CN111060974A - Magnetometer for detecting and positioning underwater ferromagnetic target - Google Patents

Magnetometer for detecting and positioning underwater ferromagnetic target Download PDF

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CN111060974A
CN111060974A CN201911350926.2A CN201911350926A CN111060974A CN 111060974 A CN111060974 A CN 111060974A CN 201911350926 A CN201911350926 A CN 201911350926A CN 111060974 A CN111060974 A CN 111060974A
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magnetic
magnetic anomaly
positioning
magnetometer
rotating mechanism
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CN111060974B (en
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邱景
欧津东
谢冬
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Chongqing University
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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
    • G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
    • G01V3/081—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices the magnetic field is produced by the objects or geological structures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G01R33/0206—Three-component magnetometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G01R33/022—Measuring gradient
    • 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
    • G01V3/15—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat
    • G01V3/165—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat operating with magnetic or electric fields produced or modified by the object or by the detecting device

Abstract

The invention relates to a magnetometer for detecting and positioning an underwater ferromagnetic target, belonging to the field of detection and positioning of a magnetic abnormal target. The magnetometer comprises two three-axis magnetic sensors, a rotating mechanism, a rotation control module, a data acquisition module, a data processing module, a data display module, a base, a waterproof gasket, a protective cover and the like. The device can utilize two triaxial magnetic sensors to detect magnetic anomaly, and after magnetic anomaly signals are detected, the two triaxial magnetic sensors are enabled to do circular motion around the rotating mechanism under the control of the rotating control module through the rotating mechanism, magnetic gradient tensor is completely acquired under the condition that only two magnetic sensors are available, and magnetic anomaly position resolving is carried out through the data processing module.

Description

Magnetometer for detecting and positioning underwater ferromagnetic target
Technical Field
The invention belongs to the field of detection and positioning of magnetic abnormal targets, and relates to a magnetometer for detecting and positioning an underwater ferromagnetic target.
Background
At present, the underwater detection mode mainly comprises various detection modes such as sonar detection, infrared detection, laser detection, magnetic field detection and the like, wherein the sonar detection technology is the most mature, but the reliability of sonar detection is continuously reduced along with the continuous development of stealth and noise reduction technology. Magnetic detection is a detection method developed earlier in various non-acoustic detection technologies, and underwater targets are mostly ferromagnetic targets and can be magnetized in a geomagnetic field so as to have certain magnetic characteristics. Thus, underwater target detection using magnetic detection is an effective method.
The orthogonal basis decomposition detection algorithm is a widely used magnetic anomaly detection algorithm.
And the magnetic anomaly detection platform performs magnetic anomaly detection along linear motion, a magnetic target generating a magnetic anomaly signal is equivalent to a magnetic dipole model, and the magnetic target is used as the origin of coordinates of a three-dimensional rectangular coordinate system to construct a magnetic target detection model.
The magnetic field generated by the magnetic dipole at the measuring platform is:
Figure BDA0002334646380000011
wherein mu0And the magnetic permeability is vacuum magnetic permeability, M is magnetic moment of a magnetic dipole, and r is distance between the magnetic dipole and the magnetic sensor.
Since the geomagnetic field T > B, the magnetic field S measured by the magnetic sensor is considered to be the projection of B on T:
Figure BDA0002334646380000012
if the detection device is composed of two magnetic sensors arranged along the movement direction of the detection platform, the magnetic field signal S detected by the sensors can be represented by 5 orthonormal bases which are perpendicular to each other:
Figure BDA0002334646380000013
wherein u isn(w), n is 1,2, 5 is a radical functionA number which satisfies the following properties:
Figure BDA0002334646380000014
Figure BDA0002334646380000015
the expression of the five orthogonal bases is as follows:
Figure BDA0002334646380000021
wherein f is1(w)、f2(w)、f3(w)、fV1(w)、fV2(w)、fV3(w) the following:
Figure BDA0002334646380000022
wherein
Figure BDA0002334646380000023
The following were used:
Figure BDA0002334646380000031
wherein
Figure BDA0002334646380000032
In general, h > l.
