CN111290033A - Marine electromagnetic field signal acquisition system, device and marine environment observation system - Google Patents
Marine electromagnetic field signal acquisition system, device and marine environment observation system Download PDFInfo
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Abstract
The invention belongs to the technical field of marine electromagnetic detection, and discloses a marine electromagnetic field signal acquisition system, a marine electromagnetic field signal acquisition device and a marine environment observation system. The system can realize a detection mode combining an electric field and a magnetic field; the magnetic field generated by the motion of the mobile platform and the magnetic field generated by the internal part of the platform can be compensated; the magnetic field measurement method can support various magnetic field measurement modes including independent magnetic field acquisition, tensor magnetic field acquisition and zero magnetic tensor magnetic field acquisition. The electric field signal acquisition unit, the magnetic field signal acquisition unit, the azimuth attitude signal acquisition unit, the platform magnetic field signal measurement unit and the main control unit are all designed with low noise. The acquisition of weak low-frequency electric field and magnetic field signals of marine environment can be realized, and the method can be used for marine environment background electromagnetic field measurement and marine environment underwater target detection.
Description
Technical Field
The invention belongs to the technical field of marine electromagnetic detection, and particularly relates to a marine electromagnetic field signal acquisition system, a marine electromagnetic field signal acquisition device and a marine environment observation system.
Background
At present, marine environment observation is the foundation and important component of marine comprehensive management, and provides scientific basis for marine comprehensive management. The marine environment observation system plays a great role in the aspects of marine development and utilization, environmental protection, disaster early warning, national defense safety and the like. The marine environment observation system is divided into three types, namely a space base, a shore base and a sea base according to spatial positions. The sea-based marine environment observation system comprises a buoy submerged buoy, a water surface survey ship, a seabed observation platform, an unmanned mobile observation platform and the like. The observation positions of the buoy, the submerged buoy and the seabed observation platform are fixed, and the buoy, the submerged buoy and the seabed observation platform cannot move flexibly when the marine environment is monitored in a large range; the water surface survey ship has strong flexibility, but needs to invest a large amount of manpower operation, and the observation cost is relatively expensive; the unmanned mobile observation platform is a novel ocean observation system developed recently, and has the characteristics of convenience and flexibility in use, remote control capability, reusability and large monitoring range.
At present, in the aspect of marine environment detection application, an unmanned mobile observation platform is mainly provided with an underwater acoustic device and an underwater photoelectric device. Acoustic detection is the most common and effective method for detecting underwater targets for a long time, but the limitation of a single acoustic detection means is more and more large due to the improvement of the acoustic stealth performance of the underwater targets and the complexity of the underwater acoustic environment; the underwater photoelectric equipment can realize the visual detection of underwater targets, but seawater has stronger absorption and scattering effects on light, and the underwater detection distance is less than hundreds of meters.
The ocean electromagnetic method is a new ocean detection method and is widely applied to the fields of submarine resource exploration, ocean geological disaster monitoring and the like. Compared with acoustic detection and optical detection, the method can solve the problem of sound stealth of the acoustic detection and has larger detection range than the optical detection. The electromagnetic method is used for detecting seawater, submarine sediments, resistivity difference of a detection target body, electric field abnormity and magnetic field abnormity, and comprises an electric method, a magnetic method and an electromagnetic method. At present, in the aspect of ocean exploration carried on an unmanned mobile observation platform, some electric detection systems and magnetic detection systems are available. In the aspect of an electrical method detection system, the university of adadhy applies an underwater potentiometric method to an Autonomous Underwater Vehicle (AUV) and detects a low-frequency electric field signal radiated by a water surface ship. The Scripps institute mounts an electric field detection device on the AUV, and successfully detects the distribution of the submarine hydrothermal solution and the position of the sulfide mineral deposit. In the aspect of a magnetic detection system, the university of Atlantic Florida proposes an idea that a magnetic field sensor is carried on a seabed sonar UUV to detect a buried target. The research institute of navy (ONR) carries a developed magnetic field real-time tracking gradiometer (RTG) on an AUV (autonomous underwater vehicle), and tests are carried out in the south Atlantic ocean and the ocean near the gulf of Mexico for a plurality of times, so that the magnetic method can be applied to detection and positioning of underwater targets. The adadalho university in the united states developed an AUV system equipped with a three-axis fluxgate sensor and a data acquisition instrument to measure the magnetic characteristics of a moving vessel. However, with the development of underwater target demagnetizing technology, single magnetic method detection also faces greater and greater limitations.
The seabed electromagnetic acquisition station comprehensively adopting electric field and magnetic field signal detection can detect oil and gas storage and geological structures with the depth of thousands of meters in the seabed, and is widely applied to seabed oil and gas resource exploration and seabed geological structure research. Therefore, the invention provides an electric-magnetic combined marine electromagnetic field signal acquisition system carried on a mobile platform, aiming at the limitations of single electric detection and magnetic detection, based on the research foundation of the current electric-magnetic measurement systems carried on UUV and AUV underwater. The system comprises an electric field signal acquisition unit, a magnetic field signal acquisition unit, an azimuth attitude signal acquisition unit, a platform magnetic field signal measurement unit and a main control unit. The system can realize a detection mode combining an electric field and a magnetic field; the magnetic field generated by the motion of the mobile platform and the magnetic field generated by the internal part of the platform can be compensated; the magnetic field measurement method can support various magnetic field measurement modes including independent magnetic field acquisition, tensor magnetic field acquisition and zero magnetic tensor magnetic field acquisition. The electric field signal acquisition unit, the magnetic field signal acquisition unit, the azimuth attitude signal acquisition unit, the platform magnetic field signal measurement unit and the main control unit are all designed with low noise. The acquisition of weak low-frequency electric field and magnetic field signals of marine environment can be realized, and the method can be used for measuring background electromagnetic field of marine environment and detecting underwater targets of marine environment.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a marine electromagnetic field signal acquisition system, a marine electromagnetic field signal acquisition device and a marine environment observation system.
