CN113820751A - Mechanical drift correction method and device for dIdD magnetometer platform and storage device - Google Patents

Mechanical drift correction method and device for dIdD magnetometer platform and storage device Download PDF

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CN113820751A
CN113820751A CN202110959980.8A CN202110959980A CN113820751A CN 113820751 A CN113820751 A CN 113820751A CN 202110959980 A CN202110959980 A CN 202110959980A CN 113820751 A CN113820751 A CN 113820751A
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葛健
朱晶
董浩斌
郑千玮
钱君立
王锐
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China University of Geosciences
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Abstract

The invention provides a mechanical drift correction method, equipment and storage equipment for a dIdD magnetometer platform, wherein when the instrument is not in operation, initial state measurement is carried out, and measurement results comprise east-west non-horizontality, north-south non-horizontality and background geomagnetic field; to CiCoil and CdBias fields are respectively applied to the coils to obtain a synthetic field of the background geomagnetic field; calculating the orientation angle of the instrument posture through east-west non-horizontality, north-south non-horizontality and synthetic field solution; solving the measurement errors of the magnetic dip angle and the magnetic declination angle caused by the attitude drift through the east-west non-horizontality, the north-south non-horizontality and the orientation angle; and calculating to obtain correction values of the dip angle and the declination angle according to the dip angle measurement error and the declination angle measurement error so as to finish the correction of the dIdD magnetometer. The invention has the advantages ofThe method comprises the following steps: the probability of inaccuracy of measurement of the dIdD magnetometer and errors of calculation of the magnetic direction caused by the deformation of the mechanical platform and the like is reduced, and the measurement accuracy of the dIdD magnetometer under the unfavorable condition is improved.

Description

Mechanical drift correction method and device for dIdD magnetometer platform and storage device
Technical Field
The invention relates to the field of magnetic field measurement, in particular to a mechanical drift correction method, device and storage device for a dIdD magnetometer platform.
Background
The magnetic field of any point on the ground has certain intensity and direction, and in order to describe the geomagnetic field of each point on the ground, a space rectangular coordinate system is established by taking the measuring point as an origin. The geomagnetic field consists 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 declination D (an included angle between a geographical meridian plane and a magneton meridian plane) and a dip I (an included angle between a horizontal plane and the total field F) at any point in space. The geomagnetic field measurement is mainly applied to geophysical exploration, aviation, navigation, aerospace, national defense and military and the like, so that the acquisition of high-precision geomagnetic element data is very important.
The geomagnetic vector measurement method can be divided into three types, namely total field measurement, component measurement and magnetic direction measurement, according to different measured parameters. The total field measurement is mainly directly obtained by scalar instruments such as an Overhauser magnetometer, a proton magnetometer and an optical pump magnetometer; the geomagnetic component measurement is mainly carried out by component magnetometers such as a fluxgate magnetometer and a superconducting quantum interference magnetometer; for magnetic direction measurement, DI instruments and coil magnetometers are widely used at present. The DI instrument can be used for absolute observation of geomagnetic inclination angles and declination angles, mainly utilizes the axial sensitivity of a fluxgate sensor in the DI instrument and can realize detection of geomagnetic elements by combining a non-magnetic theodolite, but has the problems of long measurement period, complex operation, incapability of automatic observation and the like. In addition, the coil type vector magnetometer can carry out combined measurement of geomagnetic parameters, and the variation of the declination angle and the dip angle is calculated by measuring a synthetic field and a non-declination field of a bias field and a geomagnetic field generated by the magnetic field uniform generator. However, the problems that the mechanical platform of the instrument is not strong enough to deform and the relative positions of the two groups of coils deviate in the long-term placing process exist, and errors are generated in the magnetic direction resolving process. Therefore, how to avoid the uncertain error generated by the mechanical drift of the magnetometer platform in the long-term observation of the coil vector magnetometer becomes the key and difficult point for realizing the long-term high-precision observation.
At present, aiming at the problem of drift of a geomagnetic magnetometer platform during long-term observation, the common solution is to fix an instrument inspection period, manually use calibration equipment to determine the instrument drift state and readjust a coil. The method is simple to operate, but the error caused by the offset of the magnetometer platform in the inspection period cannot be judged, and the method is severe in environment of a place needing long-term observation and cannot ensure that personnel regularly inspect, so that the problem of mechanical drift of the magnetometer platform in the long-term observation process is necessary to be solved.
