CN113945871A - Fluxgate signal processing method, fluxgate signal processing circuit, fluxgate signal processing device and storage medium - Google Patents
Fluxgate signal processing method, fluxgate signal processing circuit, fluxgate signal processing device and storage medium Download PDFInfo
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Abstract
The application provides a fluxgate signal processing method, a fluxgate signal processing circuit, a fluxgate signal processing apparatus and a storage medium, wherein the fluxgate signal processing method comprises: controlling the micro control unit to generate a fundamental wave signal and a frequency multiplication signal; performing power amplification processing on the fundamental wave signal to obtain a driving signal, and sending the driving signal to the probe to excite the probe to generate a fluxgate signal; acquiring a fluxgate signal and performing frequency-selective amplification processing on the acquired fluxgate signal to obtain a frequency-selective amplification signal; carrying out phase-sensitive detection processing based on the frequency-selective amplification signal and the frequency-doubling signal to obtain a phase-sensitive detection signal; integrating the phase-sensitive detection signal, performing analog-to-digital conversion on the signal obtained by the integration processing, and transmitting the signal to a micro control unit; by the method, the fluxgate signal processing circuit is simplified, the complexity of the fluxgate signal processing circuit is reduced, meanwhile, the noise in the fluxgate signal processing process is reduced, and the measurement precision of the fluxgate magnetometer can be improved.
Description
Technical Field
The present invention relates to the field of fluxgate technologies, and in particular, to a fluxgate signal processing method, circuit, device, and storage medium.
Background
The fluxgate signal processing technology is a technical means for measuring a weak magnetic field with optimal comprehensive performance at present, has the characteristics of high measurement precision, low cost and measurable components, and is widely applied to the aspects of resource exploration, biomedicine, magnetic anomaly detection, aerospace and the like.
In the fluxgate signal processing process of the existing fluxgate magnetometer, a signal generation circuit generates a basic signal, and a frequency division circuit is used for carrying out frequency division on the basic signal, so that an excitation signal for driving a probe on the fluxgate magnetometer to work and a reference signal for carrying out phase-sensitive detection are obtained. In the process, the signal generating circuit and the frequency dividing circuit increase the noise in the fluxgate signal processing process, improve the fluxgate signal processing difficulty and influence the measurement precision of the fluxgate magnetometer.
Disclosure of Invention
In view of this, embodiments of the present application provide a fluxgate signal processing method, a fluxgate signal processing circuit, a fluxgate signal processing device, and a storage medium, which simplify the fluxgate signal processing circuit, reduce noise in the fluxgate signal processing process while reducing complexity of the fluxgate signal processing circuit, and can also improve measurement accuracy of a fluxgate magnetometer.
Mainly comprises the following aspects:
in a first aspect, an embodiment of the present application provides a fluxgate signal processing method, where the fluxgate signal processing method includes:
controlling the micro control unit to generate a fundamental wave signal and a frequency multiplication signal;
performing power amplification processing on the fundamental wave signal to obtain a driving signal, and sending the driving signal to a probe of the fluxgate magnetometer; wherein the drive signal is used to excite the probe to cause the probe to generate a fluxgate signal;
acquiring the fluxgate signal and carrying out frequency-selecting amplification processing on the acquired fluxgate signal to obtain a frequency-selecting amplification signal;
carrying out phase-sensitive detection processing on the basis of the frequency-selective amplification signal and the frequency doubling signal to obtain a phase-sensitive detection signal;
and integrating the phase-sensitive detection signal, performing analog-to-digital conversion on the signal obtained by the integration processing, and transmitting the signal to the micro control unit.
Optionally, the fluxgate signal processing method further includes:
and feeding back a signal obtained by integrating the phase-sensitive detection signal to the probe after passing through a voltage-current converter.
Optionally, a difference between phase values of the fundamental wave signal and the frequency multiplication signal is a preset value.
Optionally, the fundamental wave signal and the frequency doubling signal are homologous signals.
