CN111290033A - A marine electromagnetic field signal acquisition system, device and marine environment observation system - Google Patents
A marine electromagnetic field signal acquisition system, device and marine environment observation system Download PDFInfo
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Abstract
Description
技术领域technical field
本发明属于海洋电磁探测技术领域，尤其涉及一种海洋电磁场信号采集系统、装置和海洋环境观测系统。The invention belongs to the technical field of marine electromagnetic detection, and in particular relates to a marine electromagnetic field signal acquisition system, a device and a marine environment observation system.
背景技术Background technique
目前，海洋环境观测是海洋综合管理的基础和重要组成部分，为海洋综合管理提供科学依据。海洋环境观测系统在海洋开发利用、环境保护、灾害预警、国防安全等方面发挥了巨大的作用。海洋环境观测系统按照空间位置分为空基、岸基和海基三类。海基海洋环境观测系统由浮标潜标、水面调查船、海底观测平台以及无人移动观测平台等构成。浮标、潜标和海底观测平台的观测位置固定，在大范围监测海洋环境时无法灵活移动；水面调查船灵活性强，但需要投入大量的人力操作，观测费用相对比较昂贵；无人移动观测平台是近期发展的新型海洋观测系统，具有使用方便、灵活、可遥控、可重复使用、监测范围大的特点。At present, marine environmental observation is the foundation and an important part of integrated marine management, providing a scientific basis for integrated marine management. The marine environment observation system has played a huge role in marine development and utilization, environmental protection, disaster warning, national defense and security. Marine environmental observation systems are divided into three categories: space-based, shore-based and sea-based according to their spatial locations. The sea-based marine environment observation system consists of buoys, surface survey vessels, seabed observation platforms and unmanned mobile observation platforms. The observation positions of buoys, submersibles and seabed observation platforms are fixed and cannot be moved flexibly when monitoring the marine environment in a large area; surface survey vessels are highly flexible, but require a lot of manpower to operate, and the observation cost is relatively expensive; unmanned mobile observation platforms It is a new type of ocean observation system developed recently. It is easy to use, flexible, remotely controllable, reusable, and has a large monitoring range.
目前，海洋环境探测应用方面，无人移动观测平台主要搭载有水下声学装置、水下光电装置。声学探测是长期以来探测水下目标最常用、最有效的方法，但由于水下目标声隐身性能的提高和水下声学环境的复杂性，单一的声探测手段的局限性越来越大；水下光电设备可实现水下目标的可视化探测，但海水对光有较强的吸收和散射作用，其水下探测距离不足几百米。At present, in terms of marine environment detection applications, unmanned mobile observation platforms are mainly equipped with underwater acoustic devices and underwater optoelectronic devices. Acoustic detection is the most common and effective method to detect underwater targets for a long time, but due to the improvement of the acoustic stealth performance of underwater targets and the complexity of the underwater acoustic environment, the limitations of a single acoustic detection method are increasing; The lower photoelectric equipment can realize the visual detection of underwater targets, but the seawater has a strong absorption and scattering effect on light, and the underwater detection distance is less than a few hundred meters.
海洋电磁法作为一种新兴的海洋探测方法，被广泛应用于海底资源勘测、海洋地质灾害监测等领域。与声学探测和光法探测相比，不仅能够解决声学探测的声隐身问题，还比光法探测有更大的探测广度。电磁法是通过探测海水、海底沉积物、探测目标体的电阻率差异、电场异常、磁场异常进行探测，包括电法、磁法和电磁法。目前，搭载于无人移动观测平台的海洋探测方面，已出现了一些电法探测系统和磁法探测系统。电法探测系统方面，美国爱达荷大学将水下电位测量法应用在自主式水下航行器(AUV)上，检测到了水面船只辐射的低频电场信号。美国Scripps研究所将电场探测装置搭载在AUV上，成功检测出海底热液的分布、硫化物矿藏的位置。磁法探测系统方面，美国佛罗里达大西洋大学提出了将磁场传感器搭载到海底声呐UUV上探测掩埋目标的设想。美国海军研究所(ONR)将研发的磁场实时跟踪梯度仪(RTG)搭载于蓝鲸AUV上，在南大西洋海域和墨西哥湾附近海域进行了数次试验，验证了磁法可应用于水下目标物的探测和定位。美国爱达荷大学研制了配备三轴磁通门传感器和数据采集仪的AUV系统，对运动舰船的磁性特征进行测量。但随着水下目标消磁技术的发展，单一的磁法探测同样面临着越来越大的局限性。As a new marine exploration method, marine electromagnetic method is widely used in seabed resource survey, marine geological disaster monitoring and other fields. Compared with acoustic detection and optical detection, it can not only solve the acoustic stealth problem of acoustic detection, but also has a larger detection breadth than optical detection. The electromagnetic method is to detect seawater, seabed sediments, detect the resistivity difference of the target body, electric field anomalies, magnetic field anomalies, including electrical methods, magnetic methods and electromagnetic methods. At present, some electrical detection systems and magnetic detection systems have appeared in the marine detection carried on unmanned mobile observation platforms. In terms of electrical detection system, the University of Idaho applied the underwater potential measurement method to the autonomous underwater vehicle (AUV), and detected the low-frequency electric field signal radiated by the surface vessel. The Scripps Research Institute of the United States mounted an electric field detection device on an AUV, and successfully detected the distribution of seafloor hydrothermal fluids and the location of sulfide minerals. In terms of magnetic detection system, Florida Atlantic University proposed the idea of carrying magnetic field sensors to submarine sonar UUVs to detect buried targets. The U.S. Naval Research Institute (ONR) carried the developed magnetic field real-time tracking gradiometer (RTG) on the blue whale AUV, and conducted several experiments in the South Atlantic waters and the waters near the Gulf of Mexico, verifying that the magnetic method can be applied to underwater targets object detection and localization. The University of Idaho has developed an AUV system equipped with three-axis fluxgate sensors and data acquisition instruments to measure the magnetic characteristics of moving ships. However, with the development of underwater target degaussing technology, single magnetic detection also faces more and more limitations.
