CN111412910B - Ship axis frequency magnetic field positioning method and device based on rotating magnetic dipole - Google Patents

Ship axis frequency magnetic field positioning method and device based on rotating magnetic dipole Download PDF

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CN111412910B
CN111412910B CN202010095079.6A CN202010095079A CN111412910B CN 111412910 B CN111412910 B CN 111412910B CN 202010095079 A CN202010095079 A CN 202010095079A CN 111412910 B CN111412910 B CN 111412910B
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magnetic
rotating
dipole
magnetic field
observation point
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CN111412910A (en
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林朋飞
张宁
徐磊
常明
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Naval University of Engineering PLA
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    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract

The embodiment of the invention provides a ship axis frequency magnetic field positioning method and device based on a rotating magnetic dipole, wherein the method comprises the following steps: the ship rotating propeller is equivalent to a rotating magnetic dipole, and a space magnetic field propagation model of the rotating magnetic dipole is established. Based on a space magnetic field propagation model, the magnetic moment of the rotating magnetic dipole is decomposed into two orthogonal magnetic moments, and the eigenvectors of the two orthogonal magnetic moments are solved. And analyzing the relation between the characteristic vector and the coordinates of the observation point to obtain the coordinates of the observation point, and further obtaining the position of the magnetic source. The rotating propeller is equivalent to a rotating magnetic dipole, the magnetic moment of the rotating magnetic dipole is decomposed into two orthogonal magnetic moments, the magnetic field strength values of the two orthogonal magnetic moments are obtained through the integration of the magnetic field strength at an observation point and the like, so that the characteristic vectors of the orthogonal magnetic moments are obtained, and the positioning of the rotating magnetic dipole is realized through the analysis of the relation between the characteristic vectors and the position coordinates of the observation point.

Description

Ship axis frequency magnetic field positioning method and device based on rotating magnetic dipole
Technical Field
The embodiment of the invention relates to the field of underwater ship detection, in particular to a ship axial frequency magnetic field positioning method and device based on a rotating magnetic dipole.
Background
In recent years, detection and positioning of underwater ship targets have been the hot spot of research in various countries. Many researches are made on detection and positioning of electromagnetic field signals of ships, and the ship axial frequency magnetic field has extremely low frequency, long propagation distance and strong anti-interference, so that the ship axial frequency magnetic field is the key research point for detecting magnetic targets in water. Accurately positioning the ship target, and having important significance in maintaining ocean rights and interests, improving the early warning capability of marine defense and the like.
The rotating shaft frequency magnetic field has extremely low frequency, long propagation distance, high stability and low interference of various noises such as sea conditions and the like, and is an important signal for target detection and positioning. The extremely low frequency magnetic field of a ship mainly comprises two parts: a part of submarine shaft frequency magnetic field is a magnetic field with a certain frequency generated by periodically modulating corrosion or anti-corrosion current by the rotation of a propeller, and the other part of shaft frequency magnetic field is a rotating magnetic field generated by the rotation of magnetized shafting parts such as a submarine, a ship magnetic propeller, a main shaft and the like.
How to put forward a method to realize underwater gyromagnetic target detection and high-precision positioning becomes a problem to be solved urgently.
Disclosure of Invention
The embodiment of the invention provides a ship axial frequency magnetic field positioning method and device based on a rotating magnetic dipole, which are applied to detection and positioning of underwater ship targets, are used for equivalently using a ship rotating propeller as the rotating magnetic dipole, modeling a rotating axial frequency magnetic field and realizing magnetic source positioning through inversion calculation.
In a first aspect, an embodiment of the present invention provides a ship axis frequency magnetic field positioning method based on a rotating magnetic dipole, including:
s1, enabling the ship rotating propeller to be equivalent to a rotating magnetic dipole, and establishing a space magnetic field propagation model of the rotating magnetic dipole;
s2, decomposing the magnetic moment of the rotating magnetic dipole into two orthogonal magnetic moments based on the space magnetic field propagation model, and solving the eigenvectors of the two orthogonal magnetic moments;
and S3, analyzing the relation between the characteristic vector and the coordinates of the observation point to obtain the coordinates of the observation point, and further obtaining the position of the magnetic source.
Further, in S1, the method for establishing a space magnetic field propagation model of a rotating magnetic dipole by equivalently using the ship rotating propeller as the rotating magnetic dipole specifically includes:
defining a propeller axis as a z axis, and rotating a magnetic dipole at a coordinate origin and around the z axis at an angular velocity omega; let the observation point be P (x)0,y0,z0) The magnetic moment of the rotating magnetic dipole is set to
Figure GDA0002991015000000021
And the size is M, and a space magnetic field propagation model of the rotating magnetic dipole is established.
Further, in S2, decomposing the rotating magnetic dipole magnetic moment into two orthogonal magnetic moments based on the spatial magnetic field propagation model, and solving the eigenvectors of the two orthogonal magnetic moments specifically includes:
s21, decomposing the magnetic moment of the rotating magnetic dipole into two orthogonal magnetic moments to obtain the eigenvectors of the two orthogonal magnetic moments;
and S22, solving the magnetic field intensity generated by the two orthogonal magnetic moments to further obtain the three-axis component of the eigenvector of the two orthogonal magnetic moments.