In a second aspect, an embodiment of the present application provides a fluxgate signal processing circuit, including: the magnetic flux gate magnetometer comprises a micro control unit, a power amplification unit, a probe of a flux gate magnetometer, a frequency selection amplification unit, a phase sensitive detection unit and a signal conversion unit; wherein,
the micro control unit is respectively connected with the power amplification unit and the phase-sensitive detection unit and is used for sending the generated fundamental wave signal to the power amplification unit; simultaneously, the generated frequency multiplication signal is sent to the phase-sensitive detection unit;
the power amplification unit is connected with the probe and is used for performing power amplification processing on the received fundamental wave signal and sending a driving signal obtained after the power amplification processing to the probe so as to excite the probe to generate a fluxgate signal;
the frequency-selecting amplification unit is respectively connected with the probe and the phase-sensitive detection unit and is used for carrying out frequency-selecting amplification processing on the fluxgate signal after receiving the fluxgate signal sent by the probe and sending the frequency-selecting amplification signal obtained after the frequency-selecting amplification processing to the phase-sensitive detection unit;
the phase-sensitive detection unit is connected with the signal conversion unit and is used for carrying out phase-sensitive detection processing based on the frequency-selective amplification signal and the frequency multiplication signal after receiving the frequency-selective amplification signal and sending a phase-sensitive detection signal obtained after the phase-sensitive detection processing to the signal conversion unit;
the signal conversion unit is connected with the micro control unit and used for performing integration processing on the phase-sensitive detection signal and performing analog-to-digital conversion processing on a signal obtained by the integration processing after receiving the phase-sensitive detection signal, and transmitting the signal after the analog-to-digital conversion processing to the micro control unit.
Optionally, the signal conversion unit includes an integration module and an analog-to-digital conversion module; wherein,
the integration module is respectively connected with the phase-sensitive detection unit and the analog-to-digital conversion module, and is used for performing integration processing on the phase-sensitive detection signal and then sending the phase-sensitive detection signal to the analog-to-digital conversion module after receiving the phase-sensitive detection signal sent by the phase-sensitive detection unit;
the analog-to-digital conversion module is connected with the micro control unit and used for performing analog-to-digital conversion processing on the received signal obtained by the integral processing and transmitting the signal after the analog-to-digital conversion processing to the micro control unit.
Optionally, the fluxgate signal processing circuit further includes a voltage-to-current converter; the integration module is connected with the probe through the voltage-current converter and used for feeding back a signal obtained through integration processing to the probe after passing through the voltage-current converter.
Optionally, a difference between phase values of the fundamental wave signal and the frequency multiplication signal is a preset value.
Optionally, the fundamental wave signal and the frequency doubling signal are homologous signals.
In a third aspect, an embodiment of the present application provides a computer device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the processor implements the steps of the fluxgate signal processing method according to any one of the first aspect.
In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the fluxgate signal processing method according to any of the above first aspects.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
according to the fluxgate signal processing method, the micro control unit for receiving the processed signals is used for replacing a crystal oscillator and a frequency division circuit in the prior art, a fundamental wave signal for exciting the probe to work and a frequency multiplication signal for phase-sensitive detection are generated, the fluxgate signal processing circuit is simplified, the complexity of the fluxgate signal processing circuit is reduced, meanwhile, the noise in the fluxgate signal processing process is reduced, and the measurement precision of the fluxgate magnetometer can be improved.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a flowchart illustrating a fluxgate signal processing method according to a first embodiment of the present application;
fig. 2 is a schematic structural diagram illustrating a fluxgate signal processing circuit according to a second embodiment of the present application;
fig. 3 is a schematic structural diagram of another fluxgate signal processing circuit according to a second embodiment of the present application;
fig. 4 is a schematic structural diagram of another fluxgate signal processing circuit according to a second embodiment of the present application;
fig. 5 shows a schematic structural diagram of a computer device provided in the third embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
Embodiments of the present application provide a fluxgate signal processing method, a fluxgate signal processing circuit, a fluxgate signal processing apparatus, and a storage medium, which are described below with reference to the embodiments.
Example one
Fig. 1 is a flowchart illustrating a fluxgate signal processing method according to a first embodiment of the present application, and as shown in fig. 1, the fluxgate signal processing method may be implemented by:
step S101: and controlling the micro control unit to generate a fundamental wave signal and a frequency multiplication signal.
Specifically, the micro control Unit refers to an MCU (micro controller Unit), such as: stm32f401ccu6 singlechip; in order to ensure that the probe has high reaction efficiency under the condition of low output noise, the frequencies of the fundamental wave signal and the frequency doubling signal can be set according to the requirements of working parameters of the probe, and are not particularly limited herein.
Note that the frequency of the frequency-doubled signal is twice the frequency of the fundamental wave signal.
During specific implementation, the micro control unit generates a signal through an oscillation module included in the micro control unit, and performs frequency division processing on the signal through a timer included in the micro control unit, so that a fundamental wave signal is output through a first channel of the timer, and a frequency multiplication signal with a certain phase difference with the fundamental wave signal is output through a second channel of the timer, wherein the first channel and the second channel are different signal transmission channels on the timer, and the different signal transmission channels correspond to different signal output pins on the MCU.
Step S102: performing power amplification processing on the fundamental wave signal to obtain a driving signal, and sending the driving signal to a probe of the fluxgate magnetometer; the drive signal is used for exciting the probe so as to enable the probe to generate a fluxgate signal.