The invention is realized in this way, a marine electromagnetic field signal acquisition system, the marine electromagnetic field signal acquisition system is provided with:
the electric field signal acquisition unit is used for acquiring electric field signals of marine environment;
the magnetic field signal acquisition unit is used for acquiring a marine environment magnetic field signal;
the azimuth attitude signal acquisition unit is used for acquiring azimuth attitude information of the mobile platform;
the platform magnetic field signal measuring unit is used for measuring the internal magnetic field information of the mobile platform;
and the main control unit is used for system parameter configuration, workflow control, collected data processing and storage, system power management and information interaction between the system and the mobile platform.
Further, the magnetic field signal acquisition unit comprises a magnetic field sensor, a magnetic field signal processing module, an analog-to-digital conversion module and a controllable current output module;
a magnetic field sensor for detecting a magnetic field signal;
the magnetic field signal processing module adopts a low-noise amplifying circuit and is used for carrying out low-noise amplification processing on the magnetic field signal output by the magnetic field sensor;
the analog-to-digital conversion module adopts a high-precision analog-to-digital converter and is used for synchronous high-precision acquisition of the amplified magnetic field signal;
and the controllable current output module adopts a high-precision digital-to-analog converter and a voltage-current conversion circuit and is used for ambient magnetic field compensation when the controllable current output module is connected with the spherical zero-magnetic tensor magnetic field sensor.
The electric field signal acquisition unit comprises an electric field sensor, an electric field signal processing module and an analog-to-digital conversion module;
the electric field sensor is used for detecting an electric field signal;
the electric field signal processing module adopts a low-noise chopping modulation amplifying circuit and is used for carrying out low-noise amplification processing on the electric field signal output by the electric field sensor;
and the analog-to-digital conversion module adopts a high-precision analog-to-digital converter and is used for synchronous high-precision acquisition of the amplified electric field signals.
The azimuth attitude signal acquisition unit adopts a high-precision azimuth attitude sensor and is used for vector processing of acquired electromagnetic field information and compensation of a magnetic field generated by the motion of the mobile platform.
The platform magnetic field signal measuring unit adopts a high-precision magnetic field sensor and a current sensor, is used for measuring magnetic field information generated by a battery and a power driving part in the mobile platform, and is used for compensating a magnetic field generated by a part in the mobile platform.
The main control unit comprises a microcontroller, a magnetic field signal acquisition unit interface, an electric field signal acquisition unit interface, an orientation 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;
the microcontroller is used for system management and workflow control;
a magnetic field signal acquisition unit interface, an electric field signal acquisition unit interface, an azimuth attitude signal acquisition unit interface, a platform magnetic field signal measurement unit interface, which are used for being connected with the interfaces of the magnetic field signal acquisition unit, the electric field signal acquisition unit, the azimuth attitude signal acquisition unit and the platform magnetic field signal measurement unit;
the data storage module is used for storing data;
the system power supply module is used for generating various power supplies required by the main control unit, the magnetic field signal acquisition unit, the electric field signal acquisition unit, the azimuth attitude signal acquisition unit and the platform magnetic field signal measurement unit according to the power supply provided by the mobile platform;
and the information interaction module is connected with a plurality of serial ports of the microcontroller and is used for configuring system parameters and interacting information with the mobile platform.
Furthermore, the magnetic field signal acquisition unit comprises 4 paths of magnetic field sensors, a magnetic field signal processing module, an analog-to-digital conversion module and 1 path of controllable current output module, and can realize independent magnetic field acquisition, tensor magnetic field acquisition and zero-magnetic tensor magnetic field acquisition;
the magnetic field acquisition is independent, the 4-path magnetic field sensor, the magnetic field signal processing module and the analog-to-digital conversion module respectively and independently acquire magnetic field signals and store the 4-path magnetic field signals;
the method comprises the steps of tensor magnetic field acquisition, wherein 4 paths of magnetic field sensors, a magnetic field signal processing module and an analog-to-digital conversion module are used for independently acquiring magnetic field signals respectively, difference processing is carried out on 3 paths of magnetic field signals and the rest 1 path of magnetic field signals after acquisition, and the 3 paths of magnetic field signals after difference processing are stored;
the magnetic field acquisition of the zero magnetic tensor type, 4-way magnetic field sensor, the magnetic field signal processing module and the analog-to-digital conversion module independently acquire magnetic field signals respectively, wherein 1-way magnetic field signal is used as a reference magnetic field signal, and the controllable current output module performs zero magnetic compensation coil current control according to the reference magnetic field signal, so that the reference magnetic field signal approaches to zero, and stores 3-way magnetic field signals.
The invention also provides an ocean electromagnetic field signal acquisition device based on the ocean electromagnetic field signal acquisition system, and the ocean electromagnetic field signal acquisition device carried on the mobile platform comprises a magnetic field sensor, an electric field sensor, a magnetic field plate, an electric field plate and a main control plate.
The magnetic field sensor is connected with the magnetic field plate through the magnetic field sensor interface, the electric field sensor is connected with the electric field plate through the electric field sensor interface, the magnetic field plate is connected with the main control plate through the magnetic field plate acquisition control interface, the electric field plate is connected with the main control plate through the electric field plate acquisition control interface, the main control plate provides power for the magnetic field plate and the electric field plate, and the main control plate is further connected with the azimuth attitude sensor, the magnetic field measurement module, the current measurement module and the mobile platform.
