CN112448148B - Magnetic field antenna for low-frequency electromagnetic communication of moving platform and working method - Google Patents
Magnetic field antenna for low-frequency electromagnetic communication of moving platform and working method Download PDFInfo
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- CN112448148B CN112448148B CN201910845392.4A CN201910845392A CN112448148B CN 112448148 B CN112448148 B CN 112448148B CN 201910845392 A CN201910845392 A CN 201910845392A CN 112448148 B CN112448148 B CN 112448148B
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/36—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q7/00—Loop antennas with a substantially uniform current distribution around the loop and having a directional radiation pattern in a plane perpendicular to the plane of the loop
- H01Q7/06—Loop antennas with a substantially uniform current distribution around the loop and having a directional radiation pattern in a plane perpendicular to the plane of the loop with core of ferromagnetic material
- H01Q7/08—Ferrite rod or like elongated core
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/20—Monitoring; Testing of receivers
- H04B17/21—Monitoring; Testing of receivers for calibration; for correcting measurements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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Abstract
The invention relates to a magnetic field antenna for low-frequency electromagnetic communication of a motion platform and a working method thereof, wherein the magnetic field antenna comprises a magnetic core coil, a three-dimensional posture and three-dimensional magnetic field measuring unit and a signal processing unit; the magnetic core coil consists of a magnetic core, a framework, a receiving coil and a compensating coil; the magnetic core is made of high-permeability materials, the receiving coil is a multi-turn coil, the receiving coil is wound on the framework, and the framework is sleeved on the magnetic core; the compensation coil is also wound on the framework; injecting current into the compensation coil to enable the magnetic core to be in a zero magnetic flux state; the three-dimensional gesture and the three-dimensional magnetic field measurement are used for measuring the gesture of the current magnetic field antenna and the geomagnetic size of the environment where the current magnetic field antenna is positioned; the signal processing unit is used for collecting the gesture of the magnetic field antenna, the geomagnetic size of the environment where the magnetic field antenna is positioned and receiving coil signals; and calculating the current of the compensation coil to finish demodulation of the communication signal. The invention eliminates the influence of the platform motion on the low-frequency electromagnetic communication and realizes the low-frequency electromagnetic communication on the high-speed motion platform.
Description
Technical Field
The invention relates to the field of communication, in particular to a magnetic field receiving antenna for low-frequency electromagnetic communication on a moving platform.
Background
The low-frequency electromagnetic field mainly refers to very low frequency (VLF, 3-30 kHz), ultra low frequency (ULF, 300Hz-3 kHz) and very low frequency (SLF, 3Hz-300 Hz) electromagnetic fields, has good penetrability, can realize cross-medium propagation, and therefore, the low-frequency electromagnetic field is used as a physical carrier in submarine communication, underwater unmanned aircraft communication and control and coal mine emergency through-the-earth communication.
In low-frequency electromagnetic communication, a receiving end receives by an electric field or a magnetic field, and the magnetic field receiving uses a coil with a magnetic core as a receiving antenna. The magnetic core coil is used as a low-frequency receiving antenna, has the advantages of small volume and the like, and has wide application.
In the prior art, when the receiving platform is in a static or quasi-static state during receiving, along with the increase of underwater applications, the communication requirements are increasingly increased when the underwater vehicle is in a high-speed motion state, and when the magnetic core coil is in a motion state along with the platform, the communication is adversely affected. Firstly, the magnetic core is made of ferromagnetic material with high magnetic permeability, the magnetic core is in geomagnetism, so that magnetic core magnetization, magnetic core bias, magnetic bias existence and variation along with movement generate magnetostriction noise and Barkhausen noise, the receiving noise is increased, and the receiving signal ratio is reduced; secondly, the movement of the magnetic core coil cuts geomagnetism to generate induced electromotive force, the induced electromotive force is superimposed on a received signal as interference, and the interference generated by the geomagnetism cutting is far greater than the received signal due to the fact that the communication received signal is very weak, the front-stage amplification and signal acquisition are affected, and the dynamic range of receiving is reduced; thirdly, the movement of the magnetic core coil modulates the received signal, so that the time domain waveform and the frequency spectrum characteristic of the communication signal are changed, the receiving demodulation of the signal is affected, and the error rate is increased; finally, due to the nonlinear characteristics of the ferromagnetic material with high magnetic permeability, the changing bias magnetic changes the working point of the magnetic core coil, which affects the receiving sensitivity, and the nonlinearity also causes the modulation of the received signal, which affects the receiving and demodulation of the signal.