Wherein the distance between the two sensors is l, and R is set00For the distance of the first sensor from the magnetic dipole, set R0Distance of the second sensor to the magnetic dipole, h is R0The projection length on the straight line of the two sensors is s, which is the vertical distance from the magnetic dipole to the straight line of the two sensors.
F in the above formula1-F8The expression is as follows:
Figure BDA0002334646380000041
wherein I1-I4The expression is as follows:
Figure BDA0002334646380000042
wherein
Figure BDA0002334646380000043
The magnetic anomaly signal S is represented by an orthogonal basis:
Figure BDA0002334646380000044
carrying out orthogonal basis decomposition on the S to obtain an orthogonal basis decomposition coefficient:
Figure BDA0002334646380000045
wherein w-k＝-2.5，w+k＝2.5，Δw＝wi+1-wiIs the normalized spatial sampling distance, the energy-check function E is calculated as follows:
Figure BDA0002334646380000046
and decomposing the measured magnetic abnormal signal through an orthogonal basis function to finally obtain an energy test function, and judging the size of the obtained energy and the energy threshold value through setting the energy threshold value to detect the magnetic abnormal signal.
The determination of the position of the ferromagnetic target by using the magnetic anomaly signal is called magnetic anomaly positioning, and the magnetic anomaly positioning technology has unique advantages in the fields of anti-submarine positioning, mine clearance and the like. The main idea of the conventional magnetic anomaly positioning is to realize the positioning by measuring the total amount, components or gradient of a magnetic field under the condition of a magnetic dipole model, and the positioning method has the advantages of large calculated amount and poor real-time property. With the progress of magnetic measurement and magnetic sensor technology, the magnetic gradient tensor has become a hotspot of magnetic anomaly positioning research, and the measurement result can better reflect the characteristics of a magnetic target and overcome the influence of the geomagnetic field.
Magnetic gradient tensor magnetic field three-component Bx、By、BzThe spatial rate of change along three mutually orthogonal directions is a second-order tensor of magnetic potential, which contains 9 elements in total, gxx、gxy、gxz、gyx、gyy、gyz、gzx、gzy、gzzIt can be represented as a matrix G:
Figure BDA0002334646380000051
in a passive static field, both the divergence and the curl of the magnetic field vector are 0, i.e.:
Figure BDA0002334646380000056
Figure BDA0002334646380000052
from equations (13) and (14), only 5 of the 9 components of the magnetic gradient tensor are independent, and the magnetic gradient tensor can be expressed as:
Figure BDA0002334646380000053
Figure BDA0002334646380000054
representing a unit vector along r, then at (r + r)0dr) can be expressed as:
Figure BDA0002334646380000055
from the above formula, one can obtain:
Figure BDA0002334646380000061
B'-B＝Gr0dr (18)
Figure BDA0002334646380000062
and due to
Figure BDA0002334646380000063
Therefore, the following can be obtained:
r＝-3G-1B (20)
equation (20) is a single-point magnetic gradient localization algorithm, and the key to perform magnetic anomaly localization is to determine the magnetic gradient tensor array G.
According to retrieval, a planar magnetic gradient tensor measurement array and a measurement array of a magnetic gradient tensor of a regular hexahedral structure are generally adopted for positioning and measuring the magnetic anomaly at present. The magnetic gradient tensor measurement array of the planar type and the magnetic gradient tensor measurement array of the cubic structure are used in patent patents CN104535062A, CN108931241A and the like. The invention patent CN110308490A uses a rotation method to perform magnetic gradient tensor measurement, but it still uses a magnetic sensor layout of a regular hexahedron array. Both of the aforementioned measurement arrays require more magnetic sensors, thereby increasing the complexity of the measurement system, and the difference between individual sensors also increases the measurement error of the measurement system.