Furthermore, the magnetic field sensor adopts a high-precision three-axis fluxgate sensor; the electric field sensor adopts a silver/silver chloride non-polarized electrode.
The magnetic field plate comprises a magnetic field signal processing module, an analog-to-digital conversion module, an environmental magnetic field compensation module, a magnetic field plate acquisition control interface and a power supply input interface;
the magnetic field signal processing module is used for accessing a magnetic field signal output by the magnetic field sensor through a magnetic field sensor interface, processing the magnetic field signal through a low-noise proportional amplification/attenuation circuit and realizing impedance matching with a subsequent A/D conversion circuit by adopting a voltage follower circuit;
the analog-to-digital conversion module is used for low-noise, high-precision and synchronous acquisition of 12-component magnetic field signals and is realized by cascading low-noise, 24-bit and 4-channel synchronous A/D converters;
the environment magnetic field compensation module is used for high-precision controllable current output and is realized by adopting a low-noise 16-bit D/A converter and a voltage-current conversion circuit;
the magnetic field plate acquisition control interface is used for signal connection with the main control plate;
and the power input interface is used for being connected with a power supply provided by the main control board.
The electric field plate comprises an electric field signal processing module, a digital-to-analog conversion module, an electric field plate acquisition control interface and a power supply input interface;
the electric field signal processing module is used for accessing an electric field signal output by the electric field sensor through an electric field sensor interface, processing the electric field signal by the low-noise program-controlled gain amplifying circuit and realizing impedance matching with a subsequent A/D conversion circuit by adopting voltage following;
the analog-to-digital conversion module is used for low-noise, high-precision and synchronous acquisition of 2-channel magnetic field signals and is realized by adopting a low-noise, 24-bit and 4-channel synchronous A/D converter;
the electric field plate acquisition control interface is used for being in signal connection with the main control panel;
and the power input interface is used for being connected with a power supply provided by the main control board.
The main control board comprises a microcontroller, an electric field board acquisition control interface, a magnetic field board acquisition control interface, an orientation attitude sensor interface, a magnetic field measurement interface, a current measurement interface, data storage and recovery, system power management and information interaction;
the microcontroller is used for system management and workflow control and is realized by adopting an FPGA supporting an SOPC technology;
the electric field plate acquisition control interface is used for connecting the electric field plate;
the magnetic field plate acquisition control interface is used for connecting the magnetic field plate;
the azimuth attitude sensor interface is used for connecting an azimuth attitude sensor and adopts a high-precision high-sensitivity azimuth attitude sensor of an RS232 interface;
the magnetic field measurement interface is used for connecting a magnetic field measurement module for measuring the magnetic field information in the mobile platform and is connected by an RS485 serial port;
the current measurement interface is used for connecting a current measurement module for measuring the magnetic field information in the mobile platform and is connected by an RS485 serial port;
the data storage and recovery are used for storing and recovering the collected electric field data, magnetic field data, azimuth attitude data, magnetic field measurement data inside the mobile platform and current measurement data, the data storage adopts a CF card, and the data recovery adopts a high-speed USB mode;
the system power management is used for providing power for the main control panel, the electric field panel and the magnetic field panel through DC-DC conversion and switch control according to the power provided by the mobile platform;
and the information interaction comprises a communication serial port between the mobile platform and the GPS time service serial port, and a parameter configuration serial port between the upper PC and the GPS time service serial port.
The invention also aims to provide the marine environment weak electromagnetic field signal acquisition application of the marine electromagnetic field signal acquisition system carried on an underwater glider, wherein the underwater glider consists of an electric field sensor, a magnetic field sensor, an electromagnetic recorder, a driving unit, a power supply battery and a glider body;
the driving unit is used for realizing pitching and lifting of the glider in the gliding process;
the electric field sensors are respectively arranged along the body direction and the flank direction of the underwater glider, are connected with the electromagnetic recorder through watertight cables and are used for collecting weak electric field signals in marine environment;
the magnetic field sensor is arranged in a body pressure-bearing cabin of the underwater glider and used for collecting weak magnetic field signals in the marine environment.
In summary, the advantages and positive effects of the invention are: the invention provides a marine electromagnetic field signal acquisition system and a marine electromagnetic field signal acquisition device aiming at the requirements of marine environment electromagnetic field observation and underwater target electromagnetic detection, which can be carried on different mobile platforms according to actual observation requirements to realize the functions of acquisition, amplification, storage, transmission and the like of weak electromagnetic field signals in marine environment, and the obtained electromagnetic data can be further processed and analyzed to obtain information such as marine background electromagnetic fields, marine power parameters, underwater targets and the like.
Compared with the prior art, the invention has the following advantages:
(1) compared with a seabed fixed type seabed electromagnetic acquisition station, the electromagnetic detection in a larger range can be realized, the detection efficiency is effectively improved, and the flexible electromagnetic detection can be realized;
(2) compared with a single electric method and magnetic method detection system, the system can comprehensively utilize the inherent signal characteristics of an electric field signal but weaker signal and stronger magnetic field signal but can eliminate the signal characteristics, can solve the problem that the single electric method or magnetic method detection depends on field source information, and can remove the field source effect and realize the detection independent of the field source information by adopting the electric method and the magnetic method for detection;
(3) the system is provided with four same magnetic field measurement channels, and can support independent magnetic field acquisition, tensor magnetic field acquisition and zero magnetic tensor magnetic field acquisition in various magnetic field measurement modes so as to meet different requirements of marine environment magnetic field and underwater target detection;
(4) the system is provided with the azimuth attitude signal acquisition unit and the platform magnetic field signal measurement unit, so that compensation of a magnetic field generated by the motion of the mobile platform and a magnetic field generated by internal parts of the platform can be realized, the self-interference of the mobile platform is reduced, and the electromagnetic detection capability of the system is improved.