Disclosure of Invention
In order to solve the problems, the invention provides a mechanical drift correction method, equipment and storage equipment for a dID magnetometer platform, and the mechanical drift correction method for the dID magnetometer platform mainly comprises the following steps:
s1: when the instrument is not in operation, the initial state measurement is carried out, and the measurement result comprises east-west non-levelness epsilon1North-south non-horizontality epsilon2And the background earth magnetic field F0；
S2: respectively to CiCoil and CdApplying bias field in the coil to obtain earth magnetic field F0Of (2) a synthesis field Fi+、Fi-、Fd+And Fd-；
S3: by east-west non-levelness epsilon1North-south non-horizontality epsilon2And a synthesis field Fd+、Fd-Solving for the heading angle θ of the instrument attitude1And theta2；
S4: by east-west non-levelness epsilon1North-south non-horizontality epsilon2And an orientation angle theta1Separately solving the magnetic inclination angle measurement error epsilon caused by attitude driftIAnd declination measurement error εD；
S5: according to the magnetic dip angle measurement error epsilonIAnd declination measurement error εDAnd calculating to obtain correction values of the magnetic inclination angle and the magnetic declination angle so as to finish the correction of the dIdD magnetometer.
Further, the east-west non-levelness epsilon of the instrument1And north-south irrelevancy epsilon2Measured by an electronic level.
Further, the background geomagnetic field F0Measured by the total field sensor.
Further, the bias field is switched into C by high stable current with equal reverse directioniCoil or CdAfter the coil is produced.
10. Further, the orientation angle θ is calculated1And theta2Respectively as follows:
Figure BDA0003221722010000021
θ2＝θ1-arcsin(tanε1·tanε2)
wherein epsilon1Is the east-west levelness, epsilon2For north-south non-horizontality, Fd+And Fd-Is directed to CdAfter applying bias field in the coil, the obtained earth magnetic field F with background0A synthesis field of F0The magnetic field is the background geomagnetic field when the instrument is not in operation, A is the module value of the bias field, and I is the absolute value of the inclination angle.
Further, the tilt angle measurement error ε caused by attitude driftIThe calculation formula of (a) is as follows:
εI＝-arcsin(cosIsinIcosε1(cosθ1-cosθ1cosε2cosθ2-sinθ1cosε2sinθ2)-cos2I(cosε1sinθ1sinε2+sinε1cosε2cosθ2)-sin2Isinε1)
declination measurement error epsilon due to attitude driftDThe calculation formula of (a) is as follows:
Figure BDA0003221722010000031
wherein, betaDThe characteristic angle under declination measurement is adopted.
Further, Δ I ═ Δ I according to the formulae-εIAnd Δ D ═ Δ De-εDRespectively calculating correction values delta I and delta D, wherein delta IeAnd Δ DeThe measurement error of the declination angle of the magnetic dip angle is obtained under the instrument attitude drift.
A storage device stores instructions and data for implementing a mechanical drift correction method for a dID magnetometer platform.
A did magnetometer platform mechanical drift correction device comprising: a processor and a storage device; and the processor loads and executes the instructions and data in the storage device to realize the mechanical drift correction method of the dID magnetometer platform.
The technical scheme provided by the invention has the beneficial effects that: the probability of inaccuracy of measurement of the dIdD magnetometer and errors of calculation of the magnetic direction caused by the deformation of the mechanical platform and the like is reduced, and the measurement accuracy of the dIdD magnetometer under the unfavorable condition is improved.
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The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a flowchart of a method for correcting mechanical drift of a dldd magnetometer platform according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a dld magnetometer at normal attitude (a) and drift attitude (b) in an embodiment of the present invention.
Fig. 3 is a schematic diagram of measuring a geomagnetic variation back magnetic tilt angle in the embodiment of the present invention.
FIG. 4 is a diagram illustrating pose parameters of the instrument after drift in an embodiment of the present invention.
FIG. 5 is a schematic diagram of magnetic tilt angle measurement under instrument attitude drift in the embodiment of the invention, (a) is a schematic diagram of a bias field, and (b) is a characteristic schematic diagram of the bias field.
