason
By latitude and longitude coordinates are as follows: Pi(xi0,yi0), for arbitrary jth sea anchor point Dj, j=1,2 ..., n+1, sea positioning
The theoretical latitude and longitude coordinates of point are as follows: Dj(xjk,yjk)；Wherein, xi0And yi0Respectively the i-th measuring point PiTheoretical longitude coordinate and theory
Latitude coordinate；xjkAnd yjkRespectively jth sea anchor point DjTheoretical longitude coordinate and theoretical latitude coordinate；
Step 3, for survey line described in every, it includes the floating track it is parallel, therefore, the remote server
The 1st control model to the magnetic survey system is obtained according to the floating track；
For survey line described in every, float downward that track is parallel, and therefore, the remote server is according to institute it includes described in
It states and floats downward track and obtain the 2nd control model to the magnetic survey system；
In addition, the remote server according to measurement demand, obtains the 3rd control model to the magnetic survey system；
3rd control model is used to carry out Hovering control to the magnetic survey system；
Step 4, successively right according to the measurement route planning when carrying out actual backdeeps convected curvilinear coordinate
The measuring point of each survey line carries out magnetic survey, measurement method are as follows:
Step 4.1, when the measuring point to certain survey line carries out magnetic survey, the magnetic survey system motion to initial bit
Set D1', and currently practical latitude and longitude coordinates D is sent to the remote server in real time by satellite positioning communication unit1'(x1,
y1)；
Step 4.2, the remote server judges initial position D1' corresponding practical latitude and longitude coordinates D1'(x1,y1) be
It is no to be equal to the corresponding 1st sea anchor point D of the survey line1Sea anchor point theory latitude and longitude coordinates D1(x1k,y1k)；If differ
In being then adjusted to the initial position of the magnetic survey system, until meeting required precision；If be equal to, step is executed
Rapid 4.3；
Step 4.3, the remote server controls the magnetic survey system according to the 2nd control model,
It is set to carry out the 1st dive；Also, during the magnetic survey system carries out the 1st dive, carried by itself
When depth transducer real-time detection own depth, when reaching the depth of setting, the magnetic survey system dive is represented to the 1st
Measuring point P1Position；
Then, the remote server controls the magnetic survey system according to the 3rd control model, makes institute
Magnetic survey system is stated in the 1st measuring point P1Hover predetermined time period；Also, during magnetic survey system hovering,
Start scalar geomagnetic total field probe, vector three-component fluxgate magnetic core and attitude-measuring sensor, it is total by the scalar earth magnetism
Field probe, the vector three-component fluxgate magnetic core and the attitude-measuring sensor realize that undersea majority is comprehensive according to earth magnetism parameter
Measurement is closed, and is stored in storage equipment；
Wherein, it is popped one's head in by the scalar geomagnetic total field, measurement and the 1st measuring point P1Corresponding scalar geomagnetic total intensity observation
Value；By the vector three-component fluxgate magnetic core, measurement and the 1st measuring point P1Corresponding vector earth's magnetic field three-component observation,
That is: earth's magnetic field X is to vector component, earth's magnetic field Y-direction vector component and earth's magnetic field Z-direction vector component；It is passed by the attitude measurement
Sensor, measurement and the 1st measuring point P1Pitch angle ψ, angle of oscillation θ and side corner under corresponding instrument space coordinate system
Step 4.4, when the time of hovering reaching setting value, the remote server is according to the 1st control model to institute
It states magnetic survey system to be controlled, it is made to carry out the 1st floating；
Step 4.5, when the magnetic survey system floats to sea, position D2', then, pass through the satellite
Orientation and communication unit sends D to the remote server2' practical latitude and longitude coordinates D2'(x2,y2)；
The remote server judges its D2' practical latitude and longitude coordinates D2'(x2,y2) and the 2nd sea anchor point D2Sea
Face anchor point theory latitude and longitude coordinates D2(x2k,y2k) the degree of deviation whether within the set range, if, directly execution step
4.6；If it was not then being modified to the position of the magnetic survey system, the 2nd sea anchor point D is caused it to move to2Reason
By latitude and longitude coordinates D2(x2k,y2k) position, then execute step 4.6 again；
Step 4.6, then, the magnetic survey system carry out in the same way the 2nd dive, hovering and the 2nd time
It floats, measures and store the 2nd measuring point P2Undersea majority according to earth magnetism parameter；So constantly recycle, it is last until completing this survey line
It after measurement of the undersea majority of one measuring point according to earth magnetism parameter, then turns back and next survey line is measured, until completing to plan
Sea area earth magnetism parameter measurement task；
Step 5, for every survey line, the 1st measuring point P is respectively obtained1, the 2nd measuring point P2..., the n-th measuring point PnCorresponding undersea