Specifically, in general, the power of the fundamental wave signal generated by the micro control unit is small, and the probe cannot be excited to operate, so before the fundamental wave signal is sent to the probe, the fundamental wave signal needs to be subjected to power amplification processing, so as to obtain a power-amplified fundamental wave signal, that is: a driving signal, which is then sent to the probe to excite the probe to generate a signal containing magnetic field information, namely: a fluxgate signal.
It should be noted that the power amplification factor used in the power amplification process may be set according to the operation requirement of the probe.
Step S103: and acquiring the fluxgate signal, and performing frequency-selecting amplification processing on the acquired fluxgate signal to obtain a frequency-selecting amplified signal.
Specifically, the frequency-selective amplification processing specifically includes filtering the fluxgate signal and performing frequency amplification processing on the filtered signal.
In specific implementation, after the probe generates the fluxgate signal, the fluxgate signal is obtained, a signal with a preset frequency is screened out from the fluxgate signal, and the amplitude of the signal with the preset frequency is amplified according to a preset amplitude amplification factor, so that a frequency-selective amplified signal is obtained.
Step S104: and carrying out phase-sensitive detection processing on the basis of the frequency-selective amplification signal and the frequency multiplication signal to obtain a phase-sensitive detection signal.
Specifically, in order to improve the signal-to-noise ratio in the fluxgate signal processing process, after obtaining the frequency-selective amplified signal, the phase-sensitive detection processing needs to be performed on the frequency-doubled signal generated by the micro control unit and the frequency-selective amplified signal to obtain a phase-sensitive detection signal.
Step S105: and integrating the phase-sensitive detection signal, performing analog-to-digital conversion on the signal obtained by the integration, and transmitting the signal to the micro control unit.
Specifically, after a phase-sensitive detection signal is obtained, the phase-sensitive detection signal is subjected to integration processing, so that a stable voltage signal is obtained, wherein the obtained voltage signal is in direct proportion to an environmental magnetic field detected by a probe, but the voltage signal is an analog signal, and in order to transmit the voltage signal to an upper computer through a micro control unit, the voltage signal needs to be subjected to analog-to-digital conversion processing first, and then a digital signal obtained after the analog-to-digital conversion processing is transmitted to the micro control unit.
According to the fluxgate signal processing method provided by the figure I, the micro control unit for receiving the processed signal is used for replacing a crystal oscillator and a frequency division circuit in the prior art, and a fundamental wave signal for exciting the probe to work and a frequency multiplication signal for phase-sensitive detection are generated, so that the fluxgate signal processing circuit is simplified, the complexity of the fluxgate signal processing circuit is reduced, the noise in the fluxgate signal processing process is reduced, and the measurement precision of the fluxgate magnetometer can be improved.
In a possible embodiment, the fluxgate signal processing method further includes: and feeding back a signal obtained by integrating the phase-sensitive detection signal to the probe after passing through a voltage-current converter.
Specifically, in order to reduce the temperature drift, the voltage-current converter may be a precision resistor; in order to always operate the probe near the zero magnetic field, it is necessary to convert the voltage signal obtained by the integration process into a current signal using a voltage-to-current converter, and to compensate the probe using the current signal, that is: negative feedback.
In a possible embodiment, the difference between the phase values of the fundamental wave signal and the frequency multiplication signal is a predetermined value.
In particular, becauseThe probe produced at present has an incomplete symmetrical structure, so that the probe has a measurement error in a zero magnetic field environment, and generates a fluxgate signal which is not zero, namely: the probe has zero-crossing deviation, and in order to calibrate the zero-crossing deviation of the probe, the micro-control unit is controlled to generate a fundamental wave signal and a frequency doubling signal with a phase difference value of a preset value, for example, the frequency of the fundamental wave signal is f, and the phase is
The frequency of the frequency multiplication signal is 2f, and the phase is 0; or the frequency of the fundamental wave signal is f, the phase is 0, the frequency of the frequency multiplication signal is 2f, and the phase is
It should be noted that the preset value may be set according to the operating parameters of the probe, and is not specifically limited herein.
In a possible embodiment, the fundamental signal and the frequency-doubled signal are homologous signals.
Specifically, in order to ensure the stability of the fluxgate signal processing process, it is required to ensure that the fundamental wave signal and the frequency multiplication signal are the homologous signals generated by the micro control unit.