Further, in S21, the decomposing the magnetic moment of the rotating magnetic dipole into two orthogonal magnetic moments to obtain the eigenvectors of the two orthogonal magnetic moments specifically includes:
magnetic moment with rotating magnetic dipole
Figure GDA0002991015000000031
The magnetic moment components in the x and y axes are
Figure GDA0002991015000000032
Then
Figure GDA0002991015000000033
Wherein M represents a rotating magnetic dipole magnetic moment
Figure GDA0002991015000000034
Value of (A), MpAnd MfRespectively represent
Figure GDA0002991015000000035
Magnetic moment components in x, y axes
Figure GDA0002991015000000036
A value of (d); ω · t represents the angle the rotating magnetic dipole rotates at any moment; alpha is alpha0Representing the initial angle of the rotating magnetic dipole to the x-axis;
the rotating magnetic dipole is positioned at the origin of coordinates, and the rotating magnetic dipole can be known at an observation point P (x) according to the Biot-savart law0,y0,z0) Magnetic induction intensity generated at
Figure GDA0002991015000000037
Comprises the following steps:
Figure GDA0002991015000000038
in the formula, mu0Representing the magnetic permeability of the medium in which the rotating magnetic dipole is located;
Figure GDA0002991015000000039
representing the position vector of the point of observation of the rotating magnetic dipole, r0Representing the distance of the rotating magnetic dipole to the observation point; wherein,
Figure GDA00029910150000000310
the magnetic field intensity at the observation point can be known by Maxwell equations
Figure GDA00029910150000000311
And magnetic induction intensity
Figure GDA00029910150000000312
Satisfies the following conditions:
Figure GDA00029910150000000313
setting the magnetic moment in the x-axis direction
Figure GDA00029910150000000314
The strength of the magnetic field generated is
Figure GDA00029910150000000315
Magnetic moment from y-axis direction
Figure GDA00029910150000000316
The strength of the magnetic field generated is
Figure GDA00029910150000000317
Then, the following equations (1), (2), (3) can be obtained:
Figure GDA00029910150000000318
in the formula, Hpx、Hpy、HpzRespectively representing magnetic moments
Figure GDA0002991015000000041
Intensity of the generated magnetic field
Figure GDA0002991015000000042
The components at the x, y, z axes; hfx、Hfy、HfzRespectively representing magnetic moments
Figure GDA0002991015000000043
Intensity of the generated magnetic field
Figure GDA0002991015000000044
The components at the x, y, z axes;
magnetic field strength generated by rotating magnetic dipoles can be generated by two varying orthogonal magnetic moments
Figure GDA0002991015000000045
And
Figure GDA0002991015000000046
the magnetic field intensity at the observation point is obtained by superposition, which can be known from formula (3) and formula (4)
Figure GDA0002991015000000047
Comprises the following steps:
Figure GDA0002991015000000048
from equation (1), MfAnd MpChanges sinusoidally with omega, and the phase difference is pi/2;
Figure GDA0002991015000000049
and
Figure GDA00029910150000000410
intensity of the generated magnetic field
Figure GDA00029910150000000411
And
Figure GDA00029910150000000412
only the size is changed, but the direction is not changed; further result in
Figure GDA00029910150000000413
And
Figure GDA00029910150000000414
the vector direction obtained by the outer product does not change with the rotation speed omega,
Figure GDA00029910150000000415
and
Figure GDA00029910150000000416
the outer product of (a) can be used to characterize the intrinsic characteristics of a rotating magnetic dipole, defined as the eigenvectors of two orthogonal magnetic moments;
let the eigenvectors of two orthogonal magnetic moments be
Figure GDA00029910150000000417
Then there are:
Figure GDA00029910150000000418
further, in step S22, solving the magnetic field strength generated by the two orthogonal magnetic moments, and further obtaining the three-axis component of the eigenvector of the two orthogonal magnetic moments, specifically includes:
analysis according to formula (1) and formula (5)
Figure GDA00029910150000000419
Signal characteristics, knowing magnetic field strength
Figure GDA00029910150000000420
Multiplication by a cosine variable cThe magnetic field intensity can be cancelled by os (omega.t) and integration
Figure GDA00029910150000000421
Magnetic field intensity
Figure GDA00029910150000000422
The magnetic field intensity can be counteracted by multiplying sine variable sin (omega.t) and integrating
Figure GDA00029910150000000423
Further, it is possible to obtain:
Figure GDA0002991015000000051
Figure GDA0002991015000000052
where T is the sampling period, Hx、Hy、HzRespectively the magnetic field strength at the observation point
Figure GDA0002991015000000053
Components in the x, y, z axes; i.e. i0Δ t is the initial angle α between the rotating magnetic dipole and the x-axis0I.e. alpha0＝i0·Δt；i∈[0,N-1]N is a sampling point of the triaxial fluxgate sensor at the observation point in a unit period, and delta t is a sampling interval of the triaxial fluxgate sensor;
solving according to the formula to obtain Hpx、Hpy、Hpz、Hfx、Hfy、HfzThen, combining formula (6) to solve and obtain the characteristic vector
Figure GDA0002991015000000054
Three-axis component Hpfx、Hpfy、Hpfz。
Further, in S3, the analyzing the relationship between the feature vector and the observation point coordinate to obtain the observation point coordinate specifically includes:
the feature vector is obtained from equation (6)
Figure GDA0002991015000000055
The three-axis components are:
Figure GDA0002991015000000056
Figure GDA0002991015000000057
Figure GDA0002991015000000058
the formula is simplified to obtain:
Figure GDA0002991015000000061
and (3) obtaining the relation between the three-axis component of the feature vector and the coordinate of the observation point according to the formula (8):
Figure GDA0002991015000000062
according to the rotating magnetic dipole moment equation (1), the magnetic field at the observation point is elliptically polarized, and the minimum value H of the magnetic field strength at the observation point is obtainedminDistance r from observation point to magnetic dipole0Satisfies the following formula:
Figure GDA0002991015000000063
observation point P (x)0,y0,z0) Distance r to rotating magnetic dipole0And the three-axis coordinates satisfy the following conditions:
Figure GDA0002991015000000064
h can be measured by adopting a three-axis fluxgate sensor at an observation pointx、Hy、HzThe value of (2) is combined with the formula (9), (10) and (11) to obtain the feature vector
Figure GDA0002991015000000065
Three-axis component Hpfx、Hpfy、HpfzTo obtain an observation point P (x)0,y0,z0) And further obtaining the position of the rotating magnetic dipole relative to the observation point P.
In a second aspect, an embodiment of the present invention provides a ship axis frequency magnetic field positioning device based on a rotating magnetic dipole, including:
the model establishing module is used for enabling the ship rotating propeller to be equivalent to a rotating magnetic dipole and establishing a space magnetic field propagation model of the rotating magnetic dipole;
the eigenvector solving module is used for decomposing the magnetic moment of the rotating magnetic dipole into two orthogonal magnetic moments based on the space magnetic field propagation model and solving eigenvectors of the two orthogonal magnetic moments;
and the positioning module is used for analyzing the relation between the characteristic vector and the coordinate of the observation point, obtaining the coordinate of the observation point and further obtaining the position of the magnetic source.