Fig. 6 is a schematic diagram of declination measurement in a dif coordinate system when an attitude drift exists in the embodiment of the present invention, (a) is a schematic diagram of a bias field, and (b) is a schematic diagram of a characteristic angle of the bias field.
Fig. 7 is a schematic diagram of the operation of the hardware device in the embodiment of the present invention.
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 mechanical drift correction method, device and storage device for a dIdD magnetometer platform. The dIdD magnetometer consists of four parts, namely an orthogonal spherical coil, a total field sensor, a measuring platform and a host. Wherein the orthogonal spherical coil is used for measuring the magnetic inclination angle CiCoil and measuring declination CdCoil composition, CdAnd CiThe coils are mutually orthogonal; the total field sensor is used for measuring a synthetic field and an unbiased field superposed by a geomagnetic field and a bias field, and the measuring platform and the host mainly provide normal working conditions for the measuring unit, so that the aim of measuring geomagnetic elements for a long time is finally fulfilled.
As shown in fig. 2, when a dIdD magnetometer is used for long-term observation, due to deformation of a mechanical platform and other reasons, the posture of the magnetometer is changed from normal (a) to posture drift (b), so that an error occurs in resolving magnetic directions, and the magnetometer is not beneficial to high-quality and high-precision magnetic field observation, so that the invention provides the magnetometer platform mechanical drift correction method shown in fig. 1, which mainly comprises the following steps:
(1) initial state measurement
When the instrument is not in operation, the electronic level meter is used for measuring the east-west non-levelness epsilon of the instrument1North-south non-horizontality epsilon2And measuring the background geomagnetic field F using the total field sensor0。
(2) Measuring geomagnetic inclination angle and declination variation
To CiHigh-stability current with equal size and reverse direction is led into the coil, and a total field sensor is used for measuring a composite field F between the applied bias field and a background fieldi+、Fi-(ii) a To CdIn the coil is led inConstant and reverse high-stability current is measured, and a resultant field F of the applied bias field and the background field is measuredd+、Fd-。
(3) Unsmoothness epsilon from east to west1North-south non-horizontality epsilon2And a synthesis field Fd+、Fd-Solving for the heading angle θ of the instrument attitude1、θ2。
(4) According to east-west non-levelness epsilon1North-south non-horizontality epsilon2And an orientation angle theta1Separately solving the magnetic inclination angle measurement error epsilon caused by attitude driftIAnd declination measurement error εD。
(5) Calculating correction values delta I and delta D of the magnetic inclination angle and the magnetic declination angle, wherein the correction formula is that delta I is delta Ie-εI、ΔD＝ΔDe-εDWherein, Δ Ie、ΔDeAnd measuring errors of the declination angle of the declination magnet under the instrument attitude drift.
According to the measuring and calculating method, the correction method of the magnetic direction resolving error caused by the related mechanical platform is divided into three parts, namely an instrument working principle, acquisition of instrument attitude parameters, an inclination angle measurement error and a deflection angle measurement error, and specifically comprises the following steps:
working principle of instrument
Before analyzing errors generated by attitude drift of a magnetometer, firstly, a magnetic direction resolving principle is needed under the condition that the instrument does not have the attitude drift. The working principle of the dIdD magnetometer is that when the geomagnetic field changes, the total field sensor is used for measuring the initial geomagnetic field at first, and then the synthetic field F of the geomagnetic field and the bias magnetic fields in all directions is measuredi+、Fi-、Fd+、Fd-The geomagnetic inclination angle variation Δ I can be calculated, the declination measurement principle is complex, and a schematic diagram is not shown here, and the measured declination angle variation is shown in fig. 3.
According to the trigonometric relation, the geomagnetic inclination angle variation Delta I can be obtained,
Figure BDA0003221722010000051
similarly, the amount of change Δ D of the magnetic declination can be obtained,
Figure BDA0003221722010000052
(II) Instrument attitude parameters
By using a non-levelness epsilon1In the north-south direction,. epsilon2(east-west) and orientation parameter θ1To characterize the state of the instrument pose. The magnitude of the non-levelness is obtained by a high-precision level meter, and the orientation angle is calculated by the difference value of a magnetometer synthetic field.