综合采用电场、磁场信号探测的海底电磁采集站可探测海底几千米深度的油气储藏和地质结构，已广泛应用于海底油气资源勘探和海底地质构造研究。因此，依托于目前搭载于水下UUV、AUV的电法、磁法测量系统的研究基础，针对单一电法探测和磁法探测的局限性，本发明提出了一种搭载于移动平台的电法和磁法结合的海洋电磁场信号采集系统。系统包括电场信号采集单元、磁场信号采集单元、方位姿态信号采集单元、平台磁场信号测量单元和主控单元。系统可实现电场和磁场相结合的探测方式；可补偿移动平台运动产生的磁场和平台内部部件产生的磁场；可支持包括独立式磁场采集、张量式磁场采集、零磁张量式磁场采集的多种磁场测量方式。电场信号采集单元、磁场信号采集单元、方位姿态信号采集单元、平台磁场信号测量单元和主控单元均采用低噪声设计。可实现海洋环境微弱低频电场、磁场信号的采集，可用于海洋环境背景电磁场测量、海洋环境水下目标探测。The submarine electromagnetic acquisition station that comprehensively uses electric field and magnetic field signal detection can detect oil and gas reserves and geological structures at a depth of several kilometers, and has been widely used in submarine oil and gas resource exploration and submarine geological structure research. Therefore, relying on the research foundation of the current electrical and magnetic measurement systems mounted on underwater UUVs and AUVs, and aiming at the limitations of single electrical detection and magnetic detection, the present invention proposes an electrical method mounted on a mobile platform. The marine electromagnetic field signal acquisition system combined with the magnetic method. The system includes an electric field signal acquisition unit, a magnetic field signal acquisition unit, an azimuth and attitude signal acquisition unit, a platform magnetic field signal measurement unit and a main control unit. The system can realize the combined detection method of electric field and magnetic field; it can compensate the magnetic field generated by the movement of the mobile platform and the magnetic field generated by the internal components of the platform; it can support independent magnetic field acquisition, tensor magnetic field acquisition, and zero magnetic tensor magnetic field acquisition. A variety of magnetic field measurement methods. The electric field signal acquisition unit, the magnetic field signal acquisition unit, the azimuth and attitude signal acquisition unit, the platform magnetic field signal measurement unit and the main control unit are all designed with low noise. It can realize the collection of weak low-frequency electric field and magnetic field signals in the marine environment, and can be used for the measurement of the background electromagnetic field of the marine environment and the detection of underwater targets in the marine environment.
发明内容SUMMARY OF THE INVENTION
针对现有技术存在的问题，本发明提供了一种海洋电磁场信号采集系统、装置和海洋环境观测系统。Aiming at the problems existing in the prior art, the present invention provides a marine electromagnetic field signal acquisition system, a device and a marine environment observation system.
本发明是这样实现的，一种海洋电磁场信号采集系统，所述海洋电磁场信号采集系统设置有：The present invention is realized in this way, a marine electromagnetic field signal acquisition system, the marine electromagnetic field signal acquisition system is provided with:
电场信号采集单元，用于采集海洋环境电场信号；The electric field signal acquisition unit is used to collect the electric field signal of the marine environment;
磁场信号采集单元，用于采集海洋环境磁场信号；The magnetic field signal acquisition unit is used to collect the magnetic field signal of the marine environment;
方位姿态信号采集单元，用于采集移动平台的方位姿态信息；The azimuth and attitude signal acquisition unit is used to collect the azimuth and attitude information of the mobile platform;
平台磁场信号测量单元，用于测量移动平台的内部磁场信息；The platform magnetic field signal measurement unit is used to measure the internal magnetic field information of the mobile platform;
主控单元，用于系统参数配置、工作流程控制、采集数据处理存储、系统电源管理、系统与移动平台的信息交互。The main control unit is used for system parameter configuration, workflow control, acquisition data processing and storage, system power management, and information interaction between the system and the mobile platform.
进一步，所述磁场信号采集单元包括磁场传感器、磁场信号处理模块、模数转换模块、可控电流输出模块；Further, the magnetic field signal acquisition unit includes a magnetic field sensor, a magnetic field signal processing module, an analog-to-digital conversion module, and a controllable current output module;
磁场传感器，用于磁场信号的检测；Magnetic field sensor for detection of magnetic field signal;
磁场信号处理模块，采用低噪声放大电路，用于对磁场传感器输出的磁场信号进行低噪声放大处理；The magnetic field signal processing module adopts a low-noise amplifying circuit to perform low-noise amplifying processing on the magnetic field signal output by the magnetic field sensor;
模数转换模块，采用高精度模数转换器，用于放大后的磁场信号的同步高精度采集；The analog-to-digital conversion module adopts a high-precision analog-to-digital converter for synchronous and high-precision acquisition of the amplified magnetic field signal;
可控电流输出模块，采用高精度数模转换器和电压电流转换电路，用于连接球形零磁张量磁场传感器时的环境磁场补偿。The controllable current output module adopts a high-precision digital-to-analog converter and a voltage-to-current conversion circuit for environmental magnetic field compensation when connecting a spherical zero-magnetic tensor magnetic field sensor.
所述电场信号采集单元包括电场传感器、电场信号处理模块、模数转换模块；The electric field signal acquisition unit includes an electric field sensor, an electric field signal processing module, and an analog-to-digital conversion module;
电场传感器，用于电场信号的检测；Electric field sensor for detection of electric field signal;
电场信号处理模块，采用低噪声斩波调制放大电路，用于对电场传感器输出的电场信号进行低噪声放大处理；The electric field signal processing module adopts a low-noise chopper modulation and amplification circuit, which is used for low-noise amplifying processing of the electric field signal output by the electric field sensor;
模数转换模块，采用高精度模数转换器，用于放大后的电场信号的同步高精度采集。The analog-to-digital conversion module adopts a high-precision analog-to-digital converter for synchronous and high-precision acquisition of the amplified electric field signal.
所述方位姿态信号采集单元，采用高精度方位姿态传感器，用于采集的电磁场信息的矢量处理和移动平台运动产生磁场的补偿。The azimuth and attitude signal acquisition unit adopts a high-precision azimuth and attitude sensor, which is used for vector processing of the collected electromagnetic field information and compensation of the magnetic field generated by the movement of the mobile platform.
所述平台磁场信号测量单元，采用高精度磁场传感器、电流传感器，用于测量移动平台内部电池、动力驱动部件产生的磁场信息，用于移动平台内部部件产生磁场的补偿。The platform magnetic field signal measurement unit adopts a high-precision magnetic field sensor and a current sensor to measure the magnetic field information generated by the internal battery and power drive components of the mobile platform, and to compensate the magnetic field generated by the internal components of the mobile platform.