Disclosure of Invention
In order to overcome the defects, the invention provides a magnetic field antenna for low-frequency electromagnetic communication of a moving platform and a working method thereof, which eliminate the influence of platform movement on the low-frequency electromagnetic communication and realize the low-frequency electromagnetic communication on a high-speed moving platform.
The invention relates to a magnetic field antenna for low-frequency electromagnetic communication of a motion platform, which comprises a magnetic core coil, a three-dimensional posture and three-dimensional magnetic field measuring unit and a signal processing unit, wherein the magnetic core coil, the three-dimensional posture and the three-dimensional magnetic field measuring unit are wound;
the magnetic core coil consists of a magnetic core, a framework, a receiving coil and a compensating coil; the magnetic core is made of high-permeability materials, the receiving coil is a multi-turn coil, the receiving coil is wound on the framework, and the framework is sleeved on the magnetic core; the compensation coil is also wound on the framework; injecting current into the compensation coil to enable the magnetic core to be in a zero magnetic flux state;
the three-dimensional gesture and the three-dimensional magnetic field measurement are used for measuring the gesture of the current magnetic field antenna and the geomagnetic size of the environment where the current magnetic field antenna is positioned;
the signal processing unit is used for collecting the gesture of the magnetic field antenna, the geomagnetic size of the environment where the magnetic field antenna is positioned and receiving coil signals; and calculating the current of the compensation coil to finish demodulation of the communication signal.
Further, the injection current in the compensation coil is as follows: obtaining projection value B of geomagnetism on magnetic field antenna axis 0 Selecting an initial value k of a compensation current calculation parameter 0 Calculating the current i of the injection compensation coil of the compensation coil 0 ＝k 0 ·B 0 The method comprises the steps of carrying out a first treatment on the surface of the Superposing a sinusoidal current signal in the compensation coil, receiving a receiving coil signal, and measuring the residual magnetic field delta B in the magnetic core; correction of the compensation current calculation parameter k with Δb as a feedback signal to the signal processing unit 1 ＝k 0 +p.DELTA.B, and recalculate the injection current magnitude i 1 ＝k 1 ·B 0 Updating the magnitude of the injection current of the compensation coil, wherein p is a scale factor; until the core is in a zero flux state.
The invention relates to a working method of a magnetic field antenna for low-frequency electromagnetic communication of a motion platform, which comprises two parallel working states, a compensation calibration state and a communication receiving state;
the compensating calibration state comprises the steps of:
step one: according to the three-dimensional posture of the magnetic field antenna and the geomagnetic information of the three-dimensional magnetic field, obtaining a projection value B of geomagnetism on the magnetic field antenna axis 0 Selecting an initial value k of a compensation current calculation parameter 0 Calculating the current i of the injection compensation coil of the compensation coil 0 ＝k 0 ·B 0 And injecting a current i into the compensation coil 0 Compensating geomagnetism;
step two: superposing a sinusoidal current signal in the compensation coil, receiving a receiving coil signal, and measuring the residual magnetic field delta B in the magnetic core;
step three: the residual magnetic field delta B in the magnetic core in the second step is used as a feedback signal to a signal processing unit to correct the compensation current calculation parameterk 1 ＝k 0 +p.DELTA.B, and recalculate the injection current magnitude i 1 ＝k 1 ·B 0 Updating the magnitude of the injection current of the compensation coil, wherein p is a scale factor;
step four: repeating the second and third steps until the magnetic core is in zero magnetic flux state, and calculating the compensation current with a parameter k n N is the number of compensation parameter correction times;
step five: the signal processing unit stores the calculated parameter k of the compensation current n And compensates in the communication state;
the communication state includes the steps of:
firstly, collecting three-dimensional attitude signals and signals of a receiving coil, preprocessing the signals, recovering communication signals, and secondly, demodulating the signals output by preprocessing and outputting communication data.