Further, the model building module is specifically configured to:
defining a propeller axis as a z axis, and rotating a magnetic dipole at a coordinate origin and around the z axis at an angular velocity omega; let the observation point be P (x)0,y0,z0) The magnetic moment of the rotating magnetic dipole is set to
Figure GDA0002991015000000071
And the size is M, and a space magnetic field propagation model of the rotating magnetic dipole is established.
In a third aspect, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the steps of the rotating magnetic dipole based ship axis frequency magnetic field positioning method according to the embodiment of the first aspect of the present invention.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the rotating magnetic dipole based ship axis frequency magnetic field positioning method according to an embodiment of the first aspect of the present invention.
The ship axial frequency magnetic field positioning method and device based on the rotating magnetic dipole, provided by the embodiment of the invention, have the advantages that the rotating propeller is equivalent to the rotating magnetic dipole, the magnetic moment of the rotating magnetic dipole is decomposed into two orthogonal magnetic moments, and the magnetic field intensity generated by the rotating magnetic dipole can be the magnetic field intensity generated by the two changed orthogonal magnetic moments
Figure GDA0002991015000000072
And (4) superposing to obtain the product. Obtained by integrating the magnetic field intensity at the observation point
Figure GDA0002991015000000073
So as to obtain the eigenvector of the orthogonal magnetic moment, and realize the positioning of the rotating magnetic dipole by analyzing the relation between the eigenvector and the position coordinates of the observation point.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a ship axis frequency magnetic field positioning method based on rotating magnetic dipoles according to an embodiment of the invention;
FIG. 2 is a spatial magnetic field propagation model of a rotating magnetic dipole according to an embodiment of the present invention;
FIG. 3 is a schematic diagram showing the variation of the magnetic field intensity distribution of the rotating magnetic dipole at point P with time during the simulation and verification process;
FIG. 4 is a graph showing the magnetic field strength of two orthogonal magnetic moments corresponding to a rotating magnetic dipole and an x-axis at different initial angles during a simulation verification process
Figure GDA0002991015000000081
A three-axis magnetic component coordinate graph of (a);
FIG. 5 is a graph of the three-axis component of the eigenvectors of two orthogonal magnetic moments at different initial angles during simulation and verification;
FIG. 6 is a schematic diagram showing comparison between a calculated value of an observation point coordinate and a theoretical value of the observation point coordinate in a simulation verification process;
FIG. 7 is a schematic diagram of the absolute error between the calculated value of the three-axis coordinate of the observation point and the theoretical value in the simulation verification process;
FIG. 8 is a schematic diagram of the relative error of the z-axis during the simulation verification process;
fig. 9 is a schematic structural diagram of a ship axis frequency magnetic field positioning device based on a rotating magnetic dipole according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Fig. 1 provides a ship axis frequency magnetic field positioning method based on a rotating magnetic dipole, and referring to fig. 1, the method includes:
and S1, the ship rotating propeller is equivalent to a rotating magnetic dipole, and a space magnetic field propagation model of the rotating magnetic dipole is established.
The underwater ship target detection and positioning are always hot spots of research of all countries, the ship target is accurately positioned, and the method has important significance in maintaining ocean rights and interests, improving marine defense early warning capability and the like. The ship axial frequency magnetic field positioning method based on the rotary magnetic dipole is applied to detection and positioning of underwater ship targets.
Because the ship propeller is a magnetic object, the detection distance is far longer than the length of the propeller during airborne magnetic detection. Thus, the present embodiment equates a rotating propeller as a rotating magnetic dipole. Defining a propeller axis as a z axis, and rotating a magnetic dipole at a coordinate origin and around the z axis at an angular velocity omega; let the observation point be P (x)0,y0,z0) The magnetic moment of the rotating magnetic dipole is set to
Figure GDA0002991015000000101
And the size is M, and a space magnetic field propagation model of the rotating magnetic dipole is established. As shown in fig. 2, fig. 2 is a spatial magnetic field propagation model of a rotating magnetic dipole according to an embodiment of the present invention.
S2, decomposing the magnetic moment of the rotating magnetic dipole into two orthogonal magnetic moments based on the space magnetic field propagation model, and solving the eigenvectors of the two orthogonal magnetic moments.
Specifically, referring to FIG. 2, the rotating magnetic dipole moment is decomposed into two orthogonal magnetic moments, the rotating magnetic dipole moment
Figure GDA0002991015000000102
The magnetic moment components in the x and y axes are
Figure GDA0002991015000000103
Magnetic moment in the direction of the x-axis
Figure GDA0002991015000000104
The strength of the magnetic field generated is
Figure GDA0002991015000000105
Magnetic moment from y-axis direction
Figure GDA0002991015000000106
The strength of the magnetic field generated is
Figure GDA0002991015000000107
Magnetic field strength generated by rotating magnetic dipoles can be generated by two varying orthogonal magnetic moments
Figure GDA0002991015000000108
And (4) superposing to obtain the product.
Step S2 may specifically include: and S21, decomposing the magnetic moment of the rotating magnetic dipole into two orthogonal magnetic moments, and acquiring the eigenvectors of the two orthogonal magnetic moments. And S22, solving the magnetic field intensity generated by the two orthogonal magnetic moments to further obtain the three-axis component of the eigenvector of the two orthogonal magnetic moments.
And S3, analyzing the relation between the characteristic vector and the coordinates of the observation point to obtain the coordinates of the observation point, and further obtaining the position of the magnetic source.