所述主控单元，包括微控制器、磁场信号采集单元接口、电场信号采集单元接口、方位姿态信号采集单元接口、平台磁场信号测量单元接口、数据存储模块、系统电源模块、信息交互模块；The main control unit includes a microcontroller, a magnetic field signal acquisition unit interface, an electric field signal acquisition unit interface, an azimuth and attitude signal acquisition unit interface, a platform magnetic field signal measurement unit interface, a data storage module, a system power supply module, and an information interaction module;
微控制器，用于系统管理和工作流程控制；Microcontrollers for system management and workflow control;
磁场信号采集单元接口、电场信号采集单元接口、方位姿态信号采集单元接口、平台磁场信号测量单元接口，用于与前述磁场信号采集单元、电场信号采集单元、方位姿态信号采集单元、平台磁场信号测量单元的接口；Magnetic field signal acquisition unit interface, electric field signal acquisition unit interface, azimuth and attitude signal acquisition unit interface, platform magnetic field signal measurement unit interface, used to measure the magnetic field signal acquisition unit, electric field signal acquisition unit, azimuth and attitude signal acquisition unit, platform magnetic field signal measurement unit the interface of the unit;
数据存储模块，用于数据存储；Data storage module for data storage;
系统电源模块，用于根据移动平台提供的电源产生主控单元、磁场信号采集单元、电场信号采集单元、方位姿态信号采集单元、平台磁场信号测量单元所需的各种电源；The system power module is used to generate various power sources required by the main control unit, the magnetic field signal acquisition unit, the electric field signal acquisition unit, the azimuth and attitude signal acquisition unit, and the platform magnetic field signal measurement unit according to the power provided by the mobile platform;
信息交互模块，与微控制器连接的多个串口，用于系统参数配置、与移动平台的信息交互。Information interaction module, multiple serial ports connected to the microcontroller, used for system parameter configuration and information interaction with the mobile platform.
进一步，所述磁场信号采集单元包括4路磁场传感器、磁场信号处理模块、模数转换模块和1路可控电流输出模块，可实现独立式磁场采集、张量式磁场采集和零磁张量式磁场采集；Further, the magnetic field signal acquisition unit includes 4 magnetic field sensors, a magnetic field signal processing module, an analog-to-digital conversion module and a controllable current output module, which can realize independent magnetic field acquisition, tensor magnetic field acquisition and zero magnetic tensor type. Magnetic field acquisition;
独立式磁场采集，4路磁场传感器、磁场信号处理模块、模数转换模块分别独立采集磁场信号，存储4路磁场信号；Independent magnetic field acquisition, 4-way magnetic field sensor, magnetic field signal processing module, and analog-to-digital conversion module independently collect magnetic field signals, and store 4-way magnetic field signals;
张量式磁场采集，4路磁场传感器、磁场信号处理模块、模数转换模块分别独立采集磁场信号，采集后其中3路磁场信号与剩余1路磁场信号进行差值处理，存储差值处理后的3路磁场信号；Tensor magnetic field acquisition, 4 magnetic field sensors, magnetic field signal processing module, and analog-to-digital conversion module independently collect magnetic field signals. After the acquisition, 3 magnetic field signals and the remaining 1 magnetic field signal are subjected to difference processing. 3-way magnetic field signal;
零磁张量式磁场采集，4路磁场传感器、磁场信号处理模块、模数转换模块分别独立采集磁场信号，其中1路磁场信号作为参考磁场信号，可控电流输出模块根据参考磁场信号进行零磁补偿线圈电流控制，使参考磁场信号趋近于零，存储3路磁场信号。Zero magnetic tensor type magnetic field acquisition, 4 magnetic field sensors, magnetic field signal processing module, and analog-to-digital conversion module separately collect magnetic field signals, of which 1 magnetic field signal is used as the reference magnetic field signal, and the controllable current output module performs zero magnetic field according to the reference magnetic field signal. The compensation coil current is controlled to make the reference magnetic field signal approach zero, and store 3-way magnetic field signals.
本发明的另一目的在于提供一种基于所述海洋电磁场信号采集系统的海洋电磁场信号采集装置，所述搭载于移动平台的海洋电磁场信号采集装置包括磁场传感器、电场传感器、磁场板、电场板和主控板。Another object of the present invention is to provide a marine electromagnetic field signal acquisition device based on the marine electromagnetic field signal acquisition system. The marine electromagnetic field signal acquisition device mounted on a mobile platform includes a magnetic field sensor, an electric field sensor, a magnetic field board, an electric field board and main control board.
磁场传感器通过磁场传感器接口连接磁场板，电场传感器通过电场传感器接口连接电场板，磁场板通过磁场板采集控制接口连接至主控板，电场板通过电场板采集控制接口连接至主控板，主控板为磁场板和电场板提供电源，主控板还连接方位姿态传感器、磁场测量模块、电流测量模块和移动平台。The magnetic field sensor is connected to the magnetic field board through the magnetic field sensor interface, the electric field sensor is connected to the electric field board through the electric field sensor interface, the magnetic field board is connected to the main control board through the magnetic field board acquisition control interface, and the electric field board is connected to the main control board through the electric field board acquisition control interface. The board provides power for the magnetic field board and the electric field board, and the main control board is also connected to the orientation and attitude sensor, the magnetic field measurement module, the current measurement module and the mobile platform.
进一步，所述的磁场传感器采用高精度三轴磁通门传感器；所述的电场传感器采用银/氯化银不极化电极。Further, the magnetic field sensor adopts a high-precision three-axis fluxgate sensor; the electric field sensor adopts silver/silver chloride non-polarized electrodes.
所述的磁场板包括磁场信号处理模块、模数转换模块、环境磁场补偿模块、磁场板采集控制接口、电源输入接口；The magnetic field board includes a magnetic field signal processing module, an analog-to-digital conversion module, an environmental magnetic field compensation module, a magnetic field board acquisition control interface, and a power input interface;
磁场信号处理模块，磁场传感器输出的磁场信号通过磁场传感器接口接入，经过低噪声比例放大/衰减电路处理，采用电压跟随电路实现与后续A/D转换电路的阻抗匹配；Magnetic field signal processing module, the magnetic field signal output by the magnetic field sensor is connected through the magnetic field sensor interface, processed by the low-noise proportional amplification/attenuation circuit, and the voltage follower circuit is used to achieve impedance matching with the subsequent A/D conversion circuit;
模数转换模块，用于12分量磁场信号的低噪声、高精度、同步采集，采用低噪声、24位、4通道同步A/D转换器级联实现；The analog-to-digital conversion module is used for low-noise, high-precision, and synchronous acquisition of 12-component magnetic field signals. It is realized by cascaded low-noise, 24-bit, 4-channel synchronous A/D converters;
环境磁场补偿模块，用于高精度的可控电流输出，采用低噪声16位D/A转换器、电压电流转换电路实现；The environmental magnetic field compensation module is used for high-precision controllable current output, which is realized by low-noise 16-bit D/A converter and voltage-current conversion circuit;
磁场板采集控制接口，用于与主控板的信号连接；The magnetic field board acquisition control interface is used for signal connection with the main control board;
电源输入接口，用于与主控板提供的电源连接。The power input interface is used to connect with the power provided by the main control board.