Disclosure of Invention
In view of the above, the present invention provides a magnetometer for detecting and positioning an underwater ferromagnetic target.
In order to achieve the purpose, the invention provides the following technical scheme:
a magnetometer for detecting and positioning an underwater ferromagnetic target comprises two three-axis magnetic sensors, a rotating mechanism, a rotation control module, a data acquisition module, a data processing module, a data display module, a base, a waterproof gasket and a protective cover;
the device comprises a rotating mechanism, a rotating control module, a data acquisition module, a data processing module, a data display module, a base, a waterproof gasket and a protective cover;
the magnetic sensor is arranged on the rotating mechanism, is still when in magnetic anomaly detection and does circular motion along with the rotating mechanism when in magnetic anomaly positioning; the rotation control module controls the movement speed and the movement angle of the rotation mechanism; the data acquisition module acquires measurement data of the magnetic sensor; the data processing module processes the acquired data and performs magnetic anomaly detection through a programmed built-in magnetic anomaly detection algorithm or performs magnetic anomaly positioning through a programmed built-in magnetic anomaly positioning algorithm; the data display module is used for displaying the information of the currently detected magnetic abnormal signal;
the detection process comprises the following steps: firstly, performing power-on self-check, resetting the rotating mechanism so as to carry out magnetic anomaly detection operation, then performing magnetic anomaly detection, displaying magnetic anomaly found in the display module when the magnetic anomaly is detected, if a magnetic anomaly signal is not detected, continuing the magnetic anomaly detection until the magnetic anomaly signal is found, positioning the magnetic anomaly signal after the magnetic anomaly signal is found, if the magnetic anomaly is not successfully positioned, continuing to circulate the above processes until the detection operation is finished.
Optionally, the rotating mechanism is formed by connecting a rotating table and two rotating straight plates through a screw and a nut, and the rotating mechanism is made of a non-magnetic material.
Optionally, the two three-axis magnetic sensors are symmetrically fixed on the rotating mechanism, and a magnetic gradient tensor is obtained through a rotating circular motion.
Optionally, the protective cover is in interference fit with the waterproof gasket, protects the internal structure of the device, and is made of transparent materials.
Optionally, waterproof gasket, base and safety cover interference fit, protection device inner structure, waterproof gasket use the rubber material preparation.
Optionally, the base is made of a non-magnetic material and is in interference fit with the waterproof gasket.
Optionally, the display module is mounted on the front surface of the base.
Optionally, the rotating mechanism is reset before magnetic anomaly detection, and is kept stationary during magnetic anomaly detection and performs circular motion during magnetic anomaly positioning.
The invention has the beneficial effects that:
(1) according to the invention, only two three-axis magnetic sensors are adopted, so that the complexity of the measuring system is greatly reduced;
(2) according to the invention, each measuring axis of the magnetic sensors is effectively utilized in a circular motion mode, and the number of the magnetic sensors in the system is reduced, so that errors caused by individual difference of the sensors are reduced;
additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
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For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic view of the apparatus of the present invention;
FIG. 2 is a flow chart of the operation of the present invention;
FIG. 3 is a schematic view of the rotation mechanism being reset;
figure 4 is a schematic diagram of an array of magnetic gradient tensors obtained by rotation.
In the figure: 1-protective cover, 2-rotating table, 3-rotating straight plate, 4-base flat plate, 5-waterproof gasket, 6-display module, 7-base, 8-first gyroscope, 9-three-axis magnetic sensor, and 10-second gyroscope.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
Referring to fig. 1 to 4, an embodiment of the present invention includes:
a magnetometer for detecting and positioning an underwater ferromagnetic target comprises two three-axis magnetic sensors, a rotating mechanism, a rotation control module, a data acquisition module, a data processing module, a data display module, a power supply, a base, a waterproof gasket, a protective cover and the like.