Majority is according to earth magnetism parameter value；
Assuming that for arbitrary i-th measuring point Pi, undersea majority includes: F according to earth magnetism parameter valuei、Xi、Yi、Zi、ψi、θi、Wherein, Fi、Xi、Yi、ZiRespectively the i-th measuring point PiScalar geomagnetic total intensity observation, earth's magnetic field X to vector component,
Magnetic field Y-direction vector component and earth's magnetic field Z-direction vector component；ψi、θi、Respectively the i-th measuring point PiInstrument space coordinate system under
Pitch angle, angle of oscillation and side corner；
Then the validity of this survey line data is verified in the following ways:
Step 5.1, for arbitrary i-th measuring point Pi, using following formula calculating magnetic field deviation δi:
Wherein: PiTotal intensity value is synthesized to export orthogonal three-component magnetic field value by vector magnetic probe；
Step 5.2, therefore, for n measuring point above a survey line, n magnetic field deviation is obtained；To the n
Magnetic field deviation is calculated using the following equation survey line System level gray correlation s:
Wherein, δ0It is poor to measure preceding vector three-component fluxgate magnetic core modular system；
Then, judge whether the survey line System level gray correlation s is less than setting threshold values, if it is less, showing that this survey line is corresponding
Survey line data be valid data, then execute step 6；Otherwise, the survey line data for giving up this survey line, repeat measurement；
Step 6, for the arbitrary i-th measuring point P of survey linei, using following formula, by the earth's magnetic field three under instrument space coordinate system
Earth's magnetic field three-component value under component value reduction to earth magnetism space coordinates:
Wherein, Bxi、Byi、BziEarth's magnetic field X respectively under earth magnetism space coordinates is to, Y-direction and Z-direction component value；
Step 7, therefore, for needing to carry out the sea area of magnetic survey, multiple measuring points under same depth are obtained, often
A measuring point, which measures, obtains earth's magnetic field X under scalar geomagnetic total intensity observation, earth magnetism space coordinates to, Y-direction and Z-direction component
Value；Complete magnetic survey.
Preferably, after step 7, further includes:
Step 8, the magnetic survey parameter obtained according to measurement, draws the earth magnetism sea chart of sea area.
A kind of backdeeps convected curvilinear coordinate system and method provided by the invention has the advantage that
Backdeeps convected curvilinear coordinate system and method provided by the invention, carrying small low-consumption geomagnetic total field,
The multiple sensors such as magnetic tricomponent and temperature, depth, magnetic survey system are directly deep into the specific measuring point of marine bottom, thus
Geomagnetic parameter can be accurately measured, in addition, due to realizing backdeeps for new flow formula deep sea geomagnetic field survey system
It is very small to have the advantages that the marine environment such as the at low cost, typhoon of human input influence measurement result for unmanned convected curvilinear coordinate.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of backdeeps convected curvilinear coordinate system provided by the invention；
Fig. 2 is the three phases schematic diagram of backdeeps convected curvilinear coordinate method provided by the invention；
Fig. 3 is the layout drawing of multiple surveys line of backdeeps convected curvilinear coordinate method provided by the invention；
Fig. 4 is measuring point distribution map on the single survey line of backdeeps convected curvilinear coordinate method provided by the invention；
Fig. 5 is the attitude angle schematic diagram of backdeeps convected curvilinear coordinate method provided by the invention；
Fig. 6 is the flow diagram of backdeeps convected curvilinear coordinate method provided by the invention.
Specific embodiment
In order to which the technical problems, technical solutions and beneficial effects solved by the present invention is more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein only to
It explains the present invention, is not intended to limit the present invention.
The present invention provides a kind of backdeeps convected curvilinear coordinate system and method, belongs to deep-sea geophysical exploration neck
Marine geomagnetic background field measurement, the research of deep-sea geophysical field, resource exploration and magnetic method navigation may be implemented in domain, especially can be real
Now the earth magnetism in deep-sea sea area is continuously measured.
Specifically, backdeeps convected curvilinear coordinate system provided by the invention, carrying small low-consumption geomagnetic total field,
The multiple sensors such as magnetic tricomponent and temperature, depth, magnetic survey system are directly deep into the specific measuring point of marine bottom, thus
Geomagnetic parameter can be accurately measured, in addition, due to realizing backdeeps for new flow formula deep sea geomagnetic field survey system
It is very small to have the advantages that the marine environment such as the at low cost, typhoon of human input influence measurement result for unmanned convected curvilinear coordinate.