Drawings
FIG. 1 is a schematic structural diagram of a marine electromagnetic field signal acquisition system provided by an embodiment of the invention;
in the figure: 1. an electric field signal acquisition unit; 2. a magnetic field signal acquisition unit; 3. an orientation attitude signal acquisition unit; 4. a platform magnetic field signal measuring unit; 5. and a main control unit.
FIG. 2 is a schematic diagram of a system composition of a marine electromagnetic field signal acquisition system according to an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of a marine electromagnetic field signal acquisition device provided by an embodiment of the invention.
Fig. 4 is a schematic structural diagram of a magnetic field plate according to an embodiment of the present invention.
Fig. 5 is a schematic structural diagram of an electric field plate according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a main control board according to an embodiment of the present invention.
Fig. 7 is a schematic diagram of a magnetic field sensor position arrangement and a zero magnetic tensor magnetic field acquisition method provided by an embodiment of the invention.
FIG. 8 is a schematic diagram of a system for acquiring an electromagnetic field signal from a sea in an underwater glider application according to an embodiment of the present invention;
in the figure: 6. an electric field sensor; 7. a drive unit of the underwater glider; 8. a magnetic field sensor; 9. a system power supply battery; 10. marine electromagnetic field signal acquisition recorder; 11. an underwater glider.
FIG. 9 is a schematic illustration of measured magnetic field information for internal components of an underwater glider, provided by an embodiment of the present invention.
Fig. 10 is a schematic diagram of measurement results of a free-standing magnetic field acquisition mode of the marine electromagnetic field signal acquisition system mounted on an underwater glider according to the embodiment of the present invention.
Fig. 11 is a schematic view of measurement results of a tensor magnetic field acquisition mode of the marine electromagnetic field signal acquisition system mounted on an underwater glider according to the embodiment of the present invention.
Fig. 12 is a schematic diagram showing a comparison between measurement results of a tensor magnetic field acquisition mode and a zero magnetic tensor magnetic field acquisition mode of the marine electromagnetic field signal acquisition system mounted on an underwater glider according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a marine electromagnetic field signal acquisition system, a device and application thereof, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the marine electromagnetic field signal acquisition system provided by the embodiment of the present invention includes: the device comprises an electric field signal acquisition unit 1, a magnetic field signal acquisition unit 2, an azimuth attitude signal acquisition unit 3, a platform magnetic field signal measurement unit 4 and a main control unit 5.
The electric field signal acquisition unit 1 is used for acquiring electric field signals of marine environment;
the magnetic field signal acquisition unit 2 is used for acquiring a marine environment magnetic field signal;
the azimuth attitude signal acquisition unit 3 is used for acquiring azimuth attitude information of the mobile platform;
a platform magnetic field signal measuring unit 4 for measuring the internal magnetic field information of the mobile platform;
and the main control unit 5 is used for system parameter configuration, workflow control, collected data processing and storage, system power management and information interaction between the system and the mobile platform.
The technical solution of the present invention is further described below with reference to the accompanying drawings.
As shown in fig. 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, wherein the magnetic field sensor adopts a three-axis fluxgate sensor, and can support synchronous acquisition of magnetic field data of at most 12 components and support up to three magnetic field acquisition modes; the magnetic field signal acquisition unit 2 is provided with a controllable current output channel and can be used for eliminating an environmental magnetic field during zero magnetic environment measurement. The electric field signal acquisition unit 1 is provided with two identical electric field measurement channels, and comprises an electric field sensor, an electric field signal processing module and an analog-to-digital conversion module. The platform magnetic field signal measuring unit 4 is provided with a magnetic field and current sensing measuring module for measuring the self radiation magnetic field and the working current of the mobile platform and compensating the self magnetic field of the mobile platform. The azimuth attitude sensor of the azimuth attitude signal acquisition unit 3 is integrated into the acquisition system, and the motion attitude of the mobile platform can be acquired in real time in the motion process of the mobile platform, so that the mobile platform can be used for compensation of a magnetic field generated by motion. The main control unit 5 is in data communication and GPS time service with the mobile platform through the serial port module.
The marine electromagnetic field signal acquisition device provided by the embodiment of the invention is shown in fig. 3 and comprises a magnetic field sensor, an electric field sensor, a magnetic field plate, an electric field plate and a main control plate.
The magnetic field sensor is connected with the magnetic field plate through the magnetic field sensor interface, the electric field sensor is connected with the electric field plate through the electric field sensor interface, the magnetic field plate is connected with the main control plate through the magnetic field plate acquisition control interface, the electric field plate is connected with the main control plate through the electric field plate acquisition control interface, the main control plate provides power for the magnetic field plate and the electric field plate, and the main control plate is further connected with the azimuth attitude sensor, the magnetic field measurement module, the current measurement module and the mobile platform.
The magnetic field sensor adopts a high-precision three-axis fluxgate sensor, and the electric field sensor adopts a silver/silver chloride non-polarized electrode.
The magnetic field plate of the embodiment of the invention comprises a magnetic field signal processing module, an analog-to-digital conversion module, an environmental magnetic field compensation module, a magnetic field plate acquisition control interface and a power supply input interface. The schematic block diagram is shown in fig. 4.
The magnetic field signal processing module is a circuit for processing signals after the signals collected by the magnetic field sensor are accessed. A magnetic field signal processing circuit is designed in a mode of combining a proportional amplifying/attenuating circuit with a voltage follower. The proportional amplification/attenuation circuit can perform appropriate amplification or attenuation according to the magnitude of the input magnetic field sensor signal; the voltage follower has characteristics of high input impedance and low output impedance. If the input impedance of the subsequent stage is small, a part of the signal is lost in the output impedance of the previous stage, so that it is necessary to buffer the signal by using a voltage follower. The analog signal after proportional amplification and voltage following is sent to an analog-to-digital conversion module.