所述的电场板包括电场信号处理模块、数模转换模块、电场板采集控制接口、电源输入接口；The electric field plate includes an electric field signal processing module, a digital-to-analog conversion module, an electric field plate acquisition control interface, and a power input interface;
电场信号处理模块，电场传感器输出的电场信号通过电场传感器接口接入，经过低噪声程控增益放大电路处理，采用电压跟随实现与后续A/D转换电路的阻抗匹配；The electric field signal processing module, the electric field signal output by the electric field sensor is connected through the electric field sensor interface, processed by the low-noise programmable gain amplifier circuit, and the impedance matching with the subsequent A/D conversion circuit is realized by voltage following;
模数转换模块，用于2通道磁场信号的低噪声、高精度、同步采集，采用低噪声、24位、4通道同步A/D转换器实现；The analog-to-digital conversion module is used for low-noise, high-precision, and synchronous acquisition of 2-channel magnetic field signals. It is implemented by a low-noise, 24-bit, 4-channel synchronous A/D converter;
电场板采集控制接口，用于与主控板的信号连接；The electric field board acquisition control interface is used for signal connection with the main control board;
电源输入接口，用于与主控板提供的电源连接。The power input interface is used to connect with the power provided by the main control board.
所述的主控板包括微控制器、电场板采集控制接口、磁场板采集控制接口、方位姿态传感器接口、磁场测量接口、电流测量接口、数据存储与回收、系统电源管理、信息交互；The main control board includes a microcontroller, an electric field board acquisition control interface, a magnetic field board acquisition control interface, an orientation and attitude sensor interface, a magnetic field measurement interface, a current measurement interface, data storage and recovery, system power management, and information interaction;
微控制器，用于系统管理和工作流程控制，采用支持SOPC技术的FPGA实现；Microcontroller for system management and workflow control, implemented in FPGA supporting SOPC technology;
电场板采集控制接口，用于连接电场板；The electric field board acquisition control interface is used to connect the electric field board;
磁场板采集控制接口，用于连接磁场板；The magnetic field board acquisition control interface is used to connect the magnetic field board;
方位姿态传感器接口，用于连接方位姿态传感器，采用RS232接口的高精度高灵敏度方位姿态传感器；The azimuth and attitude sensor interface is used to connect the azimuth and attitude sensor, and adopts the high-precision and high-sensitivity azimuth and attitude sensor of the RS232 interface;
磁场测量接口，用于连接测量移动平台内部磁场信息的磁场测量模块，采用RS485串口连接；Magnetic field measurement interface, used to connect the magnetic field measurement module that measures the internal magnetic field information of the mobile platform, using RS485 serial port connection;
电流测量接口，用于连接测量移动平台内部磁场信息的电流测量模块，采用RS485串口连接；The current measurement interface is used to connect the current measurement module that measures the internal magnetic field information of the mobile platform, using RS485 serial port connection;
数据存储与回收，用于采集的电场数据、磁场数据、方位姿态数据、移动平台内部磁场测量数据、电流测量数据的存储和回收，数据存储采用CF卡，数据回收采用高速USB方式；Data storage and recovery, for the storage and recovery of collected electric field data, magnetic field data, azimuth and attitude data, internal magnetic field measurement data and current measurement data of the mobile platform, using CF card for data storage, and high-speed USB for data recovery;
系统电源管理，根据移动平台提供的电源，经过DC-DC变换和开关控制，为主控板、电场板、磁场板提供电源；System power management, according to the power provided by the mobile platform, through DC-DC conversion and switch control, to provide power for the main control board, electric field board, and magnetic field board;
信息交互，包括与移动平台之间的通讯串口、GPS授时串口，与上位PC机之间的参数配置串口。Information exchange, including the communication serial port with the mobile platform, the GPS timing serial port, and the parameter configuration serial port with the host PC.
本发明的另一目的在于提供所述海洋电磁场信号采集系统的搭载于水下滑翔机的海洋环境微弱电磁场信号采集应用，所述水下滑翔机由电场传感器、磁场传感器、电磁记录仪、驱动单元、供电电池、机体组成；Another object of the present invention is to provide an application of the marine electromagnetic field signal acquisition system for weak electromagnetic field signal acquisition in the marine environment mounted on an underwater glider, wherein the underwater glider is powered by an electric field sensor, a magnetic field sensor, an electromagnetic recorder, a drive unit, Battery, body composition;
驱动单元，用于实现滑翔机在滑翔过程中的俯仰和升降；The drive unit is used to realize the pitch and lift of the glider during the gliding process;
电场传感器，分别沿着水下滑翔机机身方向和侧翼方向布放，通过水密缆连接电磁记录仪，用于采集海洋环境中的微弱电场信号；The electric field sensors are placed along the fuselage and flanks of the underwater glider respectively, and are connected to the electromagnetic recorder through a watertight cable to collect weak electric field signals in the marine environment;
磁场传感器安装在水下滑翔机的机体承压舱内，用于采集海洋环境中的微弱磁场信号。The magnetic field sensor is installed in the body pressure chamber of the underwater glider to collect weak magnetic field signals in the marine environment.
综上所述，本发明的优点及积极效果为：本发明针对海洋环境电磁场观测、水下目标电磁探测需求，提出一种海洋电磁场信号采集系统和装置，可根据实际观测需求搭载于不同的移动平台上，实现海洋环境中微弱电磁场信号的采集、放大、存储、传输等功能，获得的电磁数据经过进一步处理和分析可以获得海洋背景电磁场、海洋动力参数、水下目标等信息。To sum up, the advantages and positive effects of the present invention are as follows: the present invention proposes a marine electromagnetic field signal acquisition system and device for the needs of marine environment electromagnetic field observation and underwater target electromagnetic detection, which can be mounted on different mobile devices according to actual observation needs. On the platform, the functions of collecting, amplifying, storing, and transmitting weak electromagnetic field signals in the marine environment are realized. The obtained electromagnetic data can be further processed and analyzed to obtain information such as marine background electromagnetic fields, marine dynamic parameters, and underwater targets.
与现有技术相比，本发明具有以下优势：Compared with the prior art, the present invention has the following advantages:
(1)与海底固定式海底电磁采集站相比，可实现更大范围的电磁探测，有效提高探测效率，可实现机动灵活的电磁探测；(1) Compared with the fixed submarine electromagnetic acquisition station, a wider range of electromagnetic detection can be achieved, the detection efficiency can be effectively improved, and flexible electromagnetic detection can be realized;
(2)与单一电法、磁法探测系统相比，可综合利用电场信号固有但信号较弱、磁场信号较强但可消除的信号特点，可以解决单一电法或者磁法探测依赖场源信息的问题，同时采用电法和磁法进行探测，可以去除场源效应，实现不依赖与场源信息的探测；(2) Compared with single electrical and magnetic detection systems, it can comprehensively utilize the inherent characteristics of electric field signals but weak signals and strong magnetic field signals but can be eliminated, which can solve the problem of single electrical or magnetic detection relying on field source information. Using both electrical and magnetic methods for detection can remove the field source effect and realize detection that is independent of the field source information;
(3)系统搭载了四个相同的磁场测量通道，可支持独立式磁场采集、张量式磁场采集、零磁张量式磁场采集多种磁场测量方式，以满足海洋环境磁场、水下目标探测的不同需求；(3) The system is equipped with four identical magnetic field measurement channels, which can support independent magnetic field acquisition, tensor magnetic field acquisition, and zero magnetic tensor magnetic field acquisition various magnetic field measurement methods to meet the requirements of marine environmental magnetic field and underwater target detection. different needs;
(4)系统搭载了方位姿态信号采集单元、平台磁场信号测量单元，可实现移动平台运动产生磁场、平台内部部件产生磁场的补偿，降低移动平台的自身干扰，提高系统的电磁探测能力。(4) The system is equipped with an azimuth and attitude signal acquisition unit and a platform magnetic field signal measurement unit, which can realize the compensation of the magnetic field generated by the movement of the mobile platform and the magnetic field generated by the internal components of the platform, reduce the self-interference of the mobile platform, and improve the electromagnetic detection capability of the system.
