CN112130229B - Coil vector magnetometer out-of-levelness error electrical detection system and method - Google Patents

Coil vector magnetometer out-of-levelness error electrical detection system and method Download PDF

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CN112130229B
CN112130229B CN202010849990.1A CN202010849990A CN112130229B CN 112130229 B CN112130229 B CN 112130229B CN 202010849990 A CN202010849990 A CN 202010849990A CN 112130229 B CN112130229 B CN 112130229B
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coil
magnetic field
total
vector magnetometer
field
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CN112130229A (en
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葛健
郑千玮
董浩斌
霍治帆
钱君立
王锐
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China University of Geosciences
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    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V13/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices covered by groups G01V1/00 – G01V11/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/38—Processing data, e.g. for analysis, for interpretation, for correction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/40—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for measuring magnetic field characteristics of the earth

Abstract

The invention provides a coil vector magnetometer out-of-levelness error electrical detection system and a method, wherein the coil vector magnetometer out-of-levelness error electrical detection system comprises the following steps: total field sensor, encircle total field sensor's even magnetic field generator and auxiliary rotary table, even magnetic field generator includes orthogonal first coil C1 and second coil C2, first coil C1 is placed in the magnetic meridian, second coil C2 is placed in the horizontal plane, total field sensor is placed in the even district in magnetic field at first coil C1 and second coil C2 center, total field sensor and the even magnetic field generator who encircles total field sensor constitute coil vector magnetometer, auxiliary rotary table is placed in coil vector magnetometer below in order to drive this coil vector magnetometer and rotate on the horizontal plane. The invention has the beneficial effects that: the method is simple to operate and low in cost, and high-precision detection of the horizontal error is achieved under the condition that no additional detection tool is introduced.

Description

Coil vector magnetometer out-of-levelness error electrical detection system and method
Technical Field
The invention relates to the field of geomagnetic fields, in particular to a coil vector magnetometer out-of-levelness error electrical detection system and method.
Background
The geomagnetic field is a vector field and is composed of seven elements, namely a geomagnetic total field F, a horizontal component H, a north component X, an east component Y, a vertical component Z, a magnetic dip angle I and a magnetic declination angle D. In practical application, appropriate magnetic field parameters need to be selected according to different scenes. In addition, the geomagnetic element data can be used for resource exploration, military measurement, geospatial physical research and the like. Therefore, high-precision geomagnetic factor data is important for resource utilization, military development and establishment of a global geomagnetic field model.
For the present time, magnetometers can be divided into total field magnetometers and vector magnetometers, depending on the measurement mode. Vector magnetometers are mainly classified into three categories: the first type is represented by a fluxgate three-component magnetometer, can directly acquire geomagnetic three-component information, but has the problems of orthogonality error, temperature drift, incapability of absolute observation and the like; the second type is a fluxgate theodolite, which adopts a combined measurement mode combining a fluxgate and a theodolite, and the magnetometer is also called a DI instrument, and directly reads a geomagnetic inclination angle and a declination angle through an optical system of the theodolite, but cannot perform continuous observation due to a long measurement period. The third type is a coil vector magnetometer, which is used in the fields of geomagnetic station observation, resource exploration, geospatial physical research and the like, and generally adopts a combined measurement mode of combining a total field sensor and a helmholtz coil (magnetic field uniform generator), such as a dld vector magnetometer, and can be used for long-term observation of magnetic direction. For the coil vector magnetometer, due to factors such as material deformation of a mechanical platform of the magnetometer and relative offset among constituent mechanisms in a long-term placing process, the overall levelness of the coil vector magnetometer is changed, so that the axial offset of a coil is caused, the magnetic direction measurement baseline is shifted, and errors exist in measurement data. Therefore, how to realize high-precision detection of the non-levelness of the coil vector magnetometer becomes a key point and a difficulty point for realizing the structural improvement of the vector magnetometer and the precision evaluation of measured data.
At present, the coil vector magnetometer is generally used for detecting the non-levelness in a level reading mode, but the mode has the defects that: the bubble type level meter has low absolute precision (only in a' level), and the manual reading has parallax, so that the detection requirement of high precision and non-levelness cannot be met; although the electronic level can improve the precision, the magnetism of the electronic level can greatly influence the normal measurement of the magnetometer.
Disclosure of Invention
In order to solve the problems, the invention provides an electric detection system and method for the out-of-level error of a coil vector magnetometer.