The beneficial effects are that:
the invention provides a magnetic field antenna for low-frequency electromagnetic communication of a moving platform, which utilizes measurement of the motion state of the moving platform to compensate geomagnetic influence in real time, eliminates the influence of platform motion magnetic bias on the low-frequency electromagnetic communication and realizes the low-frequency electromagnetic communication on a high-speed moving platform.
Drawings
Fig. 1: the magnetic core coil is composed of a schematic diagram of components; wherein, the magnetic core 1-, the skeleton 2-, the receiving coil 3-and the compensating coil 4-are arranged;
fig. 2: the magnetic antenna of the invention is schematically shown; the device comprises a magnetic core coil, a 6-three-dimensional posture and three-dimensional magnetic field measuring unit and a 7-signal processing unit, wherein the magnetic core coil is wound in a 5-mode;
fig. 3: a schematic diagram of a signal processing unit.
Detailed Description
The invention is further described below with reference to the drawings and the detailed description.
1. The structure of the invention
A schematic diagram of the magnetic antenna of the present invention is shown in fig. 2, and includes a core coil 5, a three-dimensional posture and three-dimensional magnetic field measuring unit 6, and a signal processing unit 7, which are wound.
The magnetic core coil 5 is composed of a magnetic core 1, a framework 2, a receiving coil 3 and a compensating coil 4, as shown in fig. 1. The magnetic core 1 is made of high-permeability materials, the magnetic core 1 is used for improving the receiving sensitivity of the magnetic field antenna, the receiving coil 3 is a multi-turn coil and is wound on the framework 2, the framework 2 is sleeved on the magnetic core 1, and the more the number of turns is, the higher the sensitivity is; the compensation coil 4 is likewise wound around the former 2.
The receiving coil 3 measures the magnetic field changing in the magnetic core by utilizing the electromagnetic induction principle, and the compensating coil 4 is injected with current for counteracting the influence of geomagnetism, so that the magnetic core is in a zero magnetic flux state.
Examples: for low-frequency electromagnetic communication with carrier frequency of 1kHz, a permalloy material or amorphous alloy with high magnetic conductivity is selected for processing the magnetic core, so that the sensitivity is improved, the sectional area of the magnetic core is 400 square millimeters, the length of the magnetic core is 500 millimeters, the receiving coil is wound on the framework in a layered and segmented mode by using an enameled wire with the diameter of 0.2 millimeter, and the compensating coil is wound by using an enameled wire with the diameter of 0.4 millimeter for 100 turns.
(two) three-dimensional attitude measurement and magnetic field measurement Unit 6
The installation position of the three-dimensional attitude measurement and magnetic field measurement unit 6 is kept at a certain distance from the magnetic core, so that the influence of the magnetic core on magnetic field measurement is avoided. The measuring unit may employ existing technology.
The three-dimensional gesture and the three-dimensional magnetic field measurement are used for measuring the gesture of the current magnetic field antenna and the geomagnetic size of the environment; attitude measurements include measurements of motion speed, acceleration, and angular velocity; the three-dimensional pose and the three-dimensional magnetic field measurement value are used for calculating the injection current value of the compensation coil and are also used for demodulating the received communication signal.
(III) Signal processing Unit 7
The schematic diagram of the signal processing unit is shown in fig. 3, in which an FPGA is used as a central processor to control the collection of a plurality of input signals, calculate the compensation coil current, and complete the demodulation of the communication signals.
