CN111505540B - Method for calibrating spatial position of triaxial vector atom magnetometer - Google Patents

Method for calibrating spatial position of triaxial vector atom magnetometer Download PDF

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CN111505540B
CN111505540B CN202010393970.8A CN202010393970A CN111505540B CN 111505540 B CN111505540 B CN 111505540B CN 202010393970 A CN202010393970 A CN 202010393970A CN 111505540 B CN111505540 B CN 111505540B
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magnetometer
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magnetic field
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赵正钦
吴梓楠
覃添
温钟平
岳慧敏
欧中华
刘永
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University of Electronic Science and Technology of China
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    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
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    • G01R33/0206—Three-component magnetometers
    • G—PHYSICS
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    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/0023—Electronic aspects, e.g. circuits for stimulation, evaluation, control; Treating the measured signals; calibration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
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Abstract

The invention discloses a calibration method of a space position of a three-axis vector atom magnetometer, which is applied to the technical field of magnetic detection and aims to solve the problems of output error of the vector magnetometer and structural error compensation of an installation structure.

Description

Method for calibrating spatial position of triaxial vector atom magnetometer
Technical Field
The invention belongs to the technical field of magnetic detection, and particularly relates to a spatial position calibration technology based on a three-axis vector magnetometer.
Background
The magnetic field sensing technology is developed to the present, and the magnetic field detection technology is gradually developed from the direction of scalar quantity, scalar gradient and vector gradient. The full tensor magnetic detection technology based on the vector gradient constructs full tensor information containing nine vector gradient fields by measuring gradient magnetic fields of three vector components of a geomagnetic field in three directions, and obtains richer magnetic anomaly information compared with scalar gradient detection, so that the detection efficiency is greatly improved, and the development direction of a new generation of magnetic detection technology is represented.
The detection of the vector magnetometer is applied in many fields, and all require extremely high resolution and precision, and the vector magnetometer is generally used for vector magnetic field detection or two vector magnetometers are generally used for vector magnetic field gradient detection, and the three-axis magnetometer generally refers to a magnetometer which respectively measures magnetic field intensity in three directions through one vector magnetometer, or three scalar magnetometers are used for magnetic field measurement in three perpendicular directions. However, in the development of the correction process of the process and the hardware, an angle or distance error exists in the installation of the magnetic probe, scalar detection can generate errors in three directions, and when the errors are summarized, the overall detection error can be increased due to a gradient error generated by the installation distance of the magnetic probe.
Disclosure of Invention
In order to solve the output error problem of the vector magnetometer and the structural error compensation problem of the mounting structure, the invention provides a method for calibrating the spatial position of a three-axis vector atomic magnetometer, which utilizes the full tensor information of a magnetic field to carry out output integration.
The technical scheme adopted by the invention is as follows: a calibration method for the space position of a three-axis vector atom magnetometer comprises the following steps:
s1, collecting magnetic field signals at three positions by using a magnetometer to obtain a magnetic field full tensor;
s2, calculating the position of the target detection point by using the full tensor of the magnetic field;
s3, calculating the error between the actual position and the position calculated in the step S2, and bringing in a compensation coefficient to make the error zero;
and S4, calculating to obtain a compensation coefficient by introducing the measured data, thereby realizing calibration.
The step S2 calculates the position of the target detection point from GR ═ 3B using the full tensor of the magnetic field; b is the output magnetic field information, R is the position of the target probe point, and G is the magnetic field full tensor.
Step S3, the error expression is:
Figure GDA0002883351870000011
in step S3, a compensation coefficient is introduced to make the error zero, and the calculation formula is:
Figure GDA0002883351870000021
the invention has the beneficial effects that: the method of the invention fixes the vector atom magnetometer in three directions respectively, feeds back the triaxial magnetic field data measured by the vector magnetometer at each position, calculates the magnetic field information by using the magnetometer detection signal at the fixed position, and performs error compensation of the spatial position on the magnetometer by using the magnetometer detection signal at the non-fixed position to realize calibration; the method of the invention has the following advantages:
(1) the invention provides a mounting structure of a three-axis vector atomic magnetometer, which can accurately measure the magnetic field information of any target detection point by adopting a method of magnetic field full tensor information calculation, and can effectively improve the measurement accuracy of the magnetic field of the target detection point;
