CN112698255B - Satellite-borne fluxgate magnetometer - Google Patents
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Abstract
The invention discloses a satellite-borne fluxgate magnetometer, which comprises: a sensor and processing circuitry; the sensor includes: the device comprises an excitation coil, an induction coil and a feedback coil; the processing circuit includes: the device comprises an excitation circuit for providing an excitation signal, an induced magnetic field signal conditioning and calculating processing circuit and a feedback circuit. The exciting circuit is used for generating exciting signals and generating exciting magnetic fields, the induction magnetic field signal conditioning and calculating processing circuit is used for extracting fluxgate signals corresponding to external magnetic field signals, and the feedback circuit is used for offsetting the external magnetic field signals, so that the system is always in a near-zero field state, and the linearity and the stability of the system are improved. The induction signal of the fluxgate magnetometer is directly digitized after being amplified, so that the reliability and the temperature stability of the system are improved, and meanwhile, the fluxgate magnetometer is few in used component types, can be realized by using a device with high radiation resistance, and can be used in a planetary environment with severe temperature and radiation environment.
Description
Technical Field
The invention relates to the technical field of magnetometer equipment, in particular to a digital satellite-borne fluxgate magnetometer.
Background
In recent years, more and more satellites carry satellite-borne magnetometers to detect the planet magnetic field, such as the earth, the Venus, the Mars, the asteroid and the like.
The main instrument for detecting the magnetic field of the planet is to use a fluxgate magnetometer, i.e. a satellite-borne fluxgate magnetometer, which needs higher temperature adaptability, radiation resistance, light weight, small volume and high reliability in addition to ensuring high resolution and low noise level compared with the fluxgate magnetometer used on the ground. In order to meet the requirements, the flux gate magnetometer needs to be digitalized, the number of analog devices is reduced after digitalization, and the reliability and the temperature adaptability are improved while the size, the weight and the power consumption are reduced. The traditional fluxgate magnetometer usually uses a resonance frequency selection mode to realize the processing of magnetic field signals, and the fluxgate magnetometer in the resonance mode needs to design a resonance frequency selection circuit before digitization so as to improve the signal-to-noise ratio of second harmonic of an induction signal.
Disclosure of Invention
In view of this, an embodiment of the present application provides a satellite-borne fluxgate magnetometer, which is different from the conventional satellite-borne fluxgate magnetometer in that an induction signal is immediately digitized after being amplified, so that a part of an analog circuit is further reduced, and a digital processing mode is used to extract a magnetic field signal from the induction signal, thereby effectively reducing noise of a device.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a satellite-borne fluxgate magnetometer characterized in that it comprises: a sensor and processing circuitry; the sensor includes: the device comprises an excitation coil, an induction coil and a feedback coil; the processing circuit includes: the device comprises an excitation circuit for providing an excitation signal, an induced magnetic field signal conditioning and calculating processing circuit and a feedback circuit.
The excitation coil is an annular coil and is formed by winding an enameled wire around an annular magnetic core; the induction coil is a runway coil and consists of a plurality of groups of coils, and can induce magnetic fields in three directions; the feedback coil is composed of three groups of Helmholtz coils, and can generate a uniform and stable feedback magnetic field at the center of the induction coil.
The excitation circuit consists of a power amplifier and a resonance circuit, and generates two pulses with opposite positive and negative polarities in each excitation period, so that the magnetic core in the excitation coil enters deep saturation, a fluxgate signal is generated, and the noise of the magnetic core is reduced.
The induction magnetic field signal conditioning and computing processing circuit comprises an amplifying circuit which is used for amplifying the magnetic field induction signal generated by the induction coil. The amplifying circuit is realized by an operational amplifier, a magnetic field induction signal of the induction coil passes through the coupling capacitor and then is connected with the reverse end of the operational amplifier, and the in-phase end of the operational amplifier is grounded;
the induction magnetic field signal conditioning and calculating processing circuit further comprises an analog-to-digital converter and a digital signal processor, the induction coil is connected with the analog-to-digital converter through an amplifying circuit, a magnetic field induction signal generated by the induction coil is amplified and then is digitized through the analog-to-digital converter, and subsequent magnetic field signal processing is realized through digital processing;
the analog-to-digital converter is connected with the digital signal processor, the output end of the digital signal processor is respectively connected with the excitation circuit and the feedback circuit, and the output ends of the excitation circuit and the feedback circuit are respectively connected with the excitation coil and the feedback coil.