附图说明Description of drawings
图1是本发明实施例提供的海洋电磁场信号采集系统的结构示意图；1 is a schematic structural diagram of a marine electromagnetic field signal acquisition system provided by an embodiment of the present invention;
图中：1、电场信号采集单元；2、磁场信号采集单元；3、方位姿态信号采集单元；4、平台磁场信号测量单元；5、主控单元。In the figure: 1, electric field signal acquisition unit; 2, magnetic field signal acquisition unit; 3, azimuth and attitude signal acquisition unit; 4, platform magnetic field signal measurement unit; 5, main control unit.
图2是本发明实施例提供的海洋电磁场信号采集系统的系统组成示意图。FIG. 2 is a schematic diagram of a system composition of a marine electromagnetic field signal acquisition system provided by an embodiment of the present invention.
图3是本发明实施例提供的海洋电磁场信号采集装置的结构示意图。FIG. 3 is a schematic structural diagram of a marine electromagnetic field signal acquisition device provided by an embodiment of the present invention.
图4是本发明实施例提供的磁场板的结构示意图。FIG. 4 is a schematic structural diagram of a magnetic field plate provided by an embodiment of the present invention.
图5是本发明实施例提供的电场板的结构示意图。FIG. 5 is a schematic structural diagram of an electric field plate provided by an embodiment of the present invention.
图6是本发明实施例提供的主控板的结构示意图。FIG. 6 is a schematic structural diagram of a main control board provided by an embodiment of the present invention.
图7是本发明实施例提供的磁场传感器位置布置和零磁张量式磁场采集方法示意图。FIG. 7 is a schematic diagram of a position arrangement of a magnetic field sensor and a method for acquiring a zero magnetic tensor magnetic field according to an embodiment of the present invention.
图8是本发明实施例提供的海洋电磁场信号采集系统搭载于水下滑翔机应用的系统示意图；8 is a system schematic diagram of the marine electromagnetic field signal acquisition system provided in an embodiment of the present invention mounted on an underwater glider application;
图中：6、电场传感器；7、水下滑翔机的驱动单元；8、磁场传感器；9、系统供电电池；10、海洋电磁场信号采集记录仪；11、水下滑翔机。In the figure: 6. Electric field sensor; 7. Driving unit of underwater glider; 8. Magnetic field sensor; 9. System power supply battery; 10. Ocean electromagnetic field signal acquisition recorder; 11. Underwater glider.
图9是本发明实施例提供的所测量的水下滑翔机的内部部件的磁场信息示意图。FIG. 9 is a schematic diagram of the measured magnetic field information of the internal components of the underwater glider according to an embodiment of the present invention.
图10是本发明实施例提供的搭载于水下滑翔机的海洋电磁场信号采集系统的独立式磁场采集模式的测量结果示意图。10 is a schematic diagram of a measurement result of an independent magnetic field acquisition mode of an ocean electromagnetic field signal acquisition system mounted on an underwater glider according to an embodiment of the present invention.
图11是本发明实施例提供的搭载于水下滑翔机的海洋电磁场信号采集系统的张量式磁场采集模式的测量结果示意图。11 is a schematic diagram of a measurement result of a tensor-type magnetic field acquisition mode of an ocean electromagnetic field signal acquisition system mounted on an underwater glider according to an embodiment of the present invention.
图12是本发明实施例提供的搭载于水下滑翔机的海洋电磁场信号采集系统的张量式磁场采集模式与零磁张量式磁场采集模式的测量结果对比示意图。12 is a schematic diagram illustrating the comparison of measurement results between the tensor-type magnetic field acquisition mode and the zero-magnetic tensor-type magnetic field acquisition mode of the marine electromagnetic field signal acquisition system mounted on the underwater glider according to an embodiment of the present invention.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.
针对现有技术存在的问题，本发明提供了一种海洋电磁场信号采集系统、装置和应用，下面结合附图对本发明作详细的描述。In view of the problems existing in the prior art, the present invention provides a marine electromagnetic field signal acquisition system, device and application. The present invention will be described in detail below with reference to the accompanying drawings.
如图1所示，本发明实施例提供的海洋电磁场信号采集系统包括：电场信号采集单元1、磁场信号采集单元2、方位姿态信号采集单元3、平台磁场信号测量单元4、主控单元5。As shown in FIG. 1 , the marine electromagnetic field signal acquisition system provided by the embodiment of the present invention includes: an electric field
电场信号采集单元1，用于采集海洋环境电场信号；The electric field
磁场信号采集单元2，用于采集海洋环境磁场信号；The magnetic field signal acquisition unit 2 is used to acquire the magnetic field signal of the marine environment;
方位姿态信号采集单元3，用于采集移动平台的方位姿态信息；The azimuth and attitude
平台磁场信号测量单元4，用于测量移动平台的内部磁场信息；The platform magnetic field signal measurement unit 4 is used to measure the internal magnetic field information of the mobile platform;
主控单元5，用于系统参数配置、工作流程控制、采集数据处理存储、系统电源管理、系统与移动平台的信息交互。The
下面结合附图对本发明的技术方案作进一步的描述。The technical solutions of the present invention will be further described below with reference to the accompanying drawings.
如图2所示，磁场信号采集单元2设置有四路相同的磁场测量通道，包括磁场传感器、磁场信号处理模块、模数转换模块，磁场传感器采用三轴磁通门传感器，最多可支持12个分量的磁场数据同步采集，可支持多达三种磁场采集模式；磁场信号采集单元2设置有一路可控电流输出通道，可用于零磁环境测量时的环境磁场消除。电场信号采集单元1设置有两路相同的电场测量通道，包括电场传感器、电场信号处理模块、模数转换模块。平台磁场信号测量单元4设置有磁场和电流传感测量模块用于测量移动平台自身的辐射磁场和工作电流，用于移动平台自身磁场的补偿。方位姿态信号采集单元3的方位姿态传感器集成到采集系统内部，在移动平台运动的过程中，可以实时采集移动平台的运动姿态，用于运动产生磁场的补偿。主控单元5通过串口模块与移动平台进行数据通讯和GPS授时。As shown in Figure 2, the magnetic field signal acquisition unit 2 is provided with four identical magnetic field measurement channels, including a magnetic field sensor, a magnetic field signal processing module, and an analog-to-digital conversion module. The magnetic field sensor adopts a three-axis fluxgate sensor, which can support up to 12 The magnetic field data of the component is collected synchronously, which can support up to three magnetic field collection modes; the magnetic field signal collection unit 2 is provided with a controllable current output channel, which can be used for the elimination of the environmental magnetic field in the zero magnetic environment measurement. The electric field
本发明实施例提供的海洋电磁场信号采集装置如图3所示，包括磁场传感器、电场传感器、磁场板、电场板和主控板。As shown in FIG. 3 , the marine electromagnetic field signal acquisition device provided by the embodiment of the present invention includes a magnetic field sensor, an electric field sensor, a magnetic field board, an electric field board, and a main control board.