The three-axis magnetic sensor 9 can be a fluxgate magnetic sensor, is fixed on the rotating straight plate 3, is still when magnetic anomaly detection is carried out, and does circular motion along with the rotating mechanism when magnetic anomaly positioning is carried out;
the rotating module is composed of a rotating platform 2 and a rotating straight plate 3, the rotating straight plate and the rotating platform are matched through screws and screw holes and are both made of nonmagnetic materials, and the rotating module is driven by a motor;
the rotation control module is arranged in the base 7 and used for controlling the movement speed and the movement angle of the rotation mechanism;
the data acquisition module is arranged in the base 7 and used for acquiring the measurement data of the three-axis magnetic sensor;
the data processing module is arranged in the base 7 and is used for processing the acquired data and carrying out magnetic anomaly detection through a programmed built-in magnetic anomaly detection algorithm or carrying out magnetic anomaly positioning through a programmed built-in magnetic anomaly positioning algorithm;
the data display module 6 is arranged on the front surface of the base and matched with the base through a screw and a screw hole, and plays a role in displaying whether a magnetic abnormal signal is detected currently or not, and if the magnetic abnormal signal is detected, the relative position of the magnetic abnormal signal is given;
the protective cover 1 is made of glass materials, is matched with the waterproof gasket and protects the internal structure of the device;
the waterproof gasket 5 is made of rubber materials, is matched with the base and the protective cover, and protects the internal structure of the device;
the base 7 is made of non-magnetic materials and protects the internal structure of the device.
The base flat plate 4 is made of non-magnetic materials and protects the internal structure of the device.
The first gyroscope 8 is fixed on the base plate 4, the second gyroscope 10 is fixed on the rotary table, and the first gyroscope and the second gyroscope are used for initial resetting of the rotary mechanism.
As shown in fig. 2, the specific working process of the present invention is as follows: firstly, performing power-on self-check, resetting the rotating mechanism so as to carry out magnetic anomaly detection operation, then performing magnetic anomaly detection, displaying magnetic anomaly found in the display module when the magnetic anomaly is detected, if a magnetic anomaly signal is not detected, continuing the magnetic anomaly detection until the magnetic anomaly signal is found, positioning the magnetic anomaly signal after the magnetic anomaly signal is found, if the magnetic anomaly is not successfully positioned, continuing to circulate the above processes until the detection operation is finished.
Before the device detects, the rotating mechanism needs to be reset firstly so as to facilitate the magnetic anomaly detection.
The rotating platform 3 is provided with a second gyroscope 10, the base flat plate 4 is also provided with a first gyroscope 8 for resetting and calibrating the rotating mechanism, and when resetting is carried out, the rotating control module controls the rotating module to rotate until the direction of the second gyroscope 10 on the rotating mechanism is consistent with the direction of the first gyroscope 8 for resetting and calibrating.
As shown in fig. 3, at the time of reset, the rotating mechanism moves to the position of the dotted line in the figure under the control of the rotation control module.
The magnetic anomaly detection function of the invention is realized by two triaxial magnetic sensors and an orthogonal basis decomposition algorithm.
And (3) equating a ferromagnetic target generating the magnetic abnormal signal to be a magnetic dipole model, and establishing a space rectangular coordinate system by taking the magnetic dipole as an origin.
When magnetic anomaly detection is carried out, the scalar values of the magnetic field signals measured by the two three-axis magnetic sensors are respectively S1、S2Respectively calculating S by using the expressions (3) to (11)1、S2Energy E of1，E2。
When magnetic anomaly occurs, the value E obtained by measurement and calculation is obviously increased and passes through the set threshold value EmAnd comparing and judging whether a magnetic abnormal signal appears. When calculated E is greater than EmWhen the signal is less than E, the magnetic abnormal signal is foundmThen no magnetic anomaly signal is found.
The magnetic anomaly location is calculated using the measured magnetic gradient tensor.
The whole magnetic gradient tensor array can be obtained by only utilizing two three-axis magnetic sensors through rotary motion.