(2) the invention provides a space position error compensation method of a three-axis vector atom magnetometer, which can effectively improve the measurement precision of a magnetic field of a target detection point due to the structural calibration of the vector magnetometer.
Drawings
Fig. 1 is a schematic view of a mounting structure of a three-axis vector magnetometer according to an embodiment of the present invention.
Detailed Description
In order to facilitate the understanding of the technical contents of the present invention by those skilled in the art, the following further explains the technical contents of the present invention with reference to fig. 1.
The calibration method comprises the three steps of obtaining a triaxial magnetic field tensor, calculating vector magnetic field quantity according to the magnetic field tensor, and compensating the space position error of the vector magnetometer. These three steps are explained in detail below:
the method comprises the following steps: obtaining a three-axis magnetic field tensor: determining a three-axis coordinate system, and adjusting the magnetometer to make distances between the three coordinate axis positions and the center of the coordinate axis respectively equal to l according to any three positions of the magnetometer in the magnetometer mounting structure1、l2、l3Integrating signals collected by the magnetometers at the three positions to obtain a full tensor of the magnetic field;
three-axis vector signal respectively output by three-position magnetometer
Figure GDA0002883351870000022
Figure GDA0002883351870000023
Respectively representing scalar signals on xyz axes corresponding to a first position of any three positions of a magnetometer in a magnetometer mounting structure, corresponding
Figure GDA0002883351870000024
Respectively representing scalar signals on the xyz tri-axes representing the second of any three positions of the magnetometer in the magnetometer mount,
Figure GDA0002883351870000025
representing a scalar signal on the xyz triaxial axis corresponding to the third of any three positions of the magnetometer in the magnetometer mount structure.
As shown in FIG. 1, the two positions of the magnetometer have linear distances of
Figure GDA0002883351870000026
Figure GDA0002883351870000031
Projecting the gradients in the x, y, z axes onto l12，l23，l13Above, the equation is established:
Figure GDA0002883351870000032
wherein, Delta B12Represents projection to12Scalar signal of axis, Δ B23Represents projection to23Scalar signal of axis, Δ B13Represents projection to13The scalar signal of the axis is then calculated,
Figure GDA0002883351870000033
is projected on12The gradient in the x-direction on the axis,
Figure GDA0002883351870000034
is projected on12The gradient in the y-direction on the axis,
Figure GDA0002883351870000035
is projected on12A gradient in the z-direction on the axis; wherein
Figure GDA0002883351870000036
Is projected on23The gradient in the x-direction on the axis,
Figure GDA0002883351870000037
is projected on23The gradient in the y-direction on the axis,
Figure GDA0002883351870000038
is projected on23A gradient in the z-direction on the axis; wherein
Figure GDA0002883351870000039
Is projected on13The gradient in the x-direction on the axis,
Figure GDA00028833518700000310
is projected on13The gradient in the y-direction on the axis,
Figure GDA00028833518700000311
is projected on13Gradient in the z-direction on the axis. From the geometric relationship, it is easy to know
Figure GDA00028833518700000312
Since it is zero perpendicular to the projection direction.
With l12For example, l can be changed1And l2Thereby changing l12After changing the distance for many times, they stand together
Figure GDA00028833518700000313
Establishing an equation set according to the corresponding relational expression;
Figure GDA00028833518700000314
solving the system of equations set forth aboveObtaining
Figure GDA00028833518700000315
Repeating the above steps to change the lengths of the other two axes to obtain
Figure GDA00028833518700000316
And
Figure GDA00028833518700000317
the value of (c). The tensor of the magnetic field is obtained
Figure GDA00028833518700000318
Step two: calculating vector magnetic field quantity according to the magnetic field tensor, specifically: calculating magnetic field information of the target detection point according to GR (when GR is equal to-3B); b is output magnetic field information, R is the position of a target detection point, and G is the magnetic field full tensor;
the detection point of the probe is arbitrarily set as the coordinate shown in the figure
Figure GDA00028833518700000319
The coordinates of the point (2) are calculated according to the measured vector data and the magnetic field tensor of the three vector magnetometers
Figure GDA00028833518700000320
The magnetic field of the point (b) is used as the magnetic field information of the detection point.
Figure GDA0002883351870000041
Step three: spatial position error compensation for vector magnetometer
According to the magnetic field tensor, the output positions of the three magnetometers are respectively:
Figure GDA0002883351870000042
due to structural errors such as spatial position errors, the actual position and the calculated position have certain errors, and the errors are as follows:
Figure GDA0002883351870000043
wherein Δ l1、Δl2、Δl3Is the difference, k, between the actual placement position and the position derived from the vector magnetic field information measured at the three positionsmn(m, n is 1,2,3) is a compensation coefficient of a spatial position.
And changing the spatial position of the magnetometer, and acquiring vector magnetic field information of different positions to solve the compensation coefficient of the spatial position. To make the error zero, the relationship between the position relationship and the compensation coefficient is shown as follows:
Figure GDA0002883351870000044
wherein j is 1,2,3 … … M j is a sample number, j is 1,2,3 … … M, and the above equation is solved by substituting the measurement data obtained in the first step to obtain a compensation coefficient.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (5)