With reference to Fig. 1, the left and right sides installation of backdeeps convected curvilinear coordinate system, including body 1, the body 1 can
The horizontal tail 2 of rotation；The tail portion of the body 1 is installed by swingable empennage 3；The rear end installation propeller 4 of the body 1；Institute
The inside for stating body 1 is separated to form five cabins by support plate, by direction from front to back, be followed successively by front deck, the first middle deck,
Second middle deck, third middle deck and deck store；The front deck, first middle deck, second middle deck, the third middle deck and described
It is logical that buoyancy unit, power unit, control and posture control unit, measurement sensor unit and satellite positioning are respectively carried in deck store
Interrogate unit；
Wherein, the buoyancy unit is used to realize measuring system rising, hovering and dive control by control water pump plumbing
System；The power unit mainly includes battery compartment and bunker, is used for the buoyancy unit, the control and gesture stability list
First, the described measurement sensor unit and the satellite positioning communication unit provide continuation of the journey for a long time and guarantee；The control and appearance
State control unit realizes the tune of measuring system angle of elevation and dive angle for adjusting the angle for controlling the horizontal tail 2
It is whole；The measurement sensor unit, including scalar geomagnetic total field probe, vector three-component fluxgate magnetic core, temperature sensor, depth
Sensor and attitude-measuring sensor are spent, realizes undersea majority according to parameter composite measurement；The satellite positioning communication unit, for sea
Thing and day lead to satellite positioning communication unit, carry GPS and big-dipper satellite locating module, for floating to sea when measuring system
When, it realizes the real-time positioning of measuring system and carries out telecommunication with remote server.
Body 1 has magnetic material and electronic original part using the ocean aluminium material or titanium alloy material of weak magnetic
The distance of effect avoids or magnetic screen processing (scribbling sketch alloy package).
When carrying out backdeeps convected curvilinear coordinate, the present invention can directly be deep into the earth magnetism of backdeeps by building
Measuring system is realized and is measured the geomagnetic parameter of specific position measuring point.During the method for the present invention is realized, key needs to solve
The problem of are as follows: since satellite positioning signal is not present in backdeeps when magnetic survey system is deep into backdeeps, because
This, can not directly obtain the geographical position coordinates of some measuring point.So magnetic survey system is deep into some measuring point and measures
Practical point position and reason when to corresponding geomagnetic parameter, when how effectively to identify magnetic survey systematic survey geomagnetic parameter
It is the key that solve the problems, such as this by the deviation of point position.That is: if the deviation of practical point position and theoretical point position
It is smaller, it may be considered that the geomagnetic parameter that practical point position measurement obtains is effective parameter；, whereas if deviation is larger,
It then needs to correct or give up in time, can guarantee that finally obtained geomagnetic parameter is the geomagnetic parameter of ideal position.And this hair
It is bright effectively to solve this technical problem.
With reference to Fig. 6, the present invention provides a kind of measurement method of backdeeps convected curvilinear coordinate system, including following step
It is rapid:
Step 1, remote server obtains magnetic survey initial parameter value；Wherein, the magnetic survey initial parameter value packet
It includes: needing to carry out four vertex latitude and longitude coordinates values on the sea area sea of magnetic survey, measuring point depth value, on same survey line
The distance values of measuring point and it is close to Duplication to survey line；The sea area sea shape that four vertex surround is rectangle；
That is, in present invention, it is desirable to measure in some specific sea area, the geomagnetic parameter of the different measuring points of same depth, this
One measurement result is essential data for drawing earth magnetism sea chart.
Step 2, the remote server measures route planning according to the magnetic survey initial parameter value, is needed
Carry out the survey line quantity of magnetic survey and the measurement track of every survey line；Wherein, the measurement track is positioned by sea
Point connects the broken line to be formed with measuring point, it is assumed that certain survey line plans n measuring point altogether, then: the 1st sea anchor point D1, the 1st measuring point P1、
2nd sea anchor point D2, the 2nd measuring point P2, the 3rd sea anchor point D3..., the n-th measuring point Pn, the (n+1)th sea anchor point Dn+1Successively
It is end to end, form the survey line of broken line form；Also, for arbitrary i-th measuring point Pi, i=1,2 ..., n, the i-th measuring point
PiWith the i-th sea anchor point DiThe distance of line is L1, the i-th measuring point PiWith i+1 sea anchor point Dn+1The distance of line is L2,
L1=L2；For the measurement track, the 1st sea anchor point D1To the 1st measuring point P1Line be the 1st dive track；1st surveys
Point P1To the 2nd sea anchor point D2Line be the 1st floating track；2nd sea anchor point D2To the 2nd measuring point P2Line be
2nd dive track；2nd measuring point P2To the 3rd sea anchor point D3Line be the 2nd floating track；The rest may be inferred, in formation
The path of floating track and dive track alternant；
With reference to Fig. 4, for the trajectory diagram for a survey line being planned for, in Fig. 4, P1,P2,…,P8This 8 measuring points are to need
Carry out the measuring point positioned at same depth of geomagnetic parameter measurement.D1,D2,…,D9For 9 sea anchor points, also, in Fig. 4,
Each triangle is isosceles triangle.That is: triangle D1P1D2For isosceles triangle, triangle D2P2D3For isosceles triangle.