磁场传感器通过磁场传感器接口连接磁场板，电场传感器通过电场传感器接口连接电场板，磁场板通过磁场板采集控制接口连接至主控板，电场板通过电场板采集控制接口连接至主控板，主控板为磁场板和电场板提供电源，主控板还连接方位姿态传感器、磁场测量模块、电流测量模块和移动平台。The magnetic field sensor is connected to the magnetic field board through the magnetic field sensor interface, the electric field sensor is connected to the electric field board through the electric field sensor interface, the magnetic field board is connected to the main control board through the magnetic field board acquisition control interface, and the electric field board is connected to the main control board through the electric field board acquisition control interface. The board provides power for the magnetic field board and the electric field board, and the main control board is also connected to the orientation and attitude sensor, the magnetic field measurement module, the current measurement module and the mobile platform.
磁场传感器采用高精度三轴磁通门传感器，电场传感器采用银/氯化银不极化电极。The magnetic field sensor uses a high-precision three-axis fluxgate sensor, and the electric field sensor uses a silver/silver chloride non-polarized electrode.
本发明实施例的磁场板包括磁场信号处理模块、模数转换模块、环境磁场补偿模块、磁场板采集控制接口、电源输入接口。其原理框图如图4所示。The magnetic field board in the embodiment of the present invention includes a magnetic field signal processing module, an analog-to-digital conversion module, an environmental magnetic field compensation module, a magnetic field board acquisition control interface, and a power input interface. Its principle block diagram is shown in Figure 4.
磁场信号处理模块是在磁场传感器采集的信号接入后，进行信号处理的电路。采用比例放大/衰减电路结合电压跟随器的方式，设计磁场信号处理电路。比例放大/衰减电路可以根据输入磁场传感器信号的大小进行适当的放大或衰减；电压跟随器具有输入阻抗高、输出阻抗低的特性。如果后级输入阻抗较小，那么信号就有一部分损耗在前级的输出阻抗中，所以有必要利用电压跟随器对信号进行缓冲。经过比例放大、电压跟随的模拟信号送入模数转换模块。The magnetic field signal processing module is a circuit for signal processing after the signal collected by the magnetic field sensor is connected. The magnetic field signal processing circuit is designed by means of proportional amplification/attenuation circuit combined with voltage follower. The proportional amplification/attenuation circuit can appropriately amplify or attenuate the input magnetic field sensor signal; the voltage follower has the characteristics of high input impedance and low output impedance. If the input impedance of the rear stage is small, part of the signal is lost in the output impedance of the previous stage, so it is necessary to use a voltage follower to buffer the signal. The analog signal that has been proportionally amplified and followed by the voltage is sent to the analog-to-digital conversion module.
模数转换模块采用低噪声、四通道同步高精度24位A/D转换器，并且通过多个A/D转换器级联实现12个通道同步采集转换功能，将转换完成的数字量通过串行总线高速传输给主控板的微控制器，其工作模式、开始采样时刻、采样率、采样同步等都可以通过微控制器设置。The analog-to-digital conversion module adopts a low-noise, four-channel synchronous high-precision 24-bit A/D converter, and realizes 12-channel synchronous acquisition and conversion function by cascading multiple A/D converters. The bus is transmitted to the microcontroller of the main control board at high speed, and its working mode, start sampling time, sampling rate, sampling synchronization, etc. can be set by the microcontroller.
环境磁场补偿模块是若采用四组三轴磁通门作为磁场传感器组成零磁张量式测量时，可以将其中一组三轴磁通门采集的磁场信号作为反馈磁场信号。反馈磁场信号经过A/D转换输出到主控单元中，通过控制算法调整低噪声16位D/A转换器的输出电压大小，经过电压电流转换电路将输出信号转换成对应的电流信号，输出到球形线圈上，由球形线圈对磁场进行补偿，抵消搭载平台的环境磁场。In the environmental magnetic field compensation module, if four sets of three-axis fluxgates are used as magnetic field sensors to form a zero magnetic tensor measurement, the magnetic field signals collected by one of the three-axis fluxgates can be used as feedback magnetic field signals. The feedback magnetic field signal is output to the main control unit through A/D conversion, the output voltage of the low-noise 16-bit D/A converter is adjusted by the control algorithm, and the output signal is converted into the corresponding current signal through the voltage-current conversion circuit, which is output to On the spherical coil, the magnetic field is compensated by the spherical coil to cancel the environmental magnetic field of the platform.
本发明实施例的电场板包括电场信号处理模块、数模转换模块、电场板采集控制接口、电源输入接口。其原理框图如图5所示。The electric field board in the embodiment of the present invention includes an electric field signal processing module, a digital-to-analog conversion module, an electric field board acquisition control interface, and a power input interface. Its principle block diagram is shown in Figure 5.
电场模拟信号采集处理模块采用程控增益斩波放大的方案，对电场传感器检测的微弱电场信号进行调理。调理放大后的电场信号经电压跟随电路接入数模转换模块。电场板中所用到的A/D转换器与上述磁场板的数模转换相同。The electric field analog signal acquisition and processing module adopts the program-controlled gain chopper amplification scheme to condition the weak electric field signal detected by the electric field sensor. The electric field signal after conditioning and amplification is connected to the digital-to-analog conversion module through the voltage follower circuit. The A/D converter used in the electric field plate is the same as the digital-to-analog conversion of the magnetic field plate described above.
本发明实施例的主控板，具有电磁场数据同步采集控制、处理、存储、回收、GPS授时、电源管理和通信等功能，其系统框图如图6所示。主控单元主要包括微控制器、电场板采集控制接口、磁场板采集控制接口、方位姿态传感器接口、磁场测量接口、电流测量接口、数据存储与回收、系统电源管理、信息交互等。The main control board of the embodiment of the present invention has the functions of electromagnetic field data synchronous acquisition and control, processing, storage, recovery, GPS timing, power management and communication, and its system block diagram is shown in FIG. 6 . The main control unit mainly includes microcontroller, electric field board acquisition control interface, magnetic field board acquisition control interface, orientation and attitude sensor interface, magnetic field measurement interface, current measurement interface, data storage and recovery, system power management, information interaction, etc.