The digital signal processing part comprises a filter, a peak detection part, an integrator and a multiplier.
In a preferred embodiment, the filter is implemented as follows:
wherein the content of the first and second substances,
is the sensing signal collected by ADC, y (n) is the filtered signal, kiIs the filter coefficient, N is the number of points sampled per excitation period, N is the number of samples taken per excitation period.
In a preferred embodiment, the filter coefficient k of the filter isiThe difference between the induced magnetic field signal obtained by adding a constant external magnetic field under the condition of no feedback and the induced magnetic field signal under the condition of zero field is quantized to obtain the magnetic field signal.
In a preferred embodiment, the peak detection is implemented by:
wherein the content of the first and second substances,
the curve of the filtered signal y (n) has two peaks for the phase deviation of the induced signal with respect to the excitation signal, the index determining the first peak of the curve being defined as
(ii) a N is the number of samples per excitation period.
In a preferred embodiment, the integrator is configured to add two peaks after detecting the peak, and the multiplier is configured to multiply the data after the integrator by a scaling factor amData B corresponding to the external magnetic field is obtainedt。（BtThe magnitude of (c) represents the magnitude of the magnetic field and the sign represents the direction of the magnetic field).
The above-mentioned proportionality coefficient AmSimilar to the scale factor in PID control, the proper A can be obtained through a test methodm. I.e. after Am has been adjusted, let B obtained by the above calculationtAfter being fed back by the feedback circuit, the obtained induction magnetic field signal can be stabilized near zero.
The feedback circuit comprises a digital-to-analog conversion circuit and a transconductance amplifier circuit. B calculated by the digital signal processing parttAnd an output register for setting digital-to-analog conversion is used, so that a digital-to-analog conversion circuit generates corresponding feedback voltage, the feedback voltage is converted into feedback current after passing through a transconductance amplifier, and the feedback current is applied to a feedback coil of the sensor and is used for generating a corresponding feedback magnetic field so as to enable an induction coil of the sensor to be in a zero-field working state.
In a preferred embodiment, the frequency of Bt generated by the digital signal processing section is equal to the frequency of the excitation, which is typically above a few KHz, and finallyThe output is BtData of required output frequency can be obtained through CIC filtering and low-pass filtering and then can be used as final magnetic field output.
Compared with the traditional digital flux gate magnetometer, the satellite-borne magnetometer provided by the invention is further digitized, a resonance mode is not needed to be used for extracting a magnetic field signal, the magnetic field signal is directly amplified and digitized after an induction signal is generated, the performance of the system is not influenced by the stray capacitance of a cable and a coil and the load of a feedback circuit by the amplification mode, the proportion of an analog circuit is further reduced, the reliability and the temperature adaptability of the satellite-borne magnetometer are improved, and in addition, all used devices are provided with corresponding high-grade anti-radiation devices, so that the satellite-borne magnetometer with high anti-radiation performance can be realized, and the planetary detection requirements of severe temperature and radiation environments are met.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a system block diagram of a satellite borne magnetometer provided by one embodiment of the present invention;
fig. 2 is a block diagram of a pump circuit according to an embodiment of the present invention.
Fig. 3 is a block diagram of a sense signal amplifying circuit according to an embodiment of the present invention.
Fig. 4 is a block diagram of inductive signal processing according to an embodiment of the present invention.
Fig. 5 is a block diagram of a feedback process 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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
In the description of the present invention, it should also be noted that, unless explicitly stated or limited otherwise, the terms "disposed," "coupled," and "connected" are to be construed broadly, and for example, "connected" may be a direct connection, an indirect connection through intermediate media, and a connection between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
One proposed embodiment of the satellite-borne fluxgate magnetometer, as shown in fig. 1, comprises: a sensor 10 and processing circuitry 20; the sensor 10 includes: an excitation coil 101, an induction coil 102, and a feedback coil 103;
the processing circuit 20 comprises: a drive circuit 201 providing a drive signal, a sense signal conditioning (amplification and digital-to-analog conversion) circuit 202, a sense signal calculation processing circuit (digital signal processor) 203, and a feedback circuit 204.
The working process of the satellite-borne fluxgate magnetometer is as follows: the exciting circuit 201 applies an exciting current to the exciting coil 101 to generate an exciting magnetic field, and the induction coil 102 generates an induction magnetic field signal under the action of the exciting magnetic field and an external magnetic field. The induced magnetic field signal conditioning and calculation processing circuits 202 and 203 process the induced signals, extract components related to the external magnetic field, and calculate feedback data to be generated. Feedback data generates feedback current through the feedback circuit 204, and the feedback current is applied to the feedback coil 103 to generate a feedback magnetic field, and the feedback magnetic field can enable the induction coil to be in an environment close to a zero field, so that the linearity and the stability of the system are ensured.