The remote server obtains the measuring point theory longitude and latitude of each measuring point according to the measurement track of survey line described in every
The anchor point theory latitude and longitude coordinates of coordinate and each sea anchor point, it may be assumed that for arbitrary i-th measuring point Pi, measuring point reason
By latitude and longitude coordinates are as follows: Pi(xi0,yi0), for arbitrary jth sea anchor point Dj, j=1,2 ..., n+1, sea positioning
The theoretical latitude and longitude coordinates of point are as follows: Dj(xjk,yjk)；Wherein, xi0And yi0Respectively the i-th measuring point PiTheoretical longitude coordinate and theory
Latitude coordinate；xjkAnd yjkRespectively jth sea anchor point DjTheoretical longitude coordinate and theoretical latitude coordinate；
Step 3, for survey line described in every, it includes the floating track it is parallel, therefore, the remote server
The 1st control model to the magnetic survey system is obtained according to the floating track；For example, according to measuring point and sea anchor point
The angle and length for connecting side, obtain the plumbing rate of water pump and the attitude angle control mode of horizontal tail, press to realize
Setting path floats.
For survey line described in every, float downward that track is parallel, and therefore, the remote server is according to institute it includes described in
It states and floats downward track and obtain the 2nd control model to the magnetic survey system；For example, connecting side with sea anchor point according to measuring point
Angle and length, obtain the plumbing rate of water pump and the attitude angle control mode of horizontal tail, thus realize by setting road
Line is floated downward.
In addition, the remote server according to measurement demand, obtains the 3rd control model to the magnetic survey system；
3rd control model is used to carry out Hovering control to the magnetic survey system；For example, according to measuring point depth, when dive is arrived
When set depth, stop water inlet, horizontal tail is leveled, realizes hovering measurement.
Three kinds of control models are preset, it can be achieved that automatic control to the dive of magnetic survey system, hovering and floating-upward process
System.
Step 4, successively right according to the measurement route planning when carrying out actual backdeeps convected curvilinear coordinate
The measuring point of each survey line carries out ground magnetic survey:
Measurement method can be described generally as:
The device first on sea by satellite, completes the positioning and measurement route planning of initial measuring point in the measurements,
Then it is arranged according to the distance of measuring point, calculates the plumbing rate of water pump and the attitude angle of horizontal tail, starts dive operation,
When depth transducer measurement reaches and fathoms, stop water inlet, horizontal tail is leveled, hovering measures, at this time data collector
Start to synchronize acquisition to the data such as geomagnetic total field probe, three-component fluxgate magnetic core, temperature, depth and posture.Sampling one
After the section time, according to path planning, the plumbing rate of water pump and the attitude angle of horizontal tail is adjusted, begins to ramp up operation, closely
Satellite communication is begun through when sea, carries out device positioning and data communication.It measures repeatedly, is planned according to survey line and realize survey
The backdeeps earth magnetism in area continuously measures.
Specific step is as follows:
Step 4.1, when the measuring point to certain survey line carries out magnetic survey, the magnetic survey system motion to initial bit
Set D1', and currently practical latitude and longitude coordinates D is sent to the remote server in real time by satellite positioning communication unit1'(x1,
y1)；
Step 4.2, the remote server judges initial position D1' corresponding practical latitude and longitude coordinates D1'(x1,y1) be
It is no to be equal to the corresponding 1st sea anchor point D of the survey line1Sea anchor point theory latitude and longitude coordinates D1(x1k,y1k)；If differ
In being then adjusted to the initial position of the magnetic survey system, until meeting required precision；If be equal to, step is executed
Rapid 4.3；
Step 4.3, the remote server controls the magnetic survey system according to the 2nd control model,
It is set to carry out the 1st dive；Also, during the magnetic survey system carries out the 1st dive, carried by itself
When depth transducer real-time detection own depth, when reaching the depth of setting, the magnetic survey system dive is represented to the 1st
Measuring point P1Position；In this step, in principle, by the setting to the 2nd control model, can directly it make under magnetic survey system
It dives to required depth.But in order to avoid systematic error etc. influences, so, by the depth of depth transducer real-time detection carry out into
One step is examined, and guarantees the dive of magnetic survey system to required depth.