The signal processing unit receives the three-dimensional attitude signal, the three-dimensional magnetic field signal and the receiving coil signal, the signals are amplified and filtered, then are acquired and converted into digital signals by an analog-to-digital converter (ADC), digital processing is carried out, the current of the compensating coil is calculated, the current is converted into analog signals by a digital-to-analog converter (DAC), the analog signals are output as the driving signals of the compensating coil through a driving amplifying circuit, the compensating coil is injected, and the demodulation output of the receiving signal is carried out.
Examples:
for carrier frequency of 1kHz and signal bandwidth of 100Hz, the received signal is directly sampled, and ADC with high resolution of more than 16 bits and high sampling rate of more than 100ksps is selected. For low-frequency electromagnetic communication with carrier frequency of 1kHz, the bandwidth is narrow, so that a Minimum Shift Keying (MSK) digital modulation mode with small occupied bandwidth is selected, and a signal processing unit carries out real-time communication demodulation; for the driving part of the compensation coil, a 16-bit high-speed high-resolution DAC and a high-speed driver are adopted, the signal processing unit calculates the magnitude of the compensation current according to the calculation parameters of the compensation current, the compensation current is converted into an analog signal through the DAC, and the compensation coil is driven through the output of the high-speed driver.
2. The invention relates to a working method of a magnetic field antenna
The magnetic field antenna of the invention has two parallel working states: a compensation calibration state for correcting compensation current calculation parameters in signal processing, and a communication reception state for demodulating a communication signal.
The working method of the magnetic field antenna in the compensation calibration state comprises the following steps:
step one: according to the three-dimensional posture of the magnetic field antenna and the geomagnetic information of the three-dimensional magnetic field, obtaining a projection value B of geomagnetism on the magnetic field antenna axis 0 Selecting an initial value k of a compensation current calculation parameter 0 (
μ 0 Is vacuum permeability, mu e For the equivalent magnetic permeability of the magnetic core, n is the number of turns of the compensation coil), the current of the injection compensation coil of the compensation coil is calculated to be i 0 ＝k 0 ·B 0 And injecting a current i into the compensation coil 0 Compensating geomagnetism;
step two: superposing a sine current signal in the compensation coil, receiving a receiving coil signal, and measuring the residual magnetic field delta B in the magnetic core by utilizing the principle of measuring the magnetic field by a fluxgate;
step three: the residual magnetic field delta B in the magnetic core in the second step is used as a feedback signal to a signal processing unit to correct the compensation current calculation parameter k 1 ＝k 0 +p.DELTA.B, and recalculate the injection current magnitude i 1 ＝k 1 ·B 0 Updating the magnitude of the injection current of the compensation coil, wherein p is a scale factor;
step four: repeating the second and third steps until the magnetic core is in zero magnetic flux state, and calculating the compensation current with a parameter k n N is the number of compensation parameter corrections.
Step five: the signal processing unit stores the calculated parameter k of the compensation current n And compensates according to this parameter in the communication state.
Method for operating magnetic field antenna in communication state
When the magnetic field antenna is in a communication receiving state, the signal processing unit demodulates the signals according to the signals of the receiving coil and the three-dimensional attitude signals.
Because of the motion, the time domain waveform and the frequency spectrum characteristics of the communication signals are changed, firstly, the three-dimensional attitude signals and the signals of the receiving coil are collected, the communication signals are preprocessed, the modulation of the communication signals by the motion of the magnetic field antenna is eliminated, and secondly, the signals output by the preprocessing are subjected to signal demodulation, and the communication data are output.
The method comprises the steps of carrying out real-time compensation on geomagnetic influence by measuring and predicting the motion state of a motion platform, reducing the geomagnetic influence during low-frequency electromagnetic communication in motion, and recording the motion state of the platform for receiving and demodulating signals.
The above embodiments are only for illustrating and describing the technical solution of the present invention, but should not be construed as limiting the scope of the claims. Any simple modification or replacement of the technical solution according to the present invention will be within the scope of the present invention.