According to the above workflow, the connection relationship of the parts shown in fig. 1 is: the induction coil 102 is connected with an analog-to-digital converter through an amplifying circuit 202, the analog-to-digital converter is connected with a digital signal processor 203, the output end of the digital signal processor 203 is respectively connected with an exciting circuit 201 and a feedback circuit 204, and the output ends of the exciting circuit 201 and the feedback circuit 204 are respectively connected with an exciting coil 101 and a feedback coil 103.
The excitation coil 101, the induction coil 102, and the feedback coil 103 of the sensor 10 are each formed by winding an enameled wire.
The exciting coil 101 is wound around a ring-shaped magnetic core using a non-break point method, and the magnetic core has a ring-shaped band structure formed of a permalloy material. The excitation coil 101 is preferably a toroidal coil.
The induction coil 102 is composed of three groups of coils with different directions, which correspond to X, Y, Z measured respectively. Three groups of coils form a three-axis concentric structure through a geometric structure, and magnetic fields of the same point are measured in three directions. Preferably, the three-directional coils are fixed to a concentric framework made of aluminum alloy, so that the three-directional measurement is the magnetic field of the same point.
The feedback coil 103 is also composed of a plurality of coils, and can generate X, Y, Z three-directional feedback magnetic fields. The feedback coil in each direction is composed of Helmholtz coils, so that the uniformity and stability of the feedback magnetic field in the center of the induction coil are ensured.
The excitation signal generating circuit 201 is shown in fig. 2. The power amplifier mainly comprises a power amplifier and a resonant circuit. The input of this part is a square wave signal generated by the digital signal processor 203, which is first power amplified to make the circuit capable of providing enough current for the following resonant circuit. After the MOS driver is amplified, a resonant circuit is formed by C1, L1, C2 and Le, the resonant circuit generates resonance under excitation frequency, current pulse is generated on an excitation coil, and the magnetic core is deeply saturated.
In one embodiment of the present invention, the excitation frequency is 10KHz, the excitation circuit can generate two pulses with opposite polarities (corresponding to the rising edge and the falling edge of the input square wave signal, respectively) in each excitation period, and the current in other parts of each period is smaller, so that the power consumption of the excitation circuit can be greatly reduced.
The amplifying circuit 202 is composed of an operational amplifier, a magnetic field induction signal of the induction coil passes through the coupling capacitor and then is connected to the inverting terminal of the operational amplifier, and the non-inverting terminal of the operational amplifier is grounded. The connection mode converts the induction current Is generated by the induction coil into an amplified voltage signal VoutThe specific circuit is shown in fig. 3. Wherein, the main function of C1 is to isolate DC and remove DC component in the induction signal. The sensing signal after passing through C1 is connected to the inverting input terminal of the operational amplifier. The non-inverting input end of the operational amplifier is grounded, so that the system performance is not influenced by stray capacitance of cables and coils, and the reliability of the system is improved. The role of C2 in the circuit is to prevent amplifier oscillation while suppressing high frequency noise. The amplification factor of the amplification circuit can be adjusted by adjusting R1.
After the sensing signal is amplified by the amplifying circuit 202, the sensing signal is digitized by an analog-to-digital converter (ADC chip), and the subsequent processing is changed into digital signal processing, so that the anti-interference capability of the equipment is improved. The ADC is controlled by the digital signal processor 203 and in one embodiment of the invention, the ADC is implemented using a 16-bit high-precision ADC chip. After being digitized, the signals are processed by a digital signal processor, which is implemented by an FPGA in one embodiment of the present invention.
According to the fluxgate principle, the induction signalThe magnitude of the signal current is:
wherein N is the number of turns of the coil, A is the cross-sectional area of the induction coil, H is the magnetic field intensity, u0Is a vacuum permeability of urIs magnetic core permeability, RSIs the resistance of the induction coil. Assuming that the feedback impedance of the transimpedance amplifier is R1Then, then
Wherein
Only contains even harmonic component of excitation frequency, and the signal is an effective fluxgate signal which can reflect the magnitude and direction of an external magnetic field. However, due to the transformer effect of the coil, the component of the excitation signal is also coupled in the induced signal. Therefore, after being converted into digital signals through an amplifying circuit and a digital-to-analog converter, the magnetic field signals need to be extracted and processed in a processor.