The ship axial frequency magnetic field positioning method based on the rotating magnetic dipole, provided by the embodiment of the invention, is characterized in that the rotating propeller is equivalent to the rotating magnetic dipole, the magnetic moment of the rotating magnetic dipole is decomposed into two orthogonal magnetic moments, and the magnetic field intensity generated by the rotating magnetic dipole can be the magnetic field intensity generated by the two changed orthogonal magnetic moments
Figure GDA0002991015000000109
And (4) superposing to obtain the product. Obtained by integrating the magnetic field intensity at the observation point
Figure GDA00029910150000001010
The value of the three-axis component of the feature vector of the orthogonal magnetic moment is obtained, and the rotating magnetic dipole is positioned by analyzing the relation between the feature vector and the position coordinates of the observation point.
On the basis of the foregoing embodiment, in S21, decomposing the magnetic moment of the rotating magnetic dipole into two orthogonal magnetic moments, and obtaining eigenvectors of the two orthogonal magnetic moments specifically include:
magnetic moment with rotating magnetic dipole
Figure GDA0002991015000000111
The magnetic moment components in the x and y axes are
Figure GDA0002991015000000112
Then
Figure GDA0002991015000000113
Wherein M represents a rotating magnetic dipole magnetic moment
Figure GDA0002991015000000114
Value of (A), MpAnd MfRespectively represent
Figure GDA0002991015000000115
Magnetic moment components in x, y axes
Figure GDA0002991015000000116
A value of (d); ω · t represents the angle the rotating magnetic dipole rotates at any moment; alpha is alpha0Representing the initial angle of the rotating magnetic dipole to the x-axis;
the rotating magnetic dipole is positioned at the origin of coordinates, and the rotating magnetic dipole can be known at an observation point P (x) according to the Biot-savart law0,y0,z0) Magnetic induction intensity generated at
Figure GDA0002991015000000117
Comprises the following steps:
Figure GDA0002991015000000118
in the formula, mu0Representing the magnetic permeability of the medium in which the rotating magnetic dipole is located;
Figure GDA0002991015000000119
representing the position vector of the point of observation of the rotating magnetic dipole, r0Representing the distance of the rotating magnetic dipole to the observation point; wherein,
Figure GDA00029910150000001110
the magnetic field intensity at the observation point can be known by Maxwell equations
Figure GDA00029910150000001111
And magnetic induction intensity
Figure GDA00029910150000001112
Satisfies the following conditions:
Figure GDA00029910150000001113
setting the magnetic moment in the x-axis direction
Figure GDA00029910150000001114
The strength of the magnetic field generated is
Figure GDA00029910150000001115
Magnetic moment from y-axis direction
Figure GDA00029910150000001116
The strength of the magnetic field generated is
Figure GDA00029910150000001117
Then, the following equations (1), (2), (3) can be obtained:
Figure GDA00029910150000001118
in the formula, Hpx、Hpy、HpzRespectively representing magnetic moments
Figure GDA0002991015000000121
Intensity of the generated magnetic field
Figure GDA0002991015000000122
The components at the x, y, z axes; hfx、Hfy、HfzRespectively representing magnetic moments
Figure GDA0002991015000000123
Intensity of the generated magnetic field
Figure GDA0002991015000000124
The components at the x, y, z axes;
magnetic field strength generated by rotating magnetic dipoles can be generated by two varying orthogonal magnetic moments
Figure GDA0002991015000000125
And
Figure GDA0002991015000000126
the magnetic field intensity at the observation point is obtained by superposition, which can be known from formula (3) and formula (4)
Figure GDA0002991015000000127
Comprises the following steps:
Figure GDA0002991015000000128
by
Figure GDA0002991015000000129
And
Figure GDA00029910150000001210
the vector relationship of (a) and the direction of the magnetic field of the rotating magnetic dipole can be obtained,
Figure GDA00029910150000001211
Figure GDA00029910150000001212
are respectively connected with
Figure GDA00029910150000001213
Perpendicular, i.e.
Figure GDA00029910150000001214
And
Figure GDA00029910150000001215
parallel.
Referring to fig. 2, when the rotating magnetic dipole rotates at a rotation speed omega,
Figure GDA00029910150000001216
and
Figure GDA00029910150000001217
the two sides of the glass are coplanar with each other,
Figure GDA00029910150000001218
and
Figure GDA00029910150000001219
coplanar, according to equation (1), MfAnd MpVaries sinusoidally with omega and differs in phase by pi/2.
Figure GDA00029910150000001220
And
Figure GDA00029910150000001221
intensity of the generated magnetic field
Figure GDA00029910150000001222
And
Figure GDA00029910150000001223
only the magnitude changes, but the direction does not, and thus
Figure GDA00029910150000001224
And
Figure GDA00029910150000001225
the vector direction obtained by the outer product does not change with the rotation speed omega,
Figure GDA00029910150000001226
and
Figure GDA00029910150000001227
the outer product of (a) can be used to characterize the intrinsic characteristic of the rotating magnetic dipole, defined as the eigenvector of the two orthogonal magnetic moments, i.e., the eigenvector of the magnetic moment of the rotating magnetic dipole.