The analog-digital conversion module adopts a low-noise, four-channel synchronous high-precision 24-bit A/D converter, realizes the synchronous acquisition and conversion function of 12 channels by cascading a plurality of A/D converters, transmits the converted digital quantity to a microcontroller of a main control board at high speed through a serial bus, and can set the working mode, the sampling starting time, the sampling rate, the sampling synchronization and the like of the microcontroller.
The environmental magnetic field compensation module can take the magnetic field signal acquired by one group of the three-axis fluxgates as the feedback magnetic field signal if the four groups of the three-axis fluxgates are used as the magnetic field sensor to form zero magnetic tensor type measurement. 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 through a control algorithm, the output signal is converted into a corresponding current signal through a voltage-current conversion circuit and is output to the spherical coil, the spherical coil compensates the magnetic field, and the environmental magnetic field of the carrying platform is offset.
The electric field plate of the embodiment of the invention comprises an electric field signal processing module, a digital-to-analog conversion module, an electric field plate acquisition control interface and a power supply input interface. The schematic block diagram is shown in fig. 5.
The electric field analog signal acquisition and processing module is used for conditioning weak electric field signals detected by the electric field sensor by adopting a program-controlled gain chopping amplification scheme. The conditioned and amplified electric field signal 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.
The main control board of the embodiment of the invention has the functions of electromagnetic field data synchronous acquisition control, processing, storage, recovery, GPS time service, power management, communication and the like, and the system block diagram is shown in FIG. 6. The main control unit mainly comprises a microcontroller, an electric field plate acquisition control interface, a magnetic field plate acquisition control interface, an azimuth attitude sensor interface, a magnetic field measurement interface, a current measurement interface, data storage and recovery, system power management, information interaction and the like.
And the microcontroller is used for system management and workflow control, is realized by adopting an FPGA supporting an SOPC technology, and realizes high-precision synchronous control, reading and storage of electromagnetic field acquisition.
The electric field plate acquisition control interface is used for connecting the electric field plate;
the magnetic field plate acquisition control interface is used for connecting the magnetic field plate;
and the azimuth attitude sensor interface is used for connecting an azimuth attitude sensor and adopts a high-precision and high-sensitivity azimuth attitude sensor with an RS232 interface. Since the mobile platform may swing, rotate and tilt during the motion process, the three-axis attitude information (azimuth angle, pitch angle and roll angle) during the system operation process needs to be acquired by the azimuth attitude module.
The magnetic field measurement interface is used for connecting a magnetic field measurement module for measuring the magnetic field information in the mobile platform and is connected by an RS485 serial port;
the current measurement interface is used for connecting a current measurement module for measuring the magnetic field information in the mobile platform and is connected by an RS485 serial port;
the data storage and recovery are used for storing and recovering the collected electric field data, magnetic field data, azimuth attitude data, magnetic field measurement data inside the mobile platform and current measurement data, the data storage adopts a CF card, and the data recovery adopts a high-speed USB mode;
the system power management is used for providing power for the main control panel, the electric field panel and the magnetic field panel through DC-DC conversion and switch control according to the power provided by the mobile platform;
and the information interaction comprises a communication serial port between the mobile platform and the GPS time service serial port, and a parameter configuration serial port between the upper PC and the GPS time service serial port.
The magnetic field signal acquisition unit is provided with four paths of same magnetic field measurement channels, and can realize independent magnetic field acquisition, tensor magnetic field acquisition and zero magnetic tensor magnetic field acquisition. The magnetic field acquisition is independent, the 4-path magnetic field sensor, the magnetic field signal processing module and the analog-to-digital conversion module respectively and independently acquire magnetic field signals and store the 4-path magnetic field signals; the method comprises the steps of tensor magnetic field acquisition, wherein 4 paths of magnetic field sensors, a magnetic field signal processing module and an analog-to-digital conversion module are used for independently acquiring magnetic field signals respectively, difference processing is carried out on 3 paths of magnetic field signals and the rest 1 path of magnetic field signals after acquisition, and the 3 paths of magnetic field signals after difference processing are stored; the magnetic field acquisition of the zero magnetic tensor type, 4-way magnetic field sensor, the magnetic field signal processing module and the analog-to-digital conversion module independently acquire magnetic field signals respectively, wherein 1-way magnetic field signal is used as a reference magnetic field signal, and the controllable current output module performs zero magnetic compensation coil current control according to the reference magnetic field signal, so that the reference magnetic field signal approaches to zero, and stores 3-way magnetic field signals. Fig. 7 is a schematic diagram of a magnetic field sensor position arrangement and a zero magnetic tensor magnetic field acquisition method according to an embodiment of the present invention.
The marine electromagnetic field signal acquisition system provided by the invention can be carried on an underwater glider to carry out marine environment weak electromagnetic field signal acquisition application, and the internal integration of the application embodiment is shown in figure 8. The underwater glider serving as a novel underwater unmanned observation platform has the characteristics of low energy consumption, high endurance, low manufacturing cost and maintenance cost, capability of being thrown in a large amount and being reused and the like, and can meet the requirements of long-range navigation and large-range ocean observation. The underwater glider carrying the electromagnetic field signal acquisition system consists of an electric field sensor 6, a driving unit 7, a magnetic field sensor 8, a power supply battery 9, an electromagnetic recorder 10 and a glider body 11, wherein the driving unit 7 is responsible for pitching and lifting of the glider in the gliding process; the two pairs of electric field sensors 6 are respectively arranged along the body direction and the flank direction of the glider and are connected with the electromagnetic recorder 10 through watertight cables for collecting weak electric field signals in marine environment. The magnetic field sensor composed of four groups of three-axis fluxgates is arranged in the pressure-bearing cabin and is used for collecting magnetic field signals in marine environment.