Then, the remote server controls the magnetic survey system according to the 3rd control model, makes institute
Magnetic survey system is stated in the 1st measuring point P1Hover predetermined time period；Also, during magnetic survey system hovering,
Start scalar geomagnetic total field probe, vector three-component fluxgate magnetic core and attitude-measuring sensor, it is total by the scalar earth magnetism
Field probe, the vector three-component fluxgate magnetic core and the attitude-measuring sensor realize that undersea majority is comprehensive according to earth magnetism parameter
Measurement is closed, and is stored in storage equipment；
Wherein, it is popped one's head in by the scalar geomagnetic total field, measurement and the 1st measuring point P1Corresponding scalar geomagnetic total intensity observation
Value；By the vector three-component fluxgate magnetic core, measurement and the 1st measuring point P1Corresponding vector earth's magnetic field three-component observation,
That is: earth's magnetic field X is to vector component, earth's magnetic field Y-direction vector component and earth's magnetic field Z-direction vector component；It is passed by the attitude measurement
Sensor, measurement and the 1st measuring point P1Pitch angle ψ, angle of oscillation θ and side corner under corresponding instrument space coordinate system
Step 4.4, when the time of hovering reaching setting value, the remote server is according to the 1st control model to institute
It states magnetic survey system to be controlled, it is made to carry out the 1st floating；
Step 4.5, when the magnetic survey system floats to sea, position D2', then, pass through the satellite
Orientation and communication unit sends D to the remote server2' practical latitude and longitude coordinates D2'(x2,y2)；
The remote server judges its D2' practical latitude and longitude coordinates D2'(x2,y2) and the 2nd sea anchor point D2Sea
Face anchor point theory latitude and longitude coordinates D2(x2k,y2k) the degree of deviation whether within the set range, if showing a preceding dive
It is to carry out according to the programme path of setting with floating-upward process, so directly executing step 4.6；If not, in order to avoid accidentally
Difference is transmitted to dive next time and floating-upward process, so, the position of the magnetic survey system is modified, is caused it to move to
2nd sea anchor point D2Theoretical latitude and longitude coordinates D2(x2k,y2k) position, then execute step 4.6 again；
Step 4.6, then, the magnetic survey system carry out in the same way the 2nd dive, hovering and the 2nd time
It floats, measures and store the 2nd measuring point P2Undersea majority according to earth magnetism parameter；So constantly recycle, it is last until completing this survey line
It after measurement of the undersea majority of one measuring point according to earth magnetism parameter, then turns back and next survey line is measured, until completing to plan
Sea area earth magnetism parameter measurement task；
Step 5, for every survey line, the 1st measuring point P is respectively obtained1, the 2nd measuring point P2..., the n-th measuring point PnCorresponding undersea
Majority is according to earth magnetism parameter value；
Assuming that for arbitrary i-th measuring point Pi, undersea majority includes: F according to earth magnetism parameter valuei、Xi、Yi、Zi、ψi、θi、Wherein, Fi、Xi、Yi、ZiRespectively the i-th measuring point PiScalar geomagnetic total intensity observation, earth's magnetic field X to vector component,
Magnetic field Y-direction vector component and earth's magnetic field Z-direction vector component；ψi、θi、Respectively the i-th measuring point PiInstrument space coordinate system under
Pitch angle, angle of oscillation and side corner；Using the high accuracy gyroscope and inertial navigation system of mechanism itself, acquisition device moves pitching
Angle, angle of oscillation and side corner.
Then the validity of this survey line data is verified in the following ways:
Step 5.1, for arbitrary i-th measuring point Pi, using following formula calculating magnetic field deviation δi:
Wherein: PiTotal intensity value is synthesized to export orthogonal three-component magnetic field value by vector magnetic probe；
Specifically, measuring system carries two class magnetic field probes, respectively scalar geomagnetic total field simultaneously in the present invention
Probe, vector three-component fluxgate magnetic core；If two magnetic probe work is normal and performance is stablized, δ should be a steady state value.