Let the eigenvectors of two orthogonal magnetic moments be
Figure GDA00029910150000001228
Then there are:
Figure GDA00029910150000001229
on the basis of the foregoing embodiments, in step S22, solving the magnetic field strength generated by the two orthogonal magnetic moments, and further obtaining the three-axis component of the eigenvector of the two orthogonal magnetic moments, specifically includes:
analysis according to formula (1) and formula (5)
Figure GDA00029910150000001230
Signal characteristics, one can derive: magnetic field intensity
Figure GDA00029910150000001231
The magnetic field intensity can be cancelled by multiplying cosine variable cos (omega. t) and integrating
Figure GDA00029910150000001232
Magnetic field intensity
Figure GDA00029910150000001233
Multiplication by a sinusoidal variablesin (omega. t) and integrating to cancel magnetic field intensity
Figure GDA00029910150000001234
Further, it is possible to obtain:
Figure GDA0002991015000000131
Figure GDA0002991015000000132
where T is the sampling period, Hx、Hy、HzRespectively the magnetic field strength at the observation point
Figure GDA0002991015000000133
Components in the x, y, z axes; i.e. i0Δ t is the initial angle α between the rotating magnetic dipole and the x-axis0I.e. alpha0＝i0Δ t; n is a sampling point of the triaxial fluxgate sensor at an observation point in a unit period, and delta t is a sampling interval of the triaxial fluxgate sensor;
solving according to the formula to obtain Hpx、Hpy、Hpz、Hfx、Hfy、HfzThen, combining formula (6) to solve and obtain the characteristic vector
Figure GDA0002991015000000134
Three-axis component Hpfx、Hpfy、Hpfz。
On the basis of the foregoing embodiments, in S3, the analyzing the relationship between the feature vector and the observation point coordinate to obtain the observation point coordinate specifically includes:
the feature vector is obtained from equation (6)
Figure GDA0002991015000000135
The three-axis components are:
Figure GDA0002991015000000136
Figure GDA0002991015000000137
Figure GDA0002991015000000138
the formula is simplified to obtain:
Figure GDA0002991015000000141
and (3) obtaining the relation between the three-axis component of the feature vector and the coordinate of the observation point according to the formula (8):
Figure GDA0002991015000000142
according to the rotating magnetic dipole moment equation (1), the magnetic field at the observation point is elliptically polarized, and the minimum value H of the magnetic field strength at the observation point is obtainedminDistance r from observation point to magnetic dipole0Satisfies the following formula:
Figure GDA0002991015000000143
observation point P (x)0,y0,z0) Distance r to rotating magnetic dipole0And the three-axis coordinates satisfy the following conditions:
Figure GDA0002991015000000144
h can be measured by adopting a three-axis fluxgate sensor at an observation pointx、Hy、HzThe value of (2) is combined with the formula (9), (10) and (11) to obtain the feature vector
Figure GDA0002991015000000145
Three-axis component Hpfx、Hpfy、HpfzTo obtain an observation point P (x)0,y0,z0) And further obtaining the position of the rotating magnetic dipole relative to the observation point P, and finishing the positioning of the rotating magnetic dipole. The positioning of the ship rotating propeller is also completed.
On the basis of the above embodiments, in order to verify the accuracy of positioning the rotating magnetic dipole in the embodiments of the present invention, the present embodiment performs simulation verification on the above positioning method of the rotating magnetic dipole. Let the magnetic moment M of the rotating magnetic dipole be 1 A.m2The rotation frequency f of the rotating magnetic dipole is 5Hz, ω is 2 pi f, the sampling time interval Δ T is 1/(100 f), the magnetic field observation point is P (30, 20, 25), and the distance between the observation point and the rotating magnetic dipole is r0Wherein
Figure GDA0002991015000000151
The time variation of the magnetic field intensity distribution of the rotating magnetic dipole at point P is schematically shown in fig. 3.
Because of alpha0＝i0Delta t is the initial angle between the rotating magnetic dipole and the x-axis, let N equal to 100,
Figure GDA0002991015000000152
get an integer of i0Taking different values corresponding to different initial angles of gyromagnetic field, wherein the angle interval is
Figure GDA0002991015000000153
Then H can be obtained at different initial anglespx、Hpy、Hpz、Hfx、Hfy、HfzThe values, the magnitude case, are shown in FIG. 4. FIG. 4 shows the magnetic field strength of a rotating magnetic dipole at different initial angles to the x-axis for two orthogonal magnetic moments
Figure GDA0002991015000000154
The three-axis magnetic component of (a).
As can be seen from FIG. 4, initiallyAngle alpha0When changed, the magnetic field intensity generated by two orthogonal magnetic moments in unit time
Figure GDA0002991015000000155
Different.
Derived based on FIG. 4
Figure GDA0002991015000000156
The three-axis magnetic component of the feature vector H of two orthogonal magnetic moments can be obtained by combining the formula (6)pfx、Hpfy、HpfzThe values of the rotating magnetic dipole at different initial angles from the x-axis are simulated, and the magnitudes of the values are shown in fig. 5. FIG. 5 is a diagram of the three-axis components of the eigenvectors of two orthogonal magnetic moments at different initial angles. From fig. 5, the eigenvectors of the two orthogonal magnetic moments can be seen
Figure GDA0002991015000000157
The magnitude of the values of the triaxial components is independent of the initial angle. Namely, in the actual positioning, the data in any time period of the observed magnetic field intensity can be intercepted for positioning calculation.
Let any point Q (x, y, z) in the far field space of the rotating magnetic dipole. Wherein x is 30, y is 20, and one observation point is taken at every 3 meters from z is 5m, and 50 observation points are taken in total, according to the above-mentioned method for positioning a rotating magnetic dipole provided by the present invention, the three-axis component H of the feature vector of two orthogonal magnetic moments is obtained according to fig. 5pfx、Hpfy、HpfzThe coordinates of each observation point can be obtained by combining the formulas (9), (10) and (11), and the calculated value of the coordinates of the observation points and the theoretical value of the coordinates of the observation points are shown in fig. 6. In fig. 6, a calibrated value represents a Calculated value of coordinates of an observation point, and a Theoretical value represents a Theoretical value of coordinates of the observation point.
It can be seen from fig. 6 that the calculated value gradually approaches the theoretical value as the z-coordinate increases.
Fig. 7 is a schematic diagram of absolute errors of a calculated value and a theoretical value of a three-axis coordinate of an observation point in a simulation verification process, and fig. 8 is a schematic diagram of a relative error of a z-axis in the simulation verification process. The abscissa in fig. 7 represents the coordinate value of the z-axis, and the ordinate represents the absolute error between the calculated value of the observation point coordinate and the theoretical value. The abscissa in fig. 8 represents the coordinate value of the z-axis, and the ordinate represents the relative error of the z-axis coordinate.
As can be seen from fig. 7 and 8, the absolute error of the three axes x, y and z becomes smaller and smaller as the z-axis coordinate is increased. The absolute error of the z axis is increased and then reduced, and the relative error of the z axis is gradually reduced and is only 0.025 percent at most. This is because the absolute error in the z-axis is related to the magnitude of the x, y-axis values. But the maximum absolute error of the three axes is only 0.0075 m. The positioning method provided by the embodiment of the invention has high positioning precision and can meet the positioning requirement.