The extraction process of the magnetic field signal is mainly implemented by the digital signal processor 203, and the implementation block diagram thereof is shown in fig. 4, and includes a filter P1, a peak detection P2, an integrator P3 and a multiplier P4. The filter P1, the peak detection P2, the integrator P3 and the multiplier P4 are connected in sequence, the multiplier P4 is connected to the register of the DAC, and the data passing through the multiplier is updated into the register so as to update the feedback output.
The filter P1 is implemented by the following equation:
wherein the content of the first and second substances,
is the sensing signal collected by ADC, y (n) is the filtered signal, kiIs the filter coefficient, and N is the number of points sampled in each excitation period; in one embodiment of the invention, N is 32, i.e., each stimulusThe cycle is sampled 32 times.
In one embodiment of the invention, the filter coefficient kiThe difference between the induced magnetic field signal obtained by adding a constant external magnetic field under the condition of no feedback and the induced magnetic field signal under the condition of zero field is quantized to obtain the magnetic field signal. The specific mode is as follows:
in the circuit shown in FIG. 3, an oscilloscope is used to acquire VoutThe voltage signal at (the output of the 204 voltage to current module needs to be disconnected from the feedback coil).
Firstly, the fluxgate sensor is placed in a zero field to collect signals, and the collected data is recorded.
Then, the fluxgate magnetic sensor is placed in the field-adding coil, a +10000nT stable magnetic field is added, data are collected and recorded at the same time, and the two outputs are subtracted to obtain a filter coefficient (if the set oscilloscope has higher collection frequency, 32 data need to be extracted at equal intervals to be used as the filter coefficient).
In one example of the present invention, the P2 peak detection is implemented by:
wherein the content of the first and second substances,
is the phase deviation of the sensing signal relative to the excitation signal. In an embodiment of the present invention, the digital signal collected by the ADC under a constant magnetic field is output and stored, and then the data collected in one period and the data y (n) filtered by the filter coefficient are calculated off-line. The curve of y (n) has two peak points, the subscript of the first peak point of the curve being determined
. Will be provided with
As part of parametric write sensing signal processing 203The on-line real-time processing can be realized in the digital processing program. N is the number of points sampled per excitation period in the above calculation of y (N), and N is 32 in this embodiment.
The integrator P3 is essentially implemented as an adder, and two extracted peak signals need to be added. The multiplier P4 multiplies the data obtained by the integrator P3 by a coefficient amData B corresponding to the external magnetic field is obtainedt，BtThe magnitude of (d) represents the magnitude of the magnetic field and the sign represents the direction of the magnetic field.
The above-mentioned proportionality coefficient AmSimilar to the scale factor in PID control, the proper A can be obtained through a test methodm. I.e. by adjusting AmLet B obtained by calculationtAfter feedback by the feedback circuit, the newly obtained induced magnetic field signal is continuously close to 0, and finally is stabilized near zero, and the adjustment is finished, which indicates that A at the momentmIs a suitable scaling factor. To facilitate tuning, Am may be set in an implementation to a parameter that is tunable by the instruction.
B after passing through multiplier P4tThe update is to the DAC register at the rate of the excitation frequency, which in one embodiment of the invention is 10 KHz. After updating, the DAC converts the digital signal into an analog voltage signal, and then converts the analog voltage signal into a feedback current signal through the voltage-to-current module 204, and applies the feedback current signal to the feedback coil to generate a feedback magnetic field signal. In one embodiment of the invention, the DAC can be realized by using a 16-bit DAC chip, and the DAC higher than 16 bits can also be realized by using an FPGA to realize delta-sigma modulation and an external analog low-pass filter. It should be noted that the linearity of the DAC will affect the linearity of the whole system, and the DAC selected or designed to implement needs to have better linearity in the whole measurement range.
The analog voltage signal output by the DAC needs to be converted into an analog current signal, and in an embodiment of the present invention, the transconductance amplifier may be built up by an operational amplifier, as shown in fig. 5.
The final magnetic field data is output from the DAC register, because the update speed of the DAC register is high, the DAC register is equal to the excitation period, namely 10KHz, in the embodiment of the invention, and the final output magnetic field rate is generally lower than several hundred Hz, therefore, the 10KHz data can be extracted into a magnetic field signal with a corresponding low frequency after CIC extraction filtering and FIR low-pass filtering.