Claims (2)
1. A magnetic field antenna for low-frequency electromagnetic communication of a moving platform, which is characterized by comprising a magnetic core coil (5), a three-dimensional posture and three-dimensional magnetic field measuring unit (6) and a signal processing unit (7), wherein the magnetic core coil is wound;
the magnetic core coil (5) consists of a magnetic core (1), a framework (2), a receiving coil (3) and a compensating coil (4); the magnetic core (1) is made of high-permeability materials, the receiving coil (3) is a multi-turn coil, the receiving coil is wound on the framework (2), and the framework (2) is sleeved on the magnetic core (1); the compensation coil (4) is also wound on the framework (2); injecting current into the compensation coil (4) so that the magnetic core is in a zero magnetic flux state;
the three-dimensional attitude and three-dimensional magnetic field measuring unit is used for measuring the attitude of the current magnetic field antenna and the geomagnetic size of the environment;
the signal processing unit is used for collecting the gesture of the magnetic field antenna, the geomagnetic size of the environment where the magnetic field antenna is positioned and receiving coil signals; calculating the current of the compensation coil (4) to finish demodulation of the communication signal;
the injection current in the compensation coil (4) is as follows: obtaining projection value B of geomagnetism on magnetic field antenna axis 0 Selecting an initial value k of a compensation current calculation parameter 0 Calculating the current i of the injection compensation coil of the compensation coil 0 ＝k 0 ·B 0 The method comprises the steps of carrying out a first treatment on the surface of the Superposing a sinusoidal current signal in the compensation coil, receiving a receiving coil signal, and measuring the residual magnetic field delta B in the magnetic core; correction of the compensation current calculation parameter k with Δb as a feedback signal to the signal processing unit 1 ＝k 0 +p.DELTA.B, and recalculate the injection current magnitude i 1 ＝k 1 ·B 0 Updating the magnitude of the injection current of the compensation coil, wherein p is a scale factor; until the magnetic core is in a zero magnetic flux state;
the said
μ 0 Is vacuum permeability, mu e And n is the number of turns of the compensation coil.
2. The method of claim 1, comprising two parallel operating states, a compensating calibration state and a communication receiving state;
the compensating calibration state comprises the steps of:
step one: according to the three-dimensional posture of the magnetic field antenna and the geomagnetic information of the three-dimensional magnetic field, obtaining a projection value B of geomagnetism on the magnetic field antenna axis 0 Selecting an initial value k of a compensation current calculation parameter 0 Calculating the current i of the injection compensation coil of the compensation coil 0 ＝k 0 ·B 0 And injecting a current i into the compensation coil 0 Compensating geomagnetism;
step two: superposing a sinusoidal current signal in the compensation coil, receiving a receiving coil signal, and measuring the residual magnetic field delta B in the magnetic core;
step three: the residual magnetic field delta B in the magnetic core in the second step is used as a feedback signal to a signal processing unit to correct the compensation current calculation parameter k 1 ＝k 0 +p.DELTA.B, and recalculate the injection current magnitude i 1 ＝k 1 ·B 0 Updating the magnitude of the injection current of the compensation coil, wherein p is a scale factor;
step four: repeating the second and third steps until the magnetic core is in zero magnetic flux state, and calculating the compensation current with a parameter k n N is the number of compensation parameter correction times;
step five: the signal processing unit stores the calculated parameter k of the compensation current n And compensates in the communication reception state;
the communication reception state includes the steps of:
firstly, collecting three-dimensional attitude signals and signals of a receiving coil, preprocessing the signals, recovering communication signals, and secondly, demodulating the signals output by preprocessing and outputting communication data.
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| CN114039189B (en) * | 2021-11-16 | 2022-10-18 | 西安电子科技大学 | Low-frequency magnetic antenna with compensation function and self-adaptive compensation method |
| CN117728158A (en) * | 2023-12-20 | 2024-03-19 | 苏州万联磁感应通讯科技有限公司 | Combined miniaturized low-frequency receiving antenna |
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