Fig. 9 is a schematic structural diagram of a ship axis frequency magnetic field positioning device based on a rotating magnetic dipole according to an embodiment of the present invention, and referring to fig. 9, the device includes:
the model establishing module 901 is used for enabling the ship rotating propeller to be equivalent to a rotating magnetic dipole and establishing a space magnetic field propagation model of the rotating magnetic dipole.
A feature vector solving module 902, configured to decompose the rotating magnetic dipole magnetic moment into two orthogonal magnetic moments based on the spatial magnetic field propagation model, and solve feature vectors of the two orthogonal magnetic moments;
and the positioning module 903 is configured to analyze a relationship between the feature vector and the coordinate of the observation point, obtain the coordinate of the observation point, and further obtain the position of the magnetic source.
Specifically, the ship axis frequency magnetic field positioning device based on the rotating magnetic dipole according to the embodiment of the present invention is specifically configured to execute the steps of the ship axis frequency magnetic field positioning method based on the rotating magnetic dipole in the above method embodiment, and since the ship axis frequency magnetic field positioning method based on the rotating magnetic dipole has been described in detail in the above embodiment, the function of the ship axis frequency magnetic field positioning device based on the rotating magnetic dipole is not described herein again.
The ship axial frequency magnetic field positioning device based on the rotating magnetic dipole, provided by the embodiment of the invention, has the advantages that the rotating propeller is equivalent to the rotating magnetic dipole, the magnetic moment of the rotating magnetic dipole is decomposed into two orthogonal magnetic moments, and the rotating magnetic dipoleThe magnetic field strength generated by the rotating magnetic dipole can be generated by two changed orthogonal magnetic moments
Figure GDA0002991015000000171
And (4) superposing to obtain the product. Obtained by integrating the magnetic field intensity at the observation point
Figure GDA0002991015000000172
And then obtaining a feature vector of the orthogonal magnetic moment, and realizing the positioning of the rotating magnetic dipole by analyzing the relation between the feature vector and the position coordinates of the observation point.
On the basis of the foregoing embodiment, the model building module 901 is specifically configured to:
defining a propeller axis as a z axis, and rotating a magnetic dipole at a coordinate origin and around the z axis at an angular velocity omega; setting an observation point P (x)0,y0,z0) The magnetic moment of the rotating magnetic dipole is set to
Figure GDA0002991015000000173
And (3) establishing a space magnetic field propagation model of the rotating magnetic dipole with the size of M, wherein the space magnetic field propagation model of the rotating magnetic dipole is shown in figure 2.
An embodiment of the present invention provides an electronic device, and as shown in fig. 10, the server may include: a processor (processor)1001, a communication Interface (communication Interface)1002, a memory (memory)1003 and a communication bus 1004, wherein the processor 1001, the communication Interface 1002 and the memory 1003 complete communication with each other through the communication bus 1004. The processor 1001 may call logic instructions in the memory 1003 to execute the method for positioning the ship axis frequency magnetic field based on the rotating magnetic dipole provided by the above embodiments, for example, including: s1, enabling the ship rotating propeller to be equivalent to a rotating magnetic dipole, and establishing a space magnetic field propagation model of the rotating magnetic dipole; s2, decomposing the magnetic moment of the rotating magnetic dipole into two orthogonal magnetic moments based on the space magnetic field propagation model, and solving the eigenvectors of the two orthogonal magnetic moments; and S3, analyzing the relation between the characteristic vector and the coordinates of the observation point, obtaining the coordinates of the observation point, and further obtaining the position of the magnetic source.
Embodiments of the present invention further provide a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented to perform the method for positioning a ship axis frequency magnetic field based on rotating magnetic dipoles provided in the foregoing embodiments, for example, the method includes: s1, enabling the ship rotating propeller to be equivalent to a rotating magnetic dipole, and establishing a space magnetic field propagation model of the rotating magnetic dipole; s2, decomposing the magnetic moment of the rotating magnetic dipole into two orthogonal magnetic moments based on the space magnetic field propagation model, and solving the eigenvectors of the two orthogonal magnetic moments; and S3, analyzing the relation between the characteristic vector and the coordinates of the observation point, obtaining the coordinates of the observation point, and further obtaining the position of the magnetic source.
In summary, embodiments of the present invention provide a ship axial frequency magnetic field positioning method and apparatus based on a rotating magnetic dipole, in which a rotating propeller is equivalent to a rotating magnetic dipole, a magnetic moment of the rotating magnetic dipole is decomposed into two orthogonal magnetic moments, and a magnetic field strength generated by the rotating magnetic dipole can be determined by a magnetic field strength generated by two changed orthogonal magnetic moments
Figure GDA0002991015000000181
And (4) superposing to obtain the product. Obtained by integrating the magnetic field intensity at the observation point
Figure GDA0002991015000000182
And then obtaining a feature vector of the orthogonal magnetic moment, and realizing the positioning of the rotating magnetic dipole by analyzing the relation between the feature vector and the position coordinates of the observation point.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (8)

1. A ship axis frequency magnetic field positioning method based on rotating magnetic dipoles is characterized by comprising the following steps:
s1, enabling the ship rotating propeller to be equivalent to a rotating magnetic dipole, and establishing a space magnetic field propagation model of the rotating magnetic dipole;
s2, decomposing the magnetic moment of the rotating magnetic dipole into two orthogonal magnetic moments based on the space magnetic field propagation model, and solving the eigenvectors of the two orthogonal magnetic moments; s2 specifically includes:
s21, decomposing the magnetic moment of the rotating magnetic dipole into two orthogonal magnetic moments, and acquiring the characteristic vectors of the two orthogonal magnetic moments:
magnetic moment with rotating magnetic dipole
Figure FDA0002991014990000011
The magnetic moment components in the x and y axes are
Figure FDA0002991014990000012
Then
Figure FDA0002991014990000013
Wherein M represents a rotating magnetic dipole magnetic moment
Figure FDA0002991014990000014
Value of (A), MpAnd MfRespectively represent
Figure FDA0002991014990000015
Magnetic moment components in x, y axes
Figure FDA0002991014990000016