The embodiment of the invention provides a marine electromagnetic field signal acquisition system which is a set of large-range marine electromagnetic observation equipment. The system is composed of an electric field signal acquisition unit 1, a magnetic field signal acquisition unit 2, an azimuth attitude signal acquisition unit 3, a platform magnetic field signal measurement unit 4 and a main control unit 5. Wherein, the magnetic field signal acquisition unit 2 is the innovation of the system compared with a submarine electromagnetic acquisition station. The magnetic field signal acquisition unit 2 comprises 4 channels for acquiring magnetic field data of 12 components and further comprises a magnetic field feedback compensation module. The magnetic field signal acquisition unit 2 can support three magnetic field acquisition modes:
1) independent fluxgate sensor measurement mode
The system can realize the function of independently measuring the magnetic field intensity of each fluxgate sensor, and the fluxgate is connected to four channels of the magnetic field signal acquisition unit 2 to finish signal acquisition.
2) Tensor fluxgate sensor measurement mode
The system can support three groups of fluxgate sensors to realize a tensor measurement method, and the function can be realized by using any 3 channels of the magnetic field signal acquisition unit 2.
3) And a zero magnetic tensor fluxgate sensor measurement mode with magnetic field feedback.
The system can support four groups of fluxgate sensors to realize a zero magnetic tensor type measurement method with magnetic field feedback, and the method needs 4 acquisition connecting and compensating circuits of the magnetic field signal acquisition unit 2. An ambient magnetic field measured by one of the fluxgates is utilized, and an opposite magnetic field is output to the feedback coil through the compensation circuit to offset the ambient magnetic field outside. The mode can enable the three-axis fluxgate sensor to work in a zero magnetic field environment with better performance.
The technical effects of the present invention will be described in detail below with reference to the accompanying drawings.
FIG. 9 is measured magnetic field information for internal components of an underwater glider provided by an embodiment of the present invention. Magnetic field information generated by internal components of the underwater glider in different working stages is measured by utilizing the fluxgate sensor, in the figure, the stage 1 is a starting process of the glider, and each motor and each sensor are electrified, so that the system is subjected to self-inspection; step 2, the communication module is powered on, and GPS positioning is started; the stage 3 is an underwater gliding stage, the glider returns oil, the communication module is powered off, the battery pack moves to the diving rudder amount, a sensor (CTD) is carried on, and sampling work is started; stage 4, acquiring information of a depth meter and an electronic compass, and moving the battery pack to perform pitching and course adjustment; stage 5, the glider discharges oil, and the battery pack moves to the oil discharge rudder amount; stage 6, after the oil is discharged to a specified amount, the glider enters a floating-up stage, and the battery pack moves to the floating-up rudder amount; stage 7, acquiring information of a depth meter and an electronic compass, and moving the battery pack to adjust the pitching and the course; stage 8, entering a water surface transition stage, and carrying out sampling stop and power off by a sensor (CTD); stage 9 is entering the water surface waiting stage to carry out GPS positioning and communication; stage 10 is the return of the buoyancy adjusting unit to the zero position. As can be seen from the figure, the carried underwater glider has large difference of the internal magnetic field information in different working stages and is measurable. It proves to be feasible and necessary to measure the internal magnetic field of the mobile platform proposed by the present invention for compensation.
Fig. 10 shows magnetic field information measured in a free-standing magnetic field acquisition mode of the marine electromagnetic field signal acquisition system mounted on an underwater glider according to the embodiment of the present invention. Fig. 11 is magnetic field information measured by a tensor magnetic field acquisition mode of the marine electromagnetic field signal acquisition system mounted on the underwater glider according to the embodiment of the present invention. The test result is a water pool test result of the marine electromagnetic field signal acquisition system carried on the underwater glider, the marine electromagnetic field signal acquisition system carried on the underwater glider is positioned in the center of the water pool, and a tester pulls the magnet to move linearly from the water pool along a direction parallel to the underwater glider, moves back and forth, namely moves from the end A of the water pool, passes through the marine electromagnetic field signal acquisition system carried on the underwater glider, reaches the end B of the water pool, and then is pulled from the end B to the end A. According to the test result, the independent magnetic field acquisition mode and the tensor magnetic field acquisition mode acquire the information passed by the magnet, but the magnet passing process of the tensor magnetic field acquisition mode is clearer, so that the tensor magnetic field acquisition mode is more suitable for detecting the moving target.