As shown in fig. 4, the distance between two three-axis magnetic sensors and the axis of the rotating mechanism is d, the three-axis magnetic sensors on the rotating mechanism are changed from state 1 to state 2 by rotation, and if the measuring platform is equipped with the device of the present invention to perform the measuring operation along the Y direction, the following operations are performed:
when the rotation mechanism is in state 1, the magnetic gradient tensor can be obtained:
Figure BDA0002334646380000101
when the rotation mechanism is in state 2, the magnetic gradient tensor can be obtained:
Figure BDA0002334646380000102
this makes it possible to obtain all the magnetic gradient tensors and calculate the position of the magnetic anomaly by the equation (20).
After the magnetic anomaly signal is found, the magnetic anomaly position is displayed through the display module 6.
The device is used for magnetic anomaly detection, can be fixed on a towing ship, and is used for detecting the dragging ship by the dragging of a measuring ship along linear motion.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.

Claims (8)

1. A magnetometer for detecting and positioning underwater ferromagnetic targets, which is characterized in that: the device comprises two three-axis magnetic sensors, a rotating mechanism, a rotation control module, a data acquisition module, a data processing module, a data display module, a base, a waterproof gasket and a protective cover;
the magnetic sensor is arranged on the rotating mechanism, is still when in magnetic anomaly detection and does circular motion along with the rotating mechanism when in magnetic anomaly positioning; the rotation control module controls the movement speed and the movement angle of the rotation mechanism; the data acquisition module acquires measurement data of the magnetic sensor; the data processing module processes the acquired data and performs magnetic anomaly detection through a programmed built-in magnetic anomaly detection algorithm or performs magnetic anomaly positioning through a programmed built-in magnetic anomaly positioning algorithm; the data display module is used for displaying the information of the currently detected magnetic abnormal signal;
the detection process comprises the following steps: firstly, performing power-on self-check, resetting the rotating mechanism so as to carry out magnetic anomaly detection operation, then performing magnetic anomaly detection, displaying magnetic anomaly found in the display module when the magnetic anomaly is detected, if a magnetic anomaly signal is not detected, continuing the magnetic anomaly detection until the magnetic anomaly signal is found, positioning the magnetic anomaly signal after the magnetic anomaly signal is found, if the magnetic anomaly is not successfully positioned, continuing to circulate the above processes until the detection operation is finished.
2. The magnetometer for detecting and positioning underwater ferromagnetic targets according to claim 1, wherein: the rotating mechanism is formed by connecting a rotating table and two rotating straight plates through screws and nuts, and is made of nonmagnetic materials.
3. The magnetometer for detecting and positioning underwater ferromagnetic targets according to claim 1, wherein: the two triaxial magnetic sensors are symmetrically fixed on the rotating mechanism, and magnetic gradient tensors are obtained through rotating circular motion.
4. The magnetometer for detecting and positioning underwater ferromagnetic targets according to claim 1, wherein: the safety cover and the waterproof gasket are in interference fit, the internal structure of the device is protected, and the safety cover is made of transparent materials.
5. The magnetometer for detecting and positioning underwater ferromagnetic targets according to claim 1, wherein: waterproof packing ring, base and safety cover interference fit, protection device inner structure, waterproof packing ring use the rubber material preparation.
6. The magnetometer for detecting and positioning underwater ferromagnetic targets according to claim 1, wherein: the base is made of non-magnetic materials and is in interference fit with the waterproof gasket.
7. The magnetometer for detecting and positioning underwater ferromagnetic targets according to claim 1, wherein: the display module is arranged on the front surface of the base.
8. The magnetometer for detecting and positioning underwater ferromagnetic targets according to claim 1, wherein: the rotating mechanism needs to be reset before magnetic anomaly detection is carried out, and the rotating mechanism is kept still during magnetic anomaly detection and does circular motion during magnetic anomaly positioning.
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