1. A calibration method for the space position of a three-axis vector atom magnetometer is characterized by comprising the following steps:
s1, collecting magnetic field signals at three positions by using a magnetometer to obtain a magnetic field full tensor; step S1 specifically includes:
s11, recording the distances between the three positions of the magnetometer on the x, y and z axes and the center of a circle of a coordinate axis as l according to the positions of any three magnetometers in the magnetometer installation structure1,l2,l3Respectively obtaining scalar signals of three positions;
s12, connecting the three coordinate axis positions pairwise, and establishing a new coordinate system by taking the three connecting lines as axes;
s13, projecting the gradient on the x, y and z axes to the axes of the three connecting lines obtained in the step S12;
s14, establishing a corresponding relation between the gradient projected to the axis where the three connecting lines are located and the signal scalar projected to the axis where the three connecting lines are located;
s15, according to the corresponding relation of the step S14, by changing l1,l2,l3Solving to obtain the gradient projected to the axis of the three connecting lines; thereby obtaining a magnetic field full tensor;
s2, calculating the position of the magnetometer by using the full tensor of the magnetic field;
and S3, calculating the error between the actual position of the magnetometer and the position calculated in the step S2, and introducing a compensation coefficient to make the error zero.
2. The method for calibrating the spatial position of a three-axis vector atomic magnetometer according to claim 1, wherein the tensor expression of the magnetic field is as follows:
Figure FDA0002883351860000011
where G is the full tensor of the magnetic field,
Figure FDA0002883351860000012
is projected on1,l2The gradient of the connecting line in the x direction on the axis,
Figure FDA0002883351860000013
is projected on1,l2The gradient of the y direction on the axis of the connecting line,
Figure FDA0002883351860000014
is projected on1,l2The gradient of the connecting line in the z direction on the axis,
Figure FDA0002883351860000015
is projected on2,l3The gradient of the connecting line in the x direction on the axis,
Figure FDA0002883351860000016
is projected on2,l3The gradient of the y direction on the axis of the connecting line,
Figure FDA0002883351860000017
is projected on2,l3The gradient of the connecting line in the z direction on the axis,
Figure FDA0002883351860000018
is projected on1,l3The gradient of the connecting line in the x direction on the axis,
Figure FDA0002883351860000019
is projected on1,l3The gradient of the y direction on the axis of the connecting line,
Figure FDA00028833518600000110
is projected on1,l3The gradient in the z direction on the axis of the connecting line.
3. The method for calibrating the spatial position of the three-axis vector atomic magnetometer according to claim 1, wherein the step S2 is to calculate the position of the target detection point according to GR-3B by using the full tensor of the magnetic field; b is the output magnetic field information, R is the position of the target probe point, and G is the magnetic field full tensor.
4. The method for calibrating the spatial position of a three-axis vector atomic magnetometer according to claim 1, wherein the error expression of step S3 is as follows:
Figure FDA0002883351860000021
where G is the full tensor of the magnetic field, Δ l1An error Δ l representing an actual position of a first position of any three positions of the magnetometer in the magnetometer mounting structure and the position calculated in the step2An error Δ l representing an actual position of a second position of any three positions of the magnetometer in the magnetometer mounting structure and the position calculated in the step3An error, l, representing an actual position of a third position of any three positions of the magnetometer in the magnetometer mounting structure and the position calculated in the step1,l2,l3Respectively represents the distance between any three positions of the magnetometer in the magnetometer mounting structure and the center of a circle of a coordinate axis,
Figure FDA0002883351860000022
respectively representing scalar signals on the xyz tri-axes corresponding to a first of any three positions of the magnetometer in the magnetometer mount structure,
Figure FDA0002883351860000023
respectively representing scalar signals on the xyz tri-axes corresponding to a second of any three positions of the magnetometer in the magnetometer mount structure,
Figure FDA0002883351860000024
indicating scalar signals, k, on the xyz triaxial axis corresponding to the third of any three positions of the magnetometer in the magnetometer mount structure11,k12,k13Respectively represent
Figure FDA0002883351860000025
Corresponding compensation factor, k21,k22,k23Respectively represent
Figure FDA0002883351860000026
Corresponding compensation factor, k31,k32,k33Respectively represent
Figure FDA0002883351860000027
The corresponding compensation coefficient.
5. The method for calibrating the spatial position of a three-axis vector atomic magnetometer according to claim 4, wherein the step S3 further comprises calculating a compensation coefficient, specifically: and substituting the measurement data obtained in the step S1 into the error expression in the step S3, and calculating to obtain a compensation coefficient so as to realize calibration.
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