And measuring the magnitude of the non-levelness of the instrument after the attitude drift. High-precision electronic gradienters are respectively placed at the north-south and east-west level bubbles of the instrument top plate (as shown in figure 2(b)), and epsilon is measured1、ε2The size of (2). And calculating the orientation angle according to the working principle of the magnetometer. Measurement of C with Total field sensordComposite field F of bias field and geomagnetic field generated by coild+、Fd-Solving for the orientation Angle θ1：
Figure BDA0003221722010000053
θ2＝θ1-arcsin(tanε1·tanε2)
Wherein epsilon1Is the east-west levelness, epsilon2For north-south non-horizontality, Fd+And Fd-Is directed to CdAfter applying bias field in the coil, the obtained earth magnetic field F with background0A synthesis field of F0The bias magnetic field is a background geomagnetic field when the instrument does not work, A is a module value of the bias field and represents the size of the bias magnetic field, and I is an inclination angle absolute quantity and is obtained by observation data of other instruments of the geomagnetic table.
(III) Dip error resolution
In the subsequent long-term observation process, the overall attitude of the instrument drifts due to the deformation of the mechanical platform and other reasons. Aiming at the problem, a geomagnetic coordinate system of the coil is established as xyz, wherein the positive directions of an x axis, a y axis and a z axis are respectively a geomagnetic north direction, a geomagnetic west direction and a vertical upward direction. When there is a drift in the attitude of the coil magnetometer, the change in the attitude of the magnetometer is characterized by the unit vectors a, b, c, as shown in fig. 4.
Wherein epsilon1、ε2Indicates the angle theta between the coil and the horizontal plane after the coil has been shifted1、θ2Respectively the included angle between the projection of the non-levelness on the horizontal plane and the geomagnetic coordinate system.
According to the instrument direction vector and Ci、CdThe position relation of the coils can directly obtain the attitude matrixes M and CiAnd (3) the relation of the bias magnetic field of the coil, thereby obtaining the relation of the instrument attitude parameter and the bias field:
Figure BDA0003221722010000061
in the same way, the attitude matrixes M and C can be obtaineddBias field expression of the coil:
Figure BDA0003221722010000062
wherein M is a matrix consisting of unit vectors a, b and c and is used for representing the attitude change of the instrument after drifting; and the unit vectors a, b, c are represented by a degree of dissymmetry epsilon1、ε2Orientation angle theta1、θ2A function of the composition.
A function relation between a bias field and an instrument attitude angle is obtained by establishing a geomagnetic coordinate system xyz, but the method cannot directly describe the state of the bias field and can not quantitatively analyze the measurement error caused by the instrument attitude drift. To address this problem, a bias coil dif coordinate system is established. When no drift is present, the i-axis and d-axis are along CiAnd CdThe axial direction of the coil; the f axis is mutually vertical to the i axis and the d axis; furthermore, the f-axis coincides with the direction of the earth magnetic field at the initial moment of measurement. Two characteristic angles alpha are used when there is magnetometer attitude driftI、βIDescribing the deviated bias field, the bias magnetic field state analysis is shown in FIG. 5, where F is F0。
Characteristic angle betaIRepresents a bias field Ai-The included angle between the vector and the do' i surface is obtained according to the formula of the included angle between the vector and the plane:
Figure BDA0003221722010000063
F0for the background geomagnetic field, characteristic angle alphaIRepresents a bias field Ai-The projection of the included angle with the magnetic meridian plane on the do' i plane, where l is (0, -1,0), can be obtained:
Figure BDA0003221722010000071
according to the vector synthesis relation, the synthetic field F of the bias magnetic field and the geomagnetic field can be obtainedi+And Fi-Expression (c):
Fi-＝F0+Ai-＝(A cosβIsinαI,-F0sinΔI+A cosβIcosαI,F0cosΔI+AsinβI) (7)
Fi+＝F0+Ai+＝(-A cosβIsinαI,-F0sinΔI-A cosβIcosαI,F0cosΔI-AsinβI) (8)
from equation (1), the tilt angle measurement error ε due to attitude driftIComprises the following steps:
Figure BDA0003221722010000075
the correction value deltai of the magnetic tilt angle can be calculated from the expression (9),
ΔI＝ΔIe-εI (10)
wherein, Delta IeIs an instrumentVariation of inclination angle, epsilon, after attitude driftIIs the tilt angle measurement error caused by attitude drift.