Fig. 12 is a comparison of the measurement results of the tensor magnetic field acquisition mode and the zero magnetic tensor magnetic field acquisition mode of the marine electromagnetic field signal acquisition system mounted on the underwater glider according to the embodiment of the present invention. The measurement result shows that the performance of the tensor magnetic field acquisition mode is equivalent to that of the zero magnetic tensor magnetic field acquisition mode, and therefore system noise is not introduced after zero magnetic compensation current feedback is added, and the magnetic field sensor works near zero magnetism in the zero magnetic tensor magnetic field acquisition mode, so that the system has a larger signal measurement range.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A marine electromagnetic field signal acquisition system, comprising:
the electric field signal acquisition unit is used for acquiring electric field signals of marine environment;
the magnetic field signal acquisition unit is used for acquiring a marine environment magnetic field signal;
the azimuth attitude signal acquisition unit is used for acquiring azimuth attitude information of the mobile platform;
the platform magnetic field signal measuring unit is used for measuring the internal magnetic field information of the mobile platform;
the main control unit is used for system parameter configuration, workflow control, collected data processing and storage, system power management and information interaction between the system and the mobile platform;
the magnetic field signal acquisition unit comprises 4 paths of magnetic field sensors, a magnetic field signal processing module, an analog-to-digital conversion module and 1 path of controllable current output module, and can realize independent magnetic field acquisition, tensor magnetic field acquisition and zero magnetic tensor magnetic field acquisition;
the magnetic field acquisition is independent, the 4-path magnetic field sensor, the magnetic field signal processing module and the analog-to-digital conversion module respectively and independently acquire magnetic field signals and store the 4-path magnetic field signals;
the method comprises the steps of tensor magnetic field acquisition, wherein 4 paths of magnetic field sensors, a magnetic field signal processing module and an analog-to-digital conversion module are used for independently acquiring magnetic field signals respectively, difference processing is carried out on 3 paths of magnetic field signals and the rest 1 path of magnetic field signals after acquisition, and the 3 paths of magnetic field signals after difference processing are stored;
the magnetic field acquisition of the zero magnetic tensor type, 4-way magnetic field sensor, the magnetic field signal processing module and the analog-to-digital conversion module independently acquire magnetic field signals respectively, wherein 1-way magnetic field signal is used as a reference magnetic field signal, and the controllable current output module performs zero magnetic compensation coil current control according to the reference magnetic field signal, so that the reference magnetic field signal approaches to zero, and stores 3-way magnetic field signals.
2. The marine electromagnetic field signal acquisition system of claim 1 wherein the electric field signal acquisition unit comprises an electric field sensor, an electric field signal processing module, an analog-to-digital conversion module;
the electric field sensor is used for detecting an electric field signal;
the electric field signal processing module adopts a low-noise chopping modulation amplifying circuit and is used for carrying out low-noise amplification processing on the electric field signal output by the electric field sensor;
and the analog-to-digital conversion module adopts a high-precision analog-to-digital converter and is used for synchronous high-precision acquisition of the amplified electric field signals.
3. The marine electromagnetic field signal acquisition system of claim 1, wherein the master control unit comprises a microcontroller, a magnetic field signal acquisition unit interface, an electric field signal acquisition unit interface, an orientation attitude signal acquisition unit interface, a platform magnetic field signal measurement unit interface, a data storage module, a system power module, and an information interaction module;
the microcontroller is used for system management and workflow control;
a magnetic field signal acquisition unit interface, an electric field signal acquisition unit interface, an azimuth attitude signal acquisition unit interface, a platform magnetic field signal measurement unit interface, which are used for being connected with the interfaces of the magnetic field signal acquisition unit, the electric field signal acquisition unit, the azimuth attitude signal acquisition unit and the platform magnetic field signal measurement unit;
the data storage module is used for storing data;
the system power supply module is used for generating various power supplies required by the main control unit, the magnetic field signal acquisition unit, the electric field signal acquisition unit, the azimuth attitude signal acquisition unit and the platform magnetic field signal measurement unit according to the power supply provided by the mobile platform;
and the information interaction module is connected with a plurality of serial ports of the microcontroller and is used for configuring system parameters and interacting information with the mobile platform.
4. A marine electromagnetic field signal acquisition method for operating the marine electromagnetic field signal acquisition system according to any one of claims 1 to 3, wherein the marine electromagnetic field signal acquisition method comprises: the magnetic field signal acquisition unit is provided with four identical magnetic field measurement channels and comprises a magnetic field sensor, a magnetic field signal processing module and an analog-to-digital conversion module, wherein the magnetic field sensor adopts a three-axis fluxgate sensor, can support synchronous acquisition of magnetic field data of 12 components at most, and can support up to three magnetic field acquisition modes; the magnetic field signal acquisition unit is provided with a controllable current output channel for eliminating an environmental magnetic field during zero magnetic environment measurement; the electric field signal acquisition unit is provided with two identical electric field measurement channels which comprise an electric field sensor, an electric field signal processing module and an analog-to-digital conversion module; the platform magnetic field signal measuring unit is provided with a magnetic field and current sensing measuring module for measuring the self radiation magnetic field and working current of the mobile platform and compensating the self magnetic field of the mobile platform; an azimuth attitude sensor of the azimuth attitude signal acquisition unit is integrated into an acquisition system, and the motion attitude of the mobile platform is acquired in real time in the motion process of the mobile platform and is used for compensation of a magnetic field generated by motion; the main control unit is in data communication and GPS time service with the mobile platform through the serial port module.
5. The marine electromagnetic field signal acquisition method of claim 4, further comprising: the magnetic field sensor is connected with the magnetic field plate through the magnetic field sensor interface, the electric field sensor is connected with the electric field plate through the electric field sensor interface, the magnetic field plate is connected with the main control plate through the magnetic field plate acquisition control interface, the electric field plate is connected with the main control plate through the electric field plate acquisition control interface, the main control plate provides power for the magnetic field plate and the electric field plate, and the main control plate is further connected with the azimuth attitude sensor, the magnetic field measurement module, the current measurement module and the mobile platform.