According to the satellite-borne magnetometer, induction signals generated by the induction coil are directly digitized after being amplified, frequency selection of second harmonic waves of the induction signals is not needed through a resonance circuit, and compared with a traditional resonance type digital fluxgate magnetometer, the amplification mode of grounding the same-phase end of the amplifier enables the output of the induction signals to be independent of the change of excitation signals, so that the performance cannot be influenced due to the change of cables, coil stray capacitance or feedback circuit load. The conventional resonant digital fluxgate magnetometer influences the parameters of the resonant circuit due to the stray capacitance changes of the cable and the coil caused by temperature and the like, so that the system noise is increased. The satellite-borne magnetometer does not need an induction resonance frequency selection circuit, and induction signals are directly amplified and digitized, so that the reliability of equipment is greatly improved.
Meanwhile, the implementation mode further reduces the proportion of an analog circuit, improves the digitization degree of the fluxgate magnetometer, and realizes the processing of the whole magnetic field signal in the digital signal processor, so that the chip used in the whole design only comprises a MOS driver, an operational amplifier, an analog/digital and digital/analog converter and an FPGA. The chips are provided with corresponding high-grade anti-radiation devices, and the chip can be selected to realize the anti-radiation fluxgate magnetometer and meet the use in the planet environment with severe radiation conditions. Meanwhile, due to the reduction of devices, the reliability and the temperature adaptability of equipment are further improved, and the transconductance amplifier provided in the feedback circuit can further realize the compensation of the temperature of the feedback coil by using a platinum resistor with high temperature stability, so that the overall temperature stability of the system can be further improved.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (1)
1. A satellite-borne fluxgate magnetometer characterized in that it comprises: a sensor and processing circuitry;
the sensor includes: the device comprises an excitation coil, an induction coil and a feedback coil;
the processing circuit includes: the excitation circuit is used for providing an excitation signal, the induced magnetic field signal conditioning and computing processing circuit and the feedback circuit;
the induction magnetic field signal conditioning and computing processing circuit comprises an amplifying circuit, a processing circuit and a processing circuit, wherein the amplifying circuit is used for amplifying the magnetic field induction signal generated by the induction coil;
the amplifying circuit is realized by an operational amplifier, a magnetic field induction signal of the induction coil passes through a coupling capacitor and then is connected with the reverse end of the operational amplifier, and the in-phase end of the operational amplifier is grounded;
the induction magnetic field signal conditioning and calculating processing circuit further comprises an analog-to-digital converter and a digital signal processor, the induction coil is connected with the analog-to-digital converter through an amplifying circuit, a magnetic field induction signal generated by the induction coil is amplified and then is digitized through the analog-to-digital converter, and subsequent magnetic field signal processing is realized through the digital signal processor;
the digital signal processor includes: a filter, a peak detection, an integrator and a multiplier; the filter, the peak detection, the integrator and the multiplier are sequentially connected, and the multiplier is connected with a register of the digital-to-analog converter, so that data passing through the multiplier are updated into the register of the digital-to-analog converter; the data updating rate is an excitation frequency;
the induction coil is connected with the analog-to-digital converter through the amplifying circuit, the analog-to-digital converter is connected with the digital signal processor, the output end of the digital signal processor is respectively connected with the exciting circuit and the feedback circuit, the output ends of the exciting circuit and the feedback circuit are respectively connected with the exciting coil and the feedback coil, the induction magnetic field signal conditioning and calculating processing circuit processes the induction signal to generate feedback data, and the feedback circuit generates feedback current through the feedback data and applies the feedback current to the feedback coil to generate a feedback magnetic field;
the filter is realized by the following modes:
wherein the content of the first and second substances,
is the sensing signal collected by the analog-to-digital converter, y (n) is the filtered signal, kiIs the filter coefficient, N is the number of sampling points of each excitation period;
filter coefficient k of the filteriThe difference between an induced magnetic field signal obtained by adding a constant external magnetic field under the condition of no feedback and an induced magnetic field signal under a zero field is quantized to obtain the difference; the peak detection is achieved by:
wherein the content of the first and second substances,
the phase deviation of the induction signal relative to the excitation signal is shown, and N is the number of sampling points in each excitation period;
the feedback circuit comprises the digital-to-analog converter and a transconductance amplifier, the digital-to-analog converter converts a digital signal into an analog voltage signal, and the analog voltage signal is converted into a feedback current signal by the transconductance amplifier and is applied to the feedback coil to generate a feedback magnetic field signal;
the resistor in the transconductance amplifier is a platinum resistor.
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