The scalar geomagnetic total field probe measurement Geomagnetic Total Field that measurement sensor unit carries, the measurement of vector three-component fluxgate magnetic core
Earth's magnetic field north and south, thing are both horizontally and vertically.Because the total Field probe of scalar has certain requirement to observing environment, especially
Present position magnetic gradient it is larger or turn to difference it is excessive when will cause instrument imbalance failure state, instrument cisco unity malfunction, and
Vector magnetic probe can directly measure the projection components data of earth's magnetic field orthogonal three axis under instrument coordinates system.So using scalar
With the observed pattern of the double magnetic probes of vector, multi -components earth's magnetic field observation can be obtained simultaneously, and two magnetic probes are marked mutually
It is fixed, improve the q&r of observation data.
Step 5.2, therefore, for n measuring point above a survey line, n magnetic field deviation is obtained；To the n
Magnetic field deviation is calculated using the following equation survey line System level gray correlation s:
Wherein, δ0It is poor to measure preceding vector three-component fluxgate magnetic core modular system；
Then, judge whether the survey line System level gray correlation s is less than setting threshold values, if it is less, showing that this survey line is corresponding
Survey line data be valid data, then execute step 6；Otherwise, the survey line data for giving up this survey line, repeat measurement；
By such detection mode, measurement data is corrected in time, invalid data is given up in time, to guarantee most
The magnetic field data obtained eventually is effectively usable magnetic patch data.
Step 6, for the arbitrary i-th measuring point P of survey linei, using following formula, by the earth's magnetic field three under instrument space coordinate system
Earth's magnetic field three-component value under component value reduction to earth magnetism space coordinates:
Wherein, Bxi、Byi、BziEarth's magnetic field X respectively under earth magnetism space coordinates is to, Y-direction and Z-direction component value；
Using the high accuracy gyroscope and inertial navigation system of mechanism itself, acquisition device athletic posture angle is specifically divided into
Pitch angleAngle of oscillation θ, side cornerIt, can be by instrument space coordinate reduction to earth magnetism space coordinate according to rotation formula
System.
Step 7, therefore, for needing to carry out the sea area of magnetic survey, multiple measuring points under same depth are obtained, often
A measuring point, which measures, obtains earth's magnetic field X under scalar geomagnetic total intensity observation, earth magnetism space coordinates to, Y-direction and Z-direction component
Value；Complete magnetic survey.
After step 7, further includes:
Step 8, the magnetic survey parameter obtained according to measurement, draws the earth magnetism sea chart of sea area.
Backdeeps convected curvilinear coordinate system and method provided by the invention, carrying small low-consumption geomagnetic total field,
The multiple sensors such as magnetic tricomponent and temperature, depth, magnetic survey system are directly deep into the specific measuring point of marine bottom, thus
Geomagnetic parameter can be accurately measured, in addition, due to realizing backdeeps for new flow formula deep sea geomagnetic field survey system
It is very small to have the advantages that the marine environment such as the at low cost, typhoon of human input influence measurement result for unmanned convected curvilinear coordinate.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
Depending on protection scope of the present invention.
Claims (5)
1. a kind of backdeeps convected curvilinear coordinate system, which is characterized in that including body (1), the left and right two of the body (1)
Side is installed by rotatable horizontal tail (2)；The tail portion of the body (1) is installed by swingable empennage (3)；After the body (1)
It holds installation propeller (4)；The inside of the body (1) is separated to form five cabins by support plate, presses direction from front to back,
It is followed successively by front deck, the first middle deck, the second middle deck, third middle deck and deck store；The front deck, first middle deck, in described second
Buoyancy unit, power unit, control and posture control unit are respectively carried in cabin, the third middle deck and the deck store, measurement passes
Sensor cell and satellite positioning communication unit；
Wherein, the buoyancy unit is used to realize measuring system rising, hovering and dive control by control water pump plumbing；
The power unit, for the buoyancy unit, it is described control and posture control unit, the measurement sensor unit and
The satellite positioning communication unit provides continuation of the journey for a long time and guarantees；The control and posture control unit, for adjusting control institute
The angle of horizontal tail (2) is stated, realizes the adjustment of measuring system angle of elevation and dive angle；The measurement sensor unit, packet
Include scalar geomagnetic total field probe, vector three-component fluxgate magnetic core, temperature sensor, depth transducer and attitude measurement sensing
Device realizes undersea majority according to parameter composite measurement；The satellite positioning communication unit, for floating to sea when measuring system
When, it realizes the real-time positioning of measuring system and carries out telecommunication with remote server.
2. a kind of backdeeps convected curvilinear coordinate system according to claim 1, which is characterized in that the satellite positioning
Communication unit is that maritime affairs and day lead to satellite positioning communication unit, carries GPS and big-dipper satellite locating module.
3. a kind of backdeeps convected curvilinear coordinate system according to claim 1, which is characterized in that the body (1)
Using the ocean aluminium material or titanium alloy material of weak magnetic.