An electrical detection system for a non-levelness error of a coil vector magnetometer, comprising: total field sensor, encircle total field sensor's even magnetic field generator and auxiliary rotary table, even magnetic field generator includes orthogonal first coil C1 and second coil C2, first coil C1 is placed in the magnetic meridian, second coil C2 is placed in the horizontal plane, total field sensor is placed in the even district in magnetic field at first coil C1 and second coil C2 center, total field sensor and the even magnetic field generator who encircles total field sensor constitute coil vector magnetometer, auxiliary rotary table is placed in coil vector magnetometer below in order to drive this coil vector magnetometer and rotate on the horizontal plane.
The electric detection method for the out-of-level error of the coil vector magnetometer is realized by using the electric detection system for the out-of-level error of the coil vector magnetometer, and specifically comprises the following steps:
s1: measuring a geomagnetic total field of a target measurement point using the total field sensor
Figure BDA0002644394200000021
S2: applying a forward bias current to the first coil C1 to generate a bias magnetic field
Figure BDA0002644394200000022
And measuring the bias magnetic field using the total field sensor
Figure BDA0002644394200000023
With the total field of geomagnetism
Figure BDA0002644394200000024
Of the resultant magnetic field F1；
S3: applying a reverse bias current to the first coil C1 to generate a bias magnetic field
Figure BDA0002644394200000025
And measuring the bias magnetic field using the total field sensor
Figure BDA0002644394200000026
With the total field of geomagnetism
Figure BDA0002644394200000027
Of the resultant magnetic field F2；
S4: the auxiliary turntable drives the coil vector magnetometer to rotate 180 degrees on the horizontal plane, and then applies force to the first coil C1Applying a forward bias current to generate a bias magnetic field
Figure BDA0002644394200000028
And measuring the bias magnetic field using the total field sensor
Figure BDA0002644394200000029
With the total field of geomagnetism
Figure BDA00026443942000000210
Of the resultant magnetic field F3；
S5: based on the observation data I of magnetic inclination angle of a certain day of the query geomagnetic station, according to the total geomagnetic field
Figure BDA00026443942000000211
And a synthetic total field F1、F2And F3And calculating the inclination azimuth angle alpha and the non-levelness beta of the coil vector magnetometer to obtain the non-levelness error of the coil vector magnetometer.
Further, the out-of-level error is an inclination angle of the first coil C1 in the axial direction, which includes an inclination azimuth angle α and an out-of-level β.
Further, a forward current is applied to the first coil C1 to generate a forward bias magnetic field
Figure BDA0002644394200000031
The magnitude of the bias magnetic field is A, and the total geomagnetic field
Figure BDA0002644394200000032
Superposed to obtain a resultant magnetic field F1The specific process is as follows:
bias magnetic field
Figure BDA0002644394200000033
The projections in the x ' y ' z ' coordinate system are:
Figure BDA0002644394200000034
total field of geomagnetism
Figure BDA0002644394200000035
The projections in the x ' y ' z ' coordinate system are:
Figure BDA0002644394200000036
according to the vector synthesis rule, the resultant magnetic field F1Comprises the following steps:
Figure BDA0002644394200000037
wherein, the x ' axis points to the geomagnetic west, the y ' axis points to the geomagnetic north, and the z ' axis is vertically downward;
the synthetic magnetic field F in step S3 is obtained in a similar manner to that described above2And the synthetic magnetic field F in step S43：
Figure BDA0002644394200000038
Figure BDA0002644394200000039
Further, the square sum operation is performed by the formula (3) and the formula (4) to obtain the formula (6):
F1 2+F2 2＝2(A2+F2) (6)；
solving by equation (6) to obtain the bias field size a:
Figure BDA00026443942000000310
further, the square sum operation is performed by the formula (3) and the formula (5) to obtain the formula (8):
Figure BDA00026443942000000311
solving by the formula (8) to obtain the non-levelness beta:
Figure BDA00026443942000000312
further, the square sum operation is performed by the formula (3) and the formula (5) to obtain the formula (10):
F1 2-F3 2＝4A·F cos I cosαcosβ (10)；
the inclination azimuth angle α is solved by equation (10):
Figure BDA0002644394200000041
the technical scheme provided by the invention has the beneficial effects that:
1. bias current is applied to generate a bias magnetic field with a determined direction, and three synthetic magnetic fields are obtained by using a total field sensor in a mode of applying forward and reverse current and rotating a magnetometer, so that the operation is simple and easy to implement;
2. the measured synthetic magnetic field is calculated, so that the out-of-level degree of the instrument can be obtained, the method is simple, and the obtained out-of-level degree is high in precision;