微控制器，用于系统管理和工作流程控制，采用支持SOPC技术的FPGA实现，实现对电磁场采集的高精度同步控制、读取与存储。Microcontroller, used for system management and workflow control, is implemented by FPGA that supports SOPC technology, and realizes high-precision synchronous control, reading and storage of electromagnetic field acquisition.
电场板采集控制接口，用于连接电场板；The electric field board acquisition control interface is used to connect the electric field board;
磁场板采集控制接口，用于连接磁场板；The magnetic field board acquisition control interface is used to connect the magnetic field board;
方位姿态传感器接口，用于连接方位姿态传感器，采用RS232接口的高精度高灵敏度方位姿态传感器。由于移动平台在运动过程中可能产生摆动、旋转和倾斜，因此需要借助方位姿态模块获取系统工作过程中的三轴姿态信息(方位角、俯仰角、横滚角)。The azimuth and attitude sensor interface is used to connect the azimuth and attitude sensor. It adopts the high-precision and high-sensitivity azimuth and attitude sensor of the RS232 interface. Since the mobile platform may swing, rotate and tilt during the movement, it is necessary to obtain the three-axis attitude information (azimuth, pitch, and roll) during the working process of the system with the help of the azimuth and attitude module.
磁场测量接口，用于连接测量移动平台内部磁场信息的磁场测量模块，采用RS485串口连接；Magnetic field measurement interface, used to connect the magnetic field measurement module that measures the internal magnetic field information of the mobile platform, using RS485 serial port connection;
电流测量接口，用于连接测量移动平台内部磁场信息的电流测量模块，采用RS485串口连接；The current measurement interface is used to connect the current measurement module that measures the internal magnetic field information of the mobile platform, using RS485 serial port connection;
数据存储与回收，用于采集的电场数据、磁场数据、方位姿态数据、移动平台内部磁场测量数据、电流测量数据的存储和回收，数据存储采用CF卡，数据回收采用高速USB方式；Data storage and recovery, for the storage and recovery of collected electric field data, magnetic field data, azimuth and attitude data, internal magnetic field measurement data and current measurement data of the mobile platform, using CF card for data storage, and high-speed USB for data recovery;
系统电源管理，根据移动平台提供的电源，经过DC-DC变换和开关控制，为主控板、电场板、磁场板提供电源；System power management, according to the power provided by the mobile platform, through DC-DC conversion and switch control, to provide power for the main control board, electric field board, and magnetic field board;
信息交互，包括与移动平台之间的通讯串口、GPS授时串口，与上位PC机之间的参数配置串口。Information exchange, including the communication serial port with the mobile platform, the GPS timing serial port, and the parameter configuration serial port with the host PC.
本发明的磁场信号采集单元设置了四路相同的磁场测量通道，可实现独立式磁场采集、张量式磁场采集和零磁张量式磁场采集。独立式磁场采集，4路磁场传感器、磁场信号处理模块、模数转换模块分别独立采集磁场信号，存储4路磁场信号；张量式磁场采集，4路磁场传感器、磁场信号处理模块、模数转换模块分别独立采集磁场信号，采集后其中3路磁场信号与剩余1路磁场信号进行差值处理，存储差值处理后的3路磁场信号；零磁张量式磁场采集，4路磁场传感器、磁场信号处理模块、模数转换模块分别独立采集磁场信号，其中1路磁场信号作为参考磁场信号，可控电流输出模块根据参考磁场信号进行零磁补偿线圈电流控制，使参考磁场信号趋近于零，存储3路磁场信号。本发明实施例的磁场传感器位置布置和零磁张量式磁场采集方法示意图如图7所示。The magnetic field signal acquisition unit of the present invention is provided with four identical magnetic field measurement channels, which can realize independent magnetic field acquisition, tensor magnetic field acquisition and zero magnetic tensor magnetic field acquisition. Independent magnetic field acquisition, 4-way magnetic field sensor, magnetic field signal processing module, and analog-to-digital conversion module independently collect magnetic field signals and store 4-way magnetic field signals; tensor magnetic field acquisition, 4-way magnetic field sensor, magnetic field signal processing module, analog-to-digital conversion The modules independently collect magnetic field signals. After the collection, 3 magnetic field signals and the remaining 1 magnetic field signal are subjected to difference processing, and the 3 magnetic field signals after difference processing are stored; zero magnetic tensor magnetic field acquisition, 4 magnetic field sensors, magnetic field The signal processing module and the analog-to-digital conversion module independently collect magnetic field signals, of which one magnetic field signal is used as the reference magnetic field signal, and the controllable current output module controls the current of the zero-magnetic compensation coil according to the reference magnetic field signal, so that the reference magnetic field signal approaches zero. Store 3-way magnetic field signals. FIG. 7 shows a schematic diagram of the positional arrangement of the magnetic field sensor and the zero magnetic tensor magnetic field acquisition method according to the embodiment of the present invention.
本发明提供的海洋电磁场信号采集系统的可搭载于水下滑翔机开展海洋环境微弱电磁场信号采集应用，该应用实施例的内部集成图如图8所示。水下滑翔机作为一种新型的水下无人观测平台，具有能耗小、续航力强、制造成本和维护成本低、可大量投放和重复使用等特点，可满足长航时、大范围海洋观测的需要。搭载电磁场信号采集系统的水下滑翔机由电场传感器6、驱动单元7、磁场传感器8、供电电池9、电磁记录仪10、机体11组成，驱动单元7负责滑翔机在滑翔过程中的俯仰和升降；两对电场传感器6分别沿着滑翔机机身方向和侧翼方向布放，通过水密缆与电磁记录仪10连接，用于采集海洋环境中微弱的电场信号。四组三轴磁通门组成的磁场传感器安装在承压舱内，采集海洋环境中的磁场信号。The marine electromagnetic field signal acquisition system provided by the present invention can be mounted on an underwater glider to carry out the application of weak electromagnetic field signal acquisition in the marine environment. The internal integration diagram of this application embodiment is shown in FIG. 8 . As a new type of underwater unmanned observation platform, underwater glider has the characteristics of low energy consumption, strong endurance, low manufacturing cost and maintenance cost, and can be put into and reused in large quantities. need. The underwater glider equipped with the electromagnetic field signal acquisition system is composed of an
本发明实施例提供的海洋电磁场信号采集系统是一套大范围海洋电磁观测设备。系统由电场信号采集单元1、磁场信号采集单元2、方位姿态信号采集单元3、平台磁场信号测量单元4以及主控单元5组成。其中，磁场信号采集单元2是该系统较海底电磁采集站的创新之处。磁场信号采集单元2包括4个通道12个分量的磁场数据采集，还包括磁场反馈补偿模块。该磁场信号采集单元2可以支持三种磁场采集模式：The marine electromagnetic field signal acquisition system provided by the embodiment of the present invention is a set of large-scale marine electromagnetic observation equipment. The system consists of an electric field
1)独立式磁通门传感器测量模式1) Independent fluxgate sensor measurement mode
本发明系统可以实现各个磁通门传感器独立测量磁场强度的功能，将磁通门连接到磁场信号采集单元2的四个通道就可以完成信号采集。The system of the present invention can realize the function of measuring the magnetic field strength independently by each fluxgate sensor, and the signal acquisition can be completed by connecting the fluxgate to the four channels of the magnetic field signal acquisition unit 2 .