A value of (d); ω · t represents the angle the rotating magnetic dipole rotates at any moment; alpha is alpha0Representing the initial angle of the rotating magnetic dipole to the x-axis;
the rotating magnetic dipole is positioned at the origin of coordinates, and the rotating magnetic dipole can be known at an observation point P (x) according to the Biot-savart law0,y0,z0) Magnetic induction intensity generated at
Figure FDA0002991014990000017
Comprises the following steps:
Figure FDA0002991014990000018
in the formula, mu0Representing the magnetic permeability of the medium in which the rotating magnetic dipole is located;
Figure FDA0002991014990000019
position vector representing rotating magnetic dipole pointing observation pointAmount r0Representing the distance of the rotating magnetic dipole to the observation point; wherein,
Figure FDA00029910149900000110
the magnetic field intensity at the observation point can be known by Maxwell equations
Figure FDA00029910149900000111
And magnetic induction intensity
Figure FDA00029910149900000112
Satisfies the following conditions:
Figure FDA0002991014990000021
setting the magnetic moment in the x-axis direction
Figure FDA0002991014990000022
The strength of the magnetic field generated is
Figure FDA0002991014990000023
Magnetic moment from y-axis direction
Figure FDA0002991014990000024
The strength of the magnetic field generated is
Figure FDA0002991014990000025
Then, the following equations (1), (2), (3) can be obtained:
Figure FDA0002991014990000026
in the formula, Hpx、Hpy、HpzRespectively representing magnetic moments
Figure FDA0002991014990000027
GeneratingMagnetic field intensity of
Figure FDA0002991014990000028
The components at the x, y, z axes; hfx、Hfy、HfzRespectively representing magnetic moments
Figure FDA0002991014990000029
Intensity of the generated magnetic field
Figure FDA00029910149900000210
The components at the x, y, z axes;
magnetic field strength generated by rotating magnetic dipoles can be generated by two varying orthogonal magnetic moments
Figure FDA00029910149900000211
And
Figure FDA00029910149900000212
the magnetic field intensity at the observation point is obtained by superposition, which can be known from formula (3) and formula (4)
Figure FDA00029910149900000213
Comprises the following steps:
Figure FDA00029910149900000214
from equation (1), MfAnd MpChanges sinusoidally with omega, and the phase difference is pi/2;
Figure FDA00029910149900000215
and
Figure FDA00029910149900000216
intensity of the generated magnetic field
Figure FDA00029910149900000217
And
Figure FDA00029910149900000218
only the size is changed, but the direction is not changed; further result in
Figure FDA00029910149900000219
And
Figure FDA00029910149900000220
the vector direction obtained by the outer product does not change with the rotation speed omega,
Figure FDA00029910149900000221
and
Figure FDA00029910149900000222
the outer product of (a) can be used to characterize the intrinsic characteristics of a rotating magnetic dipole, defined as the eigenvectors of two orthogonal magnetic moments;
let the eigenvectors of two orthogonal magnetic moments be
Figure FDA00029910149900000223
Then there are:
Figure FDA00029910149900000224
s22, solving the magnetic field intensity generated by the two orthogonal magnetic moments to obtain the three-axis component of the feature vector of the two orthogonal magnetic moments;
and S3, analyzing the relation between the characteristic vector and the coordinates of the observation point, obtaining the coordinates of the observation point, and further obtaining the position of the magnetic source.
2. The method for positioning the shaft frequency magnetic field of the ship based on the rotating magnetic dipole according to claim 1, wherein in step S1, the rotating propeller of the ship is equivalent to the rotating magnetic dipole, and a space magnetic field propagation model of the rotating magnetic dipole is established, specifically comprising
Defining a propeller axis as a z axis, and rotating a magnetic dipole at a coordinate origin and around the z axis at an angular velocity omega; let the observation point be P (x)0,y0,z0) The magnetic moment of the rotating magnetic dipole is set to
Figure FDA0002991014990000031
And the size is M, and a space magnetic field propagation model of the rotating magnetic dipole is established.
3. The method for positioning the ship axial-frequency magnetic field based on the rotating magnetic dipole according to claim 1, wherein in S22, solving the magnetic field strength generated by the two orthogonal magnetic moments to obtain the three-axis component of the eigenvector of the two orthogonal magnetic moments specifically comprises:
analysis according to formula (1) and formula (5)
Figure FDA0002991014990000032
Signal characteristics, knowing magnetic field strength
Figure FDA0002991014990000033
The magnetic field intensity can be cancelled by multiplying cosine variable cos (omega. t) and integrating
Figure FDA0002991014990000034
Magnetic field intensity
Figure FDA0002991014990000035
The magnetic field intensity can be counteracted by multiplying sine variable sin (omega.t) and integrating
Figure FDA0002991014990000036
Further, it is possible to obtain:
Figure FDA0002991014990000037
Figure FDA0002991014990000038
where T is the sampling period, Hx、Hy、HzRespectively the magnetic field strength at the observation point
Figure FDA0002991014990000041
Components in the x, y, z axes; i.e. i0Δ t is the initial angle α between the rotating magnetic dipole and the x-axis0I.e. alpha0＝i0·Δt；i∈[0,N-1]N is a sampling point of the triaxial fluxgate sensor at the observation point in a unit period, and delta t is a sampling interval of the triaxial fluxgate sensor;
solving according to the formula to obtain Hpx、Hpy、Hpz、Hfx、Hfy、HfzThen, combining formula (6) to solve and obtain the characteristic vector
Figure FDA0002991014990000042
Three-axis component Hpfx、Hpfy、Hpfz。
4. The method according to claim 3, wherein in step S3, analyzing the relationship between the feature vector and the coordinates of the observation point to obtain the coordinates of the observation point, specifically comprising:
the feature vector is obtained from equation (6)
Figure FDA0002991014990000043
The three-axis components are:
Figure FDA0002991014990000044
Figure FDA0002991014990000045
Figure FDA0002991014990000046
the formula is simplified to obtain:
Figure FDA0002991014990000047
and (3) obtaining the relation between the three-axis component of the feature vector and the coordinate of the observation point according to the formula (8):
Figure FDA0002991014990000051
according to the rotating magnetic dipole moment equation (1), the magnetic field at the observation point is elliptically polarized, and the minimum value H of the magnetic field strength at the observation point is obtainedminDistance r from observation point to magnetic dipole0Satisfies the following formula:
Figure FDA0002991014990000052
observation point P (x)0,y0,z0) Distance r to rotating magnetic dipole0And the three-axis coordinates satisfy the following conditions:
Figure FDA0002991014990000053
h can be measured by adopting a three-axis fluxgate sensor at an observation pointx、Hy、HzThe value of (2) is combined with the formula (9), (10) and (11) to obtain the feature vector
Figure FDA0002991014990000054
Three-axis component Hpfx、Hpfy、HpfzTo obtain an observation point P (x)0,y0,z0) And further obtaining the position of the rotating magnetic dipole relative to the observation point P.