3. the control host and the mechanical platform are both parts of the coil vector magnetometer, so that the electrical detection can be carried out without modifying the magnetometer, and the control host and the mechanical platform can be placed on the auxiliary turntable;
4. the detection process only needs one-time rotation, the consumed time is short, the rotary table is rotated by 180 degrees again after the detection is finished, the measurement can be carried out again, and the influence on geomagnetic continuous observation is small.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of an electrical detection method for a non-levelness error of a coil vector magnetometer in an embodiment of the invention;
FIG. 2 is a schematic diagram of an electrical detection system for a non-levelness error of a coil vector magnetometer in an embodiment of the present invention;
FIG. 3 is a schematic illustration of the non-horizontality of the coil vector magnetometer in an embodiment of the present invention;
FIG. 4 shows a resultant magnetic field F according to an embodiment of the present invention1A schematic diagram of (a);
FIG. 5 shows a resultant magnetic field F according to an embodiment of the present invention2A schematic diagram of (a);
FIG. 6 shows a resultant magnetic field F according to an embodiment of the present invention3A schematic diagram of (a);
FIG. 7 shows the detection accuracy δ of the tilt azimuth α in the embodiment of the present inventionαA schematic diagram of (a);
FIG. 8 shows the detection accuracy δ of the non-levelness β in the embodiment of the present inventionβA schematic diagram of (a);
FIG. 9 shows the tilt azimuth angle α and the detection accuracy δ in the embodiment of the present inventionβSchematic diagram of the relationship of (1).
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
The embodiment of the invention provides a coil vector magnetometer out-of-levelness error electrical detection system and method.
As shown in fig. 2, an electrical detection system for a non-levelness error of a coil vector magnetometer comprises: total field sensor, encircle total field sensor's even magnetic field generator and auxiliary rotary table, even magnetic field generator includes orthogonal first coil C1 and second coil C2, first coil C1 is placed in the magnetic meridian, second coil C2 is placed in the horizontal plane, total field sensor is placed in the even district in magnetic field at first coil C1 and second coil C2 center, total field sensor and the even magnetic field generator who encircles total field sensor constitute coil vector magnetometer, auxiliary rotary table is placed in coil vector magnetometer below in order to drive this coil vector magnetometer and rotate on the horizontal plane.
The electric detection method for the out-of-level error of the coil vector magnetometer is realized by utilizing the electric detection system for the out-of-level error of the coil vector magnetometer.
Referring to fig. 1, fig. 1 is a flowchart of an electrical detection method for a non-levelness error of a coil vector magnetometer in an embodiment of the present invention, which specifically includes the following steps:
s1: measuring a geomagnetic total field of a target measurement point using the total field sensor
Figure BDA0002644394200000051
S2: applying a forward bias current to the first coil C1 to generate a bias magnetic field
Figure BDA0002644394200000052
And measuring the bias magnetic field using the total field sensor
Figure BDA0002644394200000053
With the total field of geomagnetism
Figure BDA0002644394200000054
Of the resultant magnetic field F1；
S3: applying a reverse bias current to the first coil C1 to generate a bias magnetic field
Figure BDA0002644394200000055
And measuring the bias magnetic field using the total field sensor
Figure BDA0002644394200000056
With the total field of geomagnetism
Figure BDA0002644394200000057
Of the resultant magnetic field F2；
S4: the auxiliary turntable drives the coil vector magnetometer to rotate 180 degrees on the horizontal plane, and then forward bias current is applied to the first coil C1 to generate a bias magnetic field
Figure BDA0002644394200000058
And measuring the bias magnetic field using the total field sensor
Figure BDA0002644394200000059
With the total field of geomagnetism
Figure BDA00026443942000000510
Of the resultant magnetic field F3；
S5: based on the observation data I of magnetic inclination angle of a certain day of the query geomagnetic station, according to the total geomagnetic field
Figure BDA00026443942000000511
And a synthetic total field F1、F2And F3Calculating the inclination azimuth angle alpha and the non-levelness beta of the coil vector magnetometer to obtain the non-levelness error of the coil vector magnetometer; the out-of-level error is an inclination angle of the first coil C1 in the axial direction, and the inclination angle comprises an inclination azimuth angle alpha and an out-of-level degree beta;
s6: and the coil vector magnetometer is rotated by 180 degrees on the horizontal plane by using the auxiliary turntable again, and continuous geomagnetic observation can be carried out again by the coil vector magnetometer.