6. The marine electromagnetic field signal acquisition method of claim 4, further comprising: the magnetic field signal processing module is a circuit for processing signals after the signals collected by the magnetic field sensor are accessed, and the magnetic field signal processing circuit is designed in a mode of combining a proportional amplification/attenuation circuit with a voltage follower, and the proportional amplification/attenuation circuit can perform proper amplification or attenuation according to the size of the signals input to the magnetic field sensor; the voltage follower has the characteristics of high input impedance and low output impedance, if the input impedance of the later stage is small, a part of signals are lost in the output impedance of the former stage, the signals are buffered by the voltage follower, and analog signals subjected to proportional amplification and voltage following are sent to the analog-to-digital conversion module;
the analog-digital conversion module adopts a low-noise, four-channel synchronous high-precision 24-bit A/D converter, realizes the synchronous acquisition and conversion function of 12 channels by cascading a plurality of A/D converters, transmits the converted digital quantity to a microcontroller of a main control board at high speed through a serial bus, and sets the working mode, the sampling starting time, the sampling rate and the sampling synchronization of the digital quantity through the microcontroller;
if four sets of three-axis fluxgates are used as magnetic field sensors to form zero magnetic tensor measurement, a magnetic field signal acquired by one set of three-axis fluxgates is used as a feedback magnetic field signal, the feedback magnetic field signal is output to a main control unit through A/D conversion, the output voltage of a low-noise 16-bit D/A converter is adjusted through a control algorithm, the output signal is converted into a corresponding current signal through a voltage-current conversion circuit and is output to a spherical coil, the spherical coil compensates the magnetic field, and the environmental magnetic field of a carrying platform is offset.
7. The marine electromagnetic field signal acquisition method of claim 4, further comprising: the electric field analog signal acquisition and processing module is used for conditioning a weak electric field signal detected by the electric field sensor by adopting a program-controlled gain chopping amplification scheme; the conditioned and amplified electric field signal is accessed to a digital-to-analog conversion module through a voltage follower circuit, and an A/D converter used in the field plate is the same as the digital-to-analog conversion of the magnetic field plate.
8. A marine electromagnetic field signal acquisition device carrying the marine electromagnetic field signal acquisition system as claimed in any one of claims 1-4, wherein the marine electromagnetic field signal acquisition device comprises a magnetic field sensor, an electric field sensor, a magnetic field plate, an electric field plate and a main control plate;
the magnetic field sensor is connected with the magnetic field plate through the magnetic field sensor interface, the electric field sensor is connected with the electric field plate through the electric field sensor interface, the magnetic field plate is connected with the main control plate through the magnetic field plate acquisition control interface, the electric field plate is connected with the main control plate through the electric field plate acquisition control interface, the main control plate provides power for the magnetic field plate and the electric field plate, and the main control plate is further connected with the azimuth attitude sensor, the magnetic field measurement module, the current measurement module and the mobile platform.
9. The marine electromagnetic field signal acquisition device of claim 8, wherein the magnetic field sensor is a high-precision three-axis fluxgate sensor; the electric field sensor adopts a silver/silver chloride non-polarized electrode;
the magnetic field plate comprises a magnetic field signal processing module, an analog-to-digital conversion module, an environmental magnetic field compensation module, a magnetic field plate acquisition control interface and a power supply input interface;
the magnetic field signal processing module is used for accessing a magnetic field signal output by the magnetic field sensor through a magnetic field sensor interface, processing the magnetic field signal through a low-noise proportional amplification/attenuation circuit and realizing impedance matching with a subsequent A/D conversion circuit by adopting a voltage follower circuit;
the analog-to-digital conversion module is used for low-noise, high-precision and synchronous acquisition of 12-component magnetic field signals and is realized by cascading low-noise, 24-bit and 4-channel synchronous A/D converters;
the environment magnetic field compensation module is used for high-precision controllable current output and is realized by adopting a low-noise 16-bit D/A converter and a voltage-current conversion circuit;
the magnetic field plate acquisition control interface is used for signal connection with the main control plate;
the power input interface is used for being connected with a power supply provided by the main control board;
the electric field plate comprises an electric field signal processing module, a digital-to-analog conversion module, an electric field plate acquisition control interface and a power supply input interface;
the electric field signal processing module is used for accessing an electric field signal output by the electric field sensor through an electric field sensor interface, processing the electric field signal by the low-noise program-controlled gain amplifying circuit and realizing impedance matching with a subsequent A/D conversion circuit by adopting voltage following;
the analog-to-digital conversion module is used for low-noise, high-precision and synchronous acquisition of 2-channel magnetic field signals and is realized by adopting a low-noise, 24-bit and 4-channel synchronous A/D converter;
the electric field plate acquisition control interface is used for being in signal connection with the main control panel;
the power input interface is used for being connected with a power supply provided by the main control board;
the main control board comprises a microcontroller, an electric field board acquisition control interface, a magnetic field board acquisition control interface, an azimuth attitude sensor interface, a magnetic field measurement interface, a current measurement interface, data storage and recovery, system power management and information interaction;
the microcontroller is used for system management and workflow control and is realized by adopting an FPGA supporting an SOPC technology;
the electric field plate acquisition control interface is used for connecting the electric field plate;
the magnetic field plate acquisition control interface is used for connecting the magnetic field plate;
the azimuth attitude sensor interface is used for connecting an azimuth attitude sensor and adopts a high-precision high-sensitivity azimuth attitude sensor of an RS232 interface;
the magnetic field measurement interface is used for connecting a magnetic field measurement module for measuring the magnetic field information in the mobile platform and is connected by an RS485 serial port;
the current measurement interface is used for connecting a current measurement module for measuring the magnetic field information in the mobile platform and is connected by an RS485 serial port;
the data storage and recovery are used for storing and recovering the collected electric field data, magnetic field data, azimuth attitude data, magnetic field measurement data inside the mobile platform and current measurement data, the data storage adopts a CF card, and the data recovery adopts a high-speed USB mode;
the system power management is used for providing power for the main control panel, the electric field panel and the magnetic field panel through DC-DC conversion and switch control according to the power provided by the mobile platform;
and the information interaction comprises a communication serial port between the mobile platform and the GPS time service serial port, and a parameter configuration serial port between the upper PC and the GPS time service serial port.
10. A marine environment observation system carrying the marine electromagnetic field signal acquisition system as claimed in any one of claims 1 to 7.
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