4. a kind of measurement method of the described in any item backdeeps convected curvilinear coordinate systems of claim 1-3, feature exist
In, comprising the following steps:
Step 1, remote server obtains magnetic survey initial parameter value；Wherein, the magnetic survey initial parameter value includes: to need
Carry out four vertex latitude and longitude coordinates values on the sea area sea of magnetic survey, measuring point depth value, measuring point on same survey line
Distance values and be close to Duplication to survey line；The sea area sea shape that four vertex surround is rectangle；
Step 2, the remote server measures route planning according to the magnetic survey initial parameter value, obtain needing into
The measurement track of the survey line quantity of row magnetic survey and every survey line；Wherein, the measurement track be by sea anchor point and
Measuring point connects the broken line to be formed, it is assumed that certain survey line plans n measuring point altogether, then: the 1st sea anchor point D1, the 1st measuring point P1, the 2nd
Sea anchor point D2, the 2nd measuring point P2, the 3rd sea anchor point D3..., the n-th measuring point Pn, the (n+1)th sea anchor point Dn+1Successively head and the tail
Connect, forms the survey line of broken line form；Also, for arbitrary i-th measuring point Pi, i=1,2 ..., n, the i-th measuring point PiWith
I-th sea anchor point DiThe distance of line is L1, the i-th measuring point PiWith i+1 sea anchor point Dn+1The distance of line is L2, L1=
L2；For the measurement track, the 1st sea anchor point D1To the 1st measuring point P1Line be the 1st dive track；1st measuring point P1
To the 2nd sea anchor point D2Line be the 1st floating track；2nd sea anchor point D2To the 2nd measuring point P2Line be the 2nd time
Dive track；2nd measuring point P2To the 3rd sea anchor point D3Line be the 2nd floating track；The rest may be inferred, forms floating track
With the path of dive track alternant；
The remote server obtains the measuring point theory latitude and longitude coordinates of each measuring point according to the measurement track of survey line described in every
And the anchor point theory latitude and longitude coordinates of each sea anchor point, it may be assumed that for arbitrary i-th measuring point Pi, measuring point theory warp
Latitude coordinate are as follows: Pi(xi0,yi0), for arbitrary jth sea anchor point Dj, j=1,2 ..., n+1, sea anchor point reason
By latitude and longitude coordinates are as follows: Dj(xjk,yjk)；Wherein, xi0And yi0Respectively the i-th measuring point PiTheoretical longitude coordinate and theoretical latitude
Coordinate；xjkAnd yjkRespectively jth sea anchor point DjTheoretical longitude coordinate and theoretical latitude coordinate；
Step 3, for survey line described in every, it includes the floating track it is parallel, therefore, the remote server according to
The floating track obtains the 1st control model to the magnetic survey system；
For survey line described in every, it is parallel to float downward track it includes described in, and therefore, the remote server is according under described
Floating track obtains the 2nd control model to the magnetic survey system；
In addition, the remote server according to measurement demand, obtains the 3rd control model to the magnetic survey system；It is described
3rd control model is used to carry out Hovering control to the magnetic survey system；
Step 4, when carrying out actual backdeeps convected curvilinear coordinate, according to the measurement route planning, successively to each item
The measuring point of survey line carries out magnetic survey, measurement method are as follows:
Step 4.1, when the measuring point to certain survey line carries out magnetic survey, the magnetic survey system motion to initial position
D1', and currently practical latitude and longitude coordinates D is sent to the remote server in real time by satellite positioning communication unit1'(x1,
y1)；
Step 4.2, the remote server judges initial position D1' corresponding practical latitude and longitude coordinates D1'(x1,y1) whether be equal to
The corresponding 1st sea anchor point D of the survey line1Sea anchor point theory latitude and longitude coordinates D1(x1k,y1k)；If it is not, then
The initial position of the magnetic survey system is adjusted, until meeting required precision；If be equal to, 4.3 are thened follow the steps；
Step 4.3, the remote server controls the magnetic survey system according to the 2nd control model, makes it
Carry out the 1st dive；Also, during the magnetic survey system carries out the 1st dive, pass through the depth of itself carrying
When sensor real-time detection own depth, when reaching the depth of setting, the magnetic survey system dive is represented to the 1st measuring point
P1Position；
Then, the remote server controls the magnetic survey system according to the 3rd control model, makes describedly
Magnetic measurement system is in the 1st measuring point P1Hover predetermined time period；Also, during magnetic survey system hovering, starting
Scalar geomagnetic total field probe, vector three-component fluxgate magnetic core and attitude-measuring sensor, are visited by the scalar geomagnetic total field