As shown in fig. 3, the x 'axis of the x' y 'z' coordinate system points to the geomagnetic west, the y 'axis points to the geomagnetic north, and the z' axis points vertically downward; passing a forward current through the first coil C1 to generate a forward bias magnetic field
Figure BDA0002644394200000061
The magnitude of the bias magnetic field is A, and the total geomagnetic field
Figure BDA0002644394200000062
Superposed to obtain a resultant magnetic field F as shown in FIG. 41The specific process is as follows:
bias magnetic field
Figure BDA0002644394200000063
The projections in the x ' y ' z ' coordinate system are:
Figure BDA0002644394200000064
total field of geomagnetism
Figure BDA0002644394200000065
The projections in the x ' y ' z ' coordinate system are:
Figure BDA0002644394200000066
according to the vector synthesis rule, the resultant magnetic field F1Comprises the following steps:
Figure BDA0002644394200000067
in a similar manner, a resultant magnetic field F as shown in FIG. 5 is obtained2And a resultant magnetic field F as shown in FIG. 63：
Figure BDA0002644394200000068
Figure BDA0002644394200000069
Carrying out square sum operation by the formula (3) and the formula (4) to obtain a formula (6):
F1 2+F2 2＝2(A2+F2) (6)
solving by equation (6) to obtain the bias field size a:
Figure BDA00026443942000000610
carrying out square sum operation by the formula (3) and the formula (5) to obtain a formula (8):
Figure BDA00026443942000000611
solving by the formula (8) to obtain the non-levelness beta:
Figure BDA00026443942000000612
performing a sum of squares operation from equation (3) and equation (5) to obtain equation (10):
F1 2-F3 2＝4A·F cos I cosαcosβ (10)
the inclination azimuth angle α is solved by equation (10):
Figure BDA0002644394200000071
the auxiliary turntable is used for rotating the coil vector magnetometer by 180 degrees on the horizontal plane, the positioning accuracy of the conventional processing level can be guaranteed to be controlled within 30 inches, and a more advanced process can be adopted to reach within 10 inches, so that when a user sets the positioning error of the turntable
Figure BDA0002644394200000072
Figure BDA0002644394200000072
5 ", 10", 20 ", 30", respectively, the tilt azimuth angle detection accuracy δ shown in fig. 7 can be obtainedα。
The results of fig. 7 show that: (1) error in positioning of turntable
Figure BDA0002644394200000073
A timing, detection accuracy deltaαThe change is not so great, and the detection accuracy δ is detected only when the inclination of the coil magnetometer is located just near the north-south magnetic direction (α is 0 ° and 180 °)αA step change may occur; (2) in most cases, the detection accuracy δαError in positioning with the turntable
Figure BDA0002644394200000074
A relationship of approximately 1:2 when
Figure BDA0002644394200000075
In time, the detection precision can also reach 15'.
Taking the measurement of wuhan local (the declination angle I is 47.18 °, and the declination angle D is-4.44 °), as an example, the detection accuracy δ of the non-levelness β shown in fig. 8 can be obtainedβ。
Is different
Figure BDA0002644394200000076
Down-dip angle beta detection precision deltaβ：
Figure BDA0002644394200000077
Figure BDA0002644394200000078
As can be seen from fig. 8, the detection accuracy is hardly affected by the non-horizontality β of the apparatus itself, so that the inclination azimuth α and the detection accuracy δ shown in fig. 9 can be obtainedβThe relationship (2) of (c).
The results of fig. 9 show that the detection accuracy δ occurs when the tilt of the coil Cd occurs in the magnetic north-south direction (α ═ 0 °, 180 °)βExtremely high, almost error free; when the tilt occurs in the magnetic east-west direction (α is 90 ° or 270 °), the detection accuracy δβLower, when
Figure BDA0002644394200000079
Time, detection error deltaαAbout 15 ".
The above results show that the accuracy of detecting the inclination azimuth angle alpha can reach 15 ' and the accuracy of detecting the non-levelness beta can reach more than 15 ' under the condition of using the auxiliary turntable with the positioning accuracy of 30 '. Compared with the traditional level meter detection method of coil vector magnetometer non-levelness, the electrical detection method provided by the invention realizes high-precision detection of non-levelness errors without introducing an additional detection tool.
The invention has the beneficial effects that: the method is simple to operate and low in cost, realizes high-precision detection of the horizontal error under the condition of not introducing an additional detection tool, and specifically comprises the following steps:
1. bias current is applied to generate a bias magnetic field with a determined direction, and three synthetic magnetic fields are obtained by using a total field sensor in a mode of applying forward and reverse current and rotating a magnetometer, so that the operation is simple and easy to implement;
2. the measured synthetic magnetic field is calculated, so that the out-of-level degree of the instrument can be obtained, the method is simple, and the obtained out-of-level degree is high in precision;
3. the control host and the mechanical platform are both parts of the coil vector magnetometer, so that the electrical detection can be carried out without modifying the magnetometer, and the control host and the mechanical platform can be placed on the auxiliary turntable;
4. the detection process only needs one-time rotation, the consumed time is short, the rotary table is rotated by 180 degrees again after the detection is finished, the measurement can be carried out again, and the influence on geomagnetic continuous observation is small.