(IV) declination error resolution
Based on the principle of magnetic dip calculation, the measurement error of magnetic declination related to attitude drift can be quantitatively analyzed as shown in FIG. 6, and the characteristic angle alpha of the bias field during magnetic declination measurement can be obtained by using the formula of the included angle between the vector and the planeD、βD。
According to the included angle formula and the triangular relation between the vector and the plane, the characteristic angle under the magnetic declination measurement can be obtained:
Figure BDA0003221722010000072
Figure BDA0003221722010000073
thereby obtaining a composite field F of the bias magnetic field and the geomagnetic fieldd-And Fd+，
Fd-＝F0+Ad-＝(-F0sinΔD'+A cosβDsinαD,A cosβDcosαD,F0cosΔD'+A sinβD) (13)
Fd+＝F0+Ad+＝(-F0sinΔD'-A cosβDsinαD,-A cosβDcosαD,F0cosΔD'-A sinβD) (14)
From equation (2), it can be found that the declination measurement error ε is caused by attitude driftD，
Figure BDA0003221722010000074
Wherein, betaD＝arcsin(-cosIcosε2sinθ2+sinIsinε2)。
The correction value ad of the declination can be calculated from equation (15),
ΔD＝ΔDe-εD (16)
wherein, Δ DeIs the deflection angle variation of the instrument after the attitude drift occurs, epsilonDIs the declination measurement error caused by attitude drift.
(V) Effect of experiment
A dID magnetometer is erected in a nonmagnetic observation room of an earthquake table, the posture of the instrument is manually changed, and the instrument posture drift caused by long-time observation of the instrument is simulated. Obtaining an instrument attitude parameter epsilon according to the step (II) of obtaining the instrument attitude parameter1＝206.2″、ε2＝232.6″，θ1615.4 ", and the theoretical error induced under this attitude parameter is calculated. And then, the instrument is enabled to work normally, and the geomagnetism is observed for a period of time under different postures, so that an observation curve is obtained. Then, subtracting the magnetic direction data at the same time and averaging to obtain a baseline difference as shown in table 1:
TABLE 1 comparative experimental results
Figure BDA0003221722010000081
From the data, the measurement error obtained by calculation by using the error model and the attitude parameter is basically consistent with the actual measurement error; the maximum values of the calculation errors of the magnetic inclination angle and the declination angle measurement errors are respectively less than 1.5 percent and 7.8 percent, and the measurement errors can be used for data correction.
2.2 Key points in the embodiment
1. A bias current is applied to generate a directionally determined bias magnetic field. Acquiring a synthesized total field value by using a total field sensor in a mode of applying forward and reverse currents and rotating a magnetometer;
2. establishing a novel dif coordinate system for describing the state of the bias magnetic field, thereby quantifying errors generated by the change of the posture of the analysis instrument;
3. the non-levelness is measured at the top end of the instrument by using a high-precision electronic level meter, so that the posture change of the instrument is more accurate;
4. calculating a synthetic field of a specific bias field and a geomagnetic field generated by the coil, and resolving an orientation angle of the instrument attitude;
5. the magnetic direction measurement error of the coil vector magnetometer is solved through the non-levelness and the orientation angle of the measuring instrument in two directions, and then the error calibration is realized through a reverse compensation mode.
Referring to fig. 4, fig. 4 is a schematic diagram of a hardware device according to an embodiment of the present invention, where the hardware device specifically includes: a did magnetometer platform mechanical drift correction device 401, a processor 402 and a storage device 403.
A did magnetometer platform mechanical drift correction device 401: the mechanical drift correction device 401 for the dIdD magnetometer platform realizes the mechanical drift correction method for the dIdD magnetometer platform.
The processor 402: the processor 402 loads and executes instructions and data in the storage device 403 to implement the method for mechanical drift correction of a dld magnetometer platform.
The storage device 403: the storage device 403 stores instructions and data; the storage device 403 is used to implement the method for correcting mechanical drift of the dldd magnetometer platform.
The invention has the beneficial effects that: the probability of inaccuracy of measurement of the dIdD magnetometer and errors of calculation of the magnetic direction caused by the deformation of the mechanical platform and the like is reduced, and the measurement accuracy of the dIdD magnetometer under the unfavorable condition is improved.