2)张量式磁通门传感器测量模式2) Tensor Fluxgate Sensor Measurement Mode
本发明系统可以支持三组磁通门传感器实现张量测量方法，用磁场信号采集单元2的任意3个通道可实现此功能。The system of the present invention can support three groups of fluxgate sensors to realize the tensor measurement method, and this function can be realized by any three channels of the magnetic field signal acquisition unit 2 .
3)带磁场反馈的零磁张量式磁通门传感器测量模式。3) Zero magnetic tensor fluxgate sensor measurement mode with magnetic field feedback.
本发明系统可以支持四组磁通门传感器实现带磁场反馈的零磁张量式测量方法，该方法需要用到磁场信号采集单元2的4个采集通和补偿电路。利用其中一个磁通门测量的环境磁场，通过补偿电路给反馈线圈输出一个相反的磁场，抵消外界的环境磁场。这种模式可以让三轴磁通门传感器工作在性能更优的零磁场环境。The system of the present invention can support four groups of fluxgate sensors to realize the zero magnetic tensor measurement method with magnetic field feedback. The ambient magnetic field measured by one of the fluxgates is used to output an opposite magnetic field to the feedback coil through the compensation circuit to cancel the external ambient magnetic field. This mode allows the three-axis fluxgate sensor to work in a zero-magnetic field environment with better performance.
下面结合附图对本发明的技术效果作详细的描述。The technical effects of the present invention will be described in detail below with reference to the accompanying drawings.
图9是本发明实施例提供的所测量的水下滑翔机的内部部件的磁场信息。利用磁通门传感器测量了水下滑翔机不同工作阶段的内部部件产生的磁场信息，图中，阶段1是滑翔机启动过程，各电机、传感器上电，系统自检；阶段2是通讯模块上电，GPS定位启动；阶段3是水下滑翔阶段，滑翔机进行回油，通讯模块断电，电池包移动到下潜舵量，搭载传感器(CTD)上电，开始采样工作；阶段4是深度计、电子罗盘信息采集，移动电池包进行俯仰和航向调节；阶段5是滑翔机进行排油，电池包移动到排油舵量；阶段6是排油到指定量后，滑翔机进入上浮阶段，电池包移动到上浮舵量；阶段7是深度计、电子罗盘信息采集，移动电池包进行俯仰和航向的调节；阶段8是进入水面过渡阶段，搭载传感器(CTD)停止采样并断电；阶段9是进入水面等待阶段，进行GPS定位与通讯；阶段10是浮力调节单元回到零位。从图中可以看出，所搭载的水下滑翔机在不同工作阶段的内部磁场信息存在较大差异，是可测量的。证明本发明提出的测量移动平台的内部磁场进行补偿是可行的和必要的。FIG. 9 is the measured magnetic field information of the internal components of the underwater glider provided by the embodiment of the present invention. The magnetic field information generated by the internal components of the underwater glider in different working stages was measured by the fluxgate sensor. In the figure,
图10是本发明实施例提供的搭载于水下滑翔机的海洋电磁场信号采集系统的独立式磁场采集模式测量的磁场信息。图11是本发明实施例提供的搭载于水下滑翔机的海洋电磁场信号采集系统的张量式磁场采集模式测量的磁场信息。该测试结果是本发明实施例提供的搭载于水下滑翔机的海洋电磁场信号采集系统的水池测试结果，搭载于水下滑翔机的海洋电磁场信号采集系统位于水池中央，试验人员拉动磁铁从水池中沿与水下滑翔机平行的方向直线移动，移动了一个来回，即从水池A端开始移动，经过搭载于水下滑翔机的海洋电磁场信号采集系统后，到达水池B端，然后再从B端拉动到A端。从测试结果可以看出，独立式磁场采集模式、张量式磁场采集模式均采集到了磁铁经过的信息，但张量式磁场采集模式的磁铁经过过程更清晰，表明张量式磁场采集模式更适合于移动目标探测。10 is the magnetic field information measured by the independent magnetic field acquisition mode of the marine electromagnetic field signal acquisition system mounted on the underwater glider provided by the embodiment of the present invention. 11 is the magnetic field information measured by the tensor-type magnetic field acquisition mode of the marine electromagnetic field signal acquisition system mounted on the underwater glider provided by the embodiment of the present invention. The test result is the pool test result of the marine electromagnetic field signal acquisition system mounted on the underwater glider provided by the embodiment of the present invention. The marine electromagnetic field signal acquisition system mounted on the underwater glider is located in the center of the pool, and the tester pulls the magnet from the pool to the edge of the pool. The underwater glider moves in a straight line in a parallel direction, and moves back and forth, that is, it starts to move from the A side of the pool. After passing through the marine electromagnetic field signal acquisition system mounted on the underwater glider, it reaches the B side of the pool, and then pulls from the B side to the A side. . It can be seen from the test results that both the independent magnetic field acquisition mode and the tensor magnetic field acquisition mode have collected the magnet passing information, but the magnet passing process of the tensor magnetic field acquisition mode is clearer, indicating that the tensor magnetic field acquisition mode is more suitable for for moving target detection.
图12是本发明实施例提供的搭载于水下滑翔机的海洋电磁场信号采集系统的张量式磁场采集模式与零磁张量式磁场采集模式的测量结果对比。从测量结果可以看出，张量式磁场采集模式与零磁张量式磁场采集模式的性能相当，表明增加零磁补偿电流反馈后没有引入系统噪声，而零磁张量式磁场采集模式下磁场传感器工作在零磁附近，系统具有更大的信号测量范围。12 is a comparison of measurement results between a tensor-type magnetic field acquisition mode and a zero-magnetic tensor-type magnetic field acquisition mode of an ocean electromagnetic field signal acquisition system mounted on an underwater glider according to an embodiment of the present invention. It can be seen from the measurement results that the performance of the tensor magnetic field acquisition mode is equivalent to that of the zero magnetic tensor magnetic field acquisition mode, indicating that no system noise is introduced after adding the zero magnetic compensation current feedback, while the magnetic field in the zero magnetic tensor magnetic field acquisition mode The sensor works near zero magnetic field, and the system has a larger signal measurement range.
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.
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