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, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (1)

1. An electrical detection method for a non-levelness error of a coil vector magnetometer is realized by utilizing an electrical detection system for the non-levelness error of the coil vector magnetometer, the electric detection system for the out-of-levelness error of the coil vector magnetometer comprises a total field sensor, a uniform magnetic field generator surrounding the total field sensor and an auxiliary turntable, the uniform magnetic field generator comprises a first coil C1 and a second coil C2 which are orthogonal, the first coil C1 being placed in the magnetic meridian plane, the second coil C2 is placed in a horizontal plane, the total field sensor is placed in a uniform magnetic field area in the center of the first coil C1 and the second coil C2, the total field sensor and the uniform magnetic field generator surrounding the total field sensor form a coil vector magnetometer, the auxiliary turntable is placed below the coil vector magnetometer to drive the coil vector magnetometer to rotate on a horizontal plane; the method is characterized in that:
s1: measuring a geomagnetic total field of a target measurement point using the total field sensor
Figure FDA0003039635530000011
S2: applying a forward bias current to the first coil C1 to generate a bias magnetic field
Figure FDA0003039635530000012
And measuring the bias magnetic field using the total field sensor
Figure FDA0003039635530000013
With the total field of geomagnetism
Figure FDA0003039635530000014
Of the resultant magnetic field F1；
S3: applying a reverse bias current to the first coil C1 to generate a bias magnetic field
Figure FDA0003039635530000015
And measuring the bias magnetic field using the total field sensor
Figure FDA0003039635530000016
With the total field of geomagnetism
Figure FDA0003039635530000017
Of the resultant magnetic field F2；
S4: the auxiliary turntable drives the coil vector magnetometer to rotate 180 degrees on the horizontal plane, and then forward bias current is applied to the first coil C1 to generate a bias magnetic field
Figure FDA0003039635530000018
And measuring the bias magnetic field using the total field sensor
Figure FDA0003039635530000019
With the total field of geomagnetism
Figure FDA00030396355300000110
Of the resultant magnetic field F3；
S5: based on the observation data I of magnetic inclination angle of a certain day of the query geomagnetic station, according to the total geomagnetic field
Figure FDA00030396355300000117
And a synthetic total field F1、F2And F3Calculating the inclination azimuth angle alpha and the non-levelness beta of the coil vector magnetometer to obtain the non-levelness error of the coil vector magnetometer;
passing a forward current through the first coil C1 to generate a forward bias magnetic field
Figure FDA00030396355300000111
The magnitude of the bias magnetic field is A, and the total geomagnetic field
Figure FDA00030396355300000112
Superposed to obtain a resultant magnetic field F1The specific process is as follows:
bias magnetic field
Figure FDA00030396355300000113
The projections in the x ' y ' z ' coordinate system are:
Figure FDA00030396355300000114
total field of geomagnetism
Figure FDA00030396355300000115
The projections in the x ' y ' z ' coordinate system are:
Figure FDA00030396355300000116
according to the vector synthesis rule, the resultant magnetic field F1Comprises the following steps:
Figure FDA0003039635530000021
wherein, the x ' axis points to the geomagnetic west, the y ' axis points to the geomagnetic north, and the z ' axis is vertically downward;
the synthetic magnetic field F in step S3 is obtained in a similar manner to that described above2And the synthetic magnetic field F in step S43：
Figure FDA0003039635530000022
Figure FDA0003039635530000023
Carrying out square sum operation by the formula (3) and the formula (4) to obtain a formula (6):
F1 2+F2 2＝2(A2+F2) (6)；
solving by equation (6) to obtain the bias field size a:
Figure FDA0003039635530000024
carrying out square sum operation by the formula (3) and the formula (5) to obtain a formula (8):
Figure FDA0003039635530000025
solving by the formula (8) to obtain the non-levelness beta:
Figure FDA0003039635530000026
performing a sum of squares operation from equation (3) and equation (5) to obtain equation (10):
F1 2-F3 2＝4A·FcosIcosαcosβ (10)；
the inclination azimuth angle α is solved by equation (10):
Figure FDA0003039635530000027
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