5. The utility model provides a naval vessel axle is magnetic field positioner frequently based on rotatory magnetic dipole which characterized in that includes:
the model establishing module is used for enabling the ship rotating propeller to be equivalent to a rotating magnetic dipole and establishing a space magnetic field propagation model of the rotating magnetic dipole;
the eigenvector solving module is used for decomposing the magnetic moment of the rotating magnetic dipole into two orthogonal magnetic moments based on the space magnetic field propagation model and solving eigenvectors of the two orthogonal magnetic moments;
the eigenvector solving module is specifically configured to: decomposing the magnetic moment of the rotating magnetic dipole into two orthogonal magnetic moments, and acquiring the eigenvectors of the two orthogonal magnetic moments:
magnetic moment with rotating magnetic dipole
Figure FDA0002991014990000061
The magnetic moment components in the x and y axes are
Figure FDA0002991014990000062
Then
Figure FDA0002991014990000063
Wherein M represents a rotating magnetic dipole magnetic moment
Figure FDA0002991014990000064
Value of (A), MpAnd MfRespectively represent
Figure FDA0002991014990000065
Magnetic moment components in x, y axes
Figure FDA0002991014990000066
A value of (d); ω · t represents an arbitrary timeCarving the rotating angle of the rotating magnetic dipole; alpha is alpha0Representing the initial angle of the rotating magnetic dipole to the x-axis;
the rotating magnetic dipole is positioned at the origin of coordinates, and the rotating magnetic dipole can be known at an observation point P (x) according to the Biot-savart law0,y0,z0) Magnetic induction intensity generated at
Figure FDA0002991014990000067
Comprises the following steps:
Figure FDA0002991014990000068
in the formula, mu0Representing the magnetic permeability of the medium in which the rotating magnetic dipole is located;
Figure FDA0002991014990000069
representing the position vector of the point of observation of the rotating magnetic dipole, r0Representing the distance of the rotating magnetic dipole to the observation point; wherein,
Figure FDA00029910149900000610
the magnetic field intensity at the observation point can be known by Maxwell equations
Figure FDA00029910149900000611
And magnetic induction intensity
Figure FDA00029910149900000612
Satisfies the following conditions:
Figure FDA00029910149900000613
setting the magnetic moment in the x-axis direction
Figure FDA00029910149900000614
The strength of the magnetic field generated is
Figure FDA00029910149900000615
Magnetic moment from y-axis direction
Figure FDA00029910149900000616
The strength of the magnetic field generated is
Figure FDA00029910149900000617
Then, the following equations (1), (2), (3) can be obtained:
Figure FDA00029910149900000618
in the formula, Hpx、Hpy、HpzRespectively representing magnetic moments
Figure FDA00029910149900000619
Intensity of the generated magnetic field
Figure FDA00029910149900000620
The components at the x, y, z axes; hfx、Hfy、HfzRespectively representing magnetic moments
Figure FDA00029910149900000621
Intensity of the generated magnetic field
Figure FDA00029910149900000622
The components at the x, y, z axes;
magnetic field strength generated by rotating magnetic dipoles can be generated by two varying orthogonal magnetic moments
Figure FDA0002991014990000071
And
Figure FDA0002991014990000072
obtained by superposition, and known from formula (3) and formula (4), the observation pointMagnetic field intensity of
Figure FDA0002991014990000073
Comprises the following steps:
Figure FDA0002991014990000074
from equation (1), MfAnd MpChanges sinusoidally with omega, and the phase difference is pi/2;
Figure FDA0002991014990000075
and
Figure FDA0002991014990000076
intensity of the generated magnetic field
Figure FDA0002991014990000077
And
Figure FDA0002991014990000078
only the size is changed, but the direction is not changed; further result in
Figure FDA0002991014990000079
And
Figure FDA00029910149900000710
the vector direction obtained by the outer product does not change with the rotation speed omega,
Figure FDA00029910149900000711
and
Figure FDA00029910149900000712
the outer product of (a) can be used to characterize the intrinsic characteristics of a rotating magnetic dipole, defined as the eigenvectors of two orthogonal magnetic moments;
let the eigenvectors of two orthogonal magnetic moments be
Figure FDA00029910149900000713
Then there are:
Figure FDA00029910149900000714
solving the magnetic field intensity generated by the two orthogonal magnetic moments so as to obtain the three-axis component of the feature vector of the two orthogonal magnetic moments;
and the positioning module is used for analyzing the relation between the characteristic vector and the coordinate of the observation point, obtaining the coordinate of the observation point and further obtaining the position of the magnetic source.
6. The rotating magnetic dipole-based ship axis-frequency magnetic field positioning device of claim 5, wherein the model building module is specifically configured to:
defining a propeller axis as a z axis, and rotating a magnetic dipole at a coordinate origin and around the z axis at an angular velocity omega; let the observation point be P (x)0,y0,z0) The magnetic moment of the rotating magnetic dipole is set to
Figure FDA00029910149900000715
And the size is M, and a space magnetic field propagation model of the rotating magnetic dipole is established.
7. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the method for rotating magnetic dipole based ship axis frequency magnetic field localization according to any of claims 1 to 4.
8. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, performs the steps of the method for rotating magnetic dipole based ship axis frequency magnetic field localization according to any of claims 1 to 4.
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