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 (9)

1. A mechanical drift correction method for a dIdD magnetometer platform comprises four parts, namely an orthogonal spherical coil, a total field sensor, a measuring platform and a host, wherein the orthogonal spherical coil is used for measuring a magnetic inclination angle CiCoil and measuring declination CdCoil composition, CdAnd CiThe coils are mutually orthogonal; general fieldThe sensor is used for measuring a composite field and an unbiased field superposed by a geomagnetic field and a bias field, and is characterized in that: the method comprises the following steps:
s1: when the instrument is not in operation, the initial state measurement is carried out, and the measurement result comprises east-west non-levelness epsilon1North-south non-horizontality epsilon2And the background earth magnetic field F0；
S2: respectively to CiCoil and CdApplying bias field in the coil to obtain earth magnetic field F0Of (2) a synthesis field Fi+、Fi-、Fd+And Fd-；
S3: by east-west non-levelness epsilon1North-south non-horizontality epsilon2And a synthesis field Fd+、Fd-Solving for the heading angle θ of the instrument attitude1And theta2；
S4: by east-west non-levelness epsilon1North-south non-horizontality epsilon2And an orientation angle theta1Separately solving the magnetic inclination angle measurement error epsilon caused by attitude driftIAnd declination measurement error εD；
S5: according to the magnetic dip angle measurement error epsilonIAnd declination measurement error εDAnd calculating to obtain correction values of the magnetic inclination angle and the magnetic declination angle so as to finish the correction of the dIdD magnetometer.
2. The method of claim 1 for mechanical drift correction of a dldd magnetometer platform, comprising the steps of: in step S1, the instrument has east-west out-of-levelness ε1And north-south irrelevancy epsilon2Measured by an electronic level.
3. The method of claim 1 for mechanical drift correction of a dldd magnetometer platform, comprising the steps of: in step S1, the background geomagnetic field F0Measured by the total field sensor.
4. The method of claim 1 for mechanical drift correction of a dldd magnetometer platform, comprising the steps of: in step S2, the bias field is inverted by the same magnitudeTo high stable current at the time of CiCoil or CdAfter the coil is produced.
5. The method of claim 1 for mechanical drift correction of a dldd magnetometer platform, comprising the steps of: in step S3, the orientation angle θ is calculated1And theta2Respectively as follows:
Figure FDA0003221722000000011
θ2＝θ1-arcsin(tanε1·tanε2)
wherein epsilon1Is the east-west levelness, epsilon2For north-south non-horizontality, Fd+And Fd-Is directed to CdAfter applying bias field in the coil, the obtained earth magnetic field F with background0A synthesis field of F0The magnetic field is the background geomagnetic field when the instrument is not in operation, A is the module value of the bias field, and I is the absolute value of the inclination angle.
6. The method of claim 1 for mechanical drift correction of a dldd magnetometer platform, comprising the steps of: in the step S4, in the step S,
inclination angle measurement error epsilon caused by attitude driftIThe calculation formula of (a) is as follows:
εI＝-arcsin(cosIsinIcosε1(cosθ1-cosθ1cosε2cosθ2-sinθ1cosε2sinθ2)-cos2I(cosε1sinθ1sinε2+sinε1cosε2cosθ2)-sin2Isinε1)
declination measurement error epsilon due to attitude driftDThe calculation formula of (a) is as follows:
Figure FDA0003221722000000021
wherein, betaDThe characteristic angle under the declination measurement is shown, and I is the absolute quantity of the dip angle.
7. The method of claim 1 for mechanical drift correction of a dldd magnetometer platform, comprising the steps of: in step S5, Δ I is expressed by the formula Δ I ═ Δ Ie-εIAnd Δ D ═ Δ De-εDRespectively calculating correction values delta I and delta D, wherein delta IeAnd Δ DeThe measurement error of the declination angle of the magnetic dip angle is obtained under the instrument attitude drift.
8. A storage device, characterized by: the storage device stores instructions and data for implementing a method for mechanical drift correction of a dldd magnetometer platform according to any one of claims 1 to 7.
9. The utility model provides a mechanical drift correction equipment of dIdD magnetometer platform which characterized in that: the method comprises the following steps: a processor and a storage device; the processor loads and executes instructions and data in the storage device to realize the mechanical drift correction method of the dID magnetometer platform according to any one of claims 1 to 7.
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