Head, the vector three-component fluxgate magnetic core and the attitude-measuring sensor realize that undersea majority is surveyed according to earth magnetism parameter is comprehensive
Amount, and be stored in storage equipment；
Wherein, it is popped one's head in by the scalar geomagnetic total field, measurement and the 1st measuring point P1Corresponding scalar geomagnetic total intensity observation；It is logical
Cross the vector three-component fluxgate magnetic core, measurement and the 1st measuring point P1Corresponding vector earth's magnetic field three-component observation, it may be assumed that ground
Magnetic field X is to vector component, earth's magnetic field Y-direction vector component and earth's magnetic field Z-direction vector component；By the attitude-measuring sensor,
Measurement and the 1st measuring point P1Pitch angle ψ, angle of oscillation θ and side corner under corresponding instrument space coordinate system
Step 4.4, when the time of hovering reaching setting value, the remote server is according to the 1st control model to describedly
Magnetic measurement system is controlled, it is made to carry out the 1st floating；
Step 4.5, when the magnetic survey system floats to sea, position D2', it is then, logical by the satellite positioning
It interrogates unit and sends D to the remote server2' practical latitude and longitude coordinates D2'(x2,y2)；
The remote server judges its D2' practical latitude and longitude coordinates D2'(x2,y2) and the 2nd sea anchor point D2Sea it is fixed
Site theory latitude and longitude coordinates D2(x2k,y2k) the degree of deviation whether within the set range, if, directly execution step 4.6；
If it was not then being modified to the position of the magnetic survey system, the 2nd sea anchor point D is caused it to move to2Theoretical warp
Latitude coordinate D2(x2k,y2k) position, then execute step 4.6 again；
Step 4.6, then, the magnetic survey system carries out the 2nd dive, hovering and the 2nd floating in the same way,
It measures and stores the 2nd measuring point P2Undersea majority according to earth magnetism parameter；It so constantly recycles, until completing the last one survey of this survey line
After measurement of the undersea majority of point according to earth magnetism parameter, then turns back and next survey line is measured, the ocean until completing planning
The measurement task of region earth magnetism parameter；
Step 5, for every survey line, the 1st measuring point P is respectively obtained1, the 2nd measuring point P2..., the n-th measuring point PnCorresponding undersea is most
According to earth magnetism parameter value；
Assuming that for arbitrary i-th measuring point Pi, undersea majority includes: F according to earth magnetism parameter valuei、Xi、Yi、Zi、ψi、θi、Its
In, Fi、Xi、Yi、ZiRespectively the i-th measuring point PiScalar geomagnetic total intensity observation, earth's magnetic field X is to vector component, earth's magnetic field Y-direction
Vector component and earth's magnetic field Z-direction vector component；ψi、θi、Respectively the i-th measuring point PiInstrument space coordinate system under pitch angle,
Angle of oscillation and side corner；
Then the validity of this survey line data is verified in the following ways:
Step 5.1, for arbitrary i-th measuring point Pi, using following formula calculating magnetic field deviation δi:
Wherein: PiTotal intensity value is synthesized to export orthogonal three-component magnetic field value by vector magnetic probe；
Step 5.2, therefore, for n measuring point above a survey line, n magnetic field deviation is obtained；To the n magnetic field
Deviation is calculated using the following equation survey line System level gray correlation s:
Wherein, δ0It is poor to measure preceding vector three-component fluxgate magnetic core modular system；
Then, judge whether the survey line System level gray correlation s is less than setting threshold values, if it is less, showing the corresponding survey of this survey line
Line number evidence is valid data, then executes step 6；Otherwise, the survey line data for giving up this survey line, repeat measurement；
Step 6, for the arbitrary i-th measuring point P of survey linei, using following formula, by the earth's magnetic field three-component under instrument space coordinate system
The earth's magnetic field three-component value being worth under reduction to earth magnetism space coordinates:
Wherein, Bxi、Byi、BziEarth's magnetic field X respectively under earth magnetism space coordinates is to, Y-direction and Z-direction component value；
Step 7, therefore, for needing to carry out the sea area of magnetic survey, multiple measuring points under same depth, each survey are obtained
Point measurement obtains earth's magnetic field X under scalar geomagnetic total intensity observation, earth magnetism space coordinates to, Y-direction and Z-direction component value；
Complete magnetic survey.
5. the measurement method according to claim 4 based on backdeeps convected curvilinear coordinate system, which is characterized in that step
After rapid 7, further includes:
Step 8, the magnetic survey parameter obtained according to measurement, draws the earth magnetism sea chart of sea area.
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