Example two
Fig. 2 is a schematic structural diagram of a fluxgate signal processing circuit according to a second embodiment of the present application, and as shown in fig. 2, the fluxgate signal processing circuit includes: the micro-control unit 201, the power amplification unit 202, the probe 203 of the fluxgate magnetometer, the frequency-selecting amplification unit 204, the phase-sensitive detection unit 205 and the signal conversion unit 206; wherein,
the micro control unit 201 is connected to the power amplification unit 202 and the phase sensitive detection unit 205, respectively, and configured to send the generated fundamental wave signal to the power amplification unit 202; meanwhile, the generated frequency-multiplied signal is sent to the phase-sensitive detection unit 205;
the power amplification unit 202 is connected to the probe 203, and configured to perform power amplification processing on the received fundamental wave signal, and send a driving signal obtained through the power amplification processing to the probe 203, so as to excite the probe 203 to generate a fluxgate signal;
the frequency-selective amplifying unit 204 is connected to the probe 203 and the phase-sensitive detection unit 205, and configured to perform frequency-selective amplification processing on the fluxgate signal after receiving the fluxgate signal sent by the probe 203, and send the frequency-selective amplified signal obtained after the frequency-selective amplification processing to the phase-sensitive detection unit 205;
the phase-sensitive detection unit 205 is connected to the signal conversion unit 206, and configured to perform, after receiving the frequency-selective amplified signal, phase-sensitive detection processing based on the frequency-selective amplified signal and the frequency-multiplied signal, and send a phase-sensitive detection signal obtained after the phase-sensitive detection processing to the signal conversion unit 206;
the signal conversion unit 206 is connected to the micro control unit 201, and configured to, after receiving the phase-sensitive detection signal, perform integration processing on the phase-sensitive detection signal, perform analog-to-digital conversion processing on a signal obtained through the integration processing, and transmit the signal after the analog-to-digital conversion processing to the micro control unit 201.
In a possible implementation, on the basis of the fluxgate signal processing circuit shown in fig. 2, fig. 3 shows a schematic structural diagram of another fluxgate signal processing circuit provided in the second embodiment of the present application, as shown in fig. 3, the signal conversion unit 206 includes an integrating module 302 and an analog-to-digital conversion module 301; wherein,
the integrating module 302 is respectively connected to the phase-sensitive detection unit 205 and the analog-to-digital conversion module 301, and configured to, after receiving the phase-sensitive detection signal sent by the phase-sensitive detection unit 205, perform integrating processing on the phase-sensitive detection signal and send the integrated phase-sensitive detection signal to the analog-to-digital conversion module 301;
the analog-to-digital conversion module 301 is connected to the micro control unit 201, and configured to perform analog-to-digital conversion on the received signal obtained through the integration processing, and transmit the signal after the analog-to-digital conversion to the micro control unit 201.
In a possible implementation, on the basis of the fluxgate signal processing circuit shown in fig. 3, fig. 4 shows a schematic structural diagram of another fluxgate signal processing circuit provided in the second embodiment of the present application, as shown in fig. 4, the fluxgate signal processing circuit further includes a voltage-to-current converter 401; the integration module 302 is connected to the probe 203 through the voltage-to-current converter 401, and configured to feed back a signal obtained by integration processing to the probe 203 through the voltage-to-current converter 401.
In a possible embodiment, the difference between the phase values of the fundamental wave signal and the frequency multiplication signal is a predetermined value.
In a possible embodiment, the fundamental signal and the frequency-doubled signal are homologous signals.
The circuits provided in the embodiments of the present application may be specific hardware on the device or software or firmware installed on the device, etc. The circuit provided by the embodiment of the present application has the same implementation principle and technical effect as those of the foregoing method embodiments, and for the sake of brief description, reference may be made to corresponding contents in the foregoing method embodiments for parts of the circuit embodiments that are not mentioned. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the circuits, the units and the modules described above may all refer to corresponding processes in the foregoing method embodiments, and are not described herein again.
EXAMPLE III
An embodiment of the present invention further provides a computer device 500, fig. 5, as shown in fig. 5, the device includes a memory 501, a processor 502, and a computer program stored on the memory 501 and executable on the processor 502, wherein the processor 502 implements the above fluxgate signal processing method when executing the computer program.
Specifically, the memory 501 and the processor 502 can be general memories and processors, which are not limited in this respect, and when the processor 502 runs a computer program stored in the memory 501, the fluxgate signal processing method can be executed, so as to solve the problem of high noise in the fluxgate signal processing process in the prior art.
Example four
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program performs the steps of the fluxgate signal processing method.
Specifically, the storage medium can be a general-purpose storage medium, such as a removable disk, a hard disk, or the like, and when a computer program on the storage medium is executed, the method for processing the fluxgate signal can be executed, so that the problem of high noise in the process of processing the fluxgate signal in the prior art is solved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the present disclosure, which should be construed in light of the above teachings. Are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A fluxgate signal processing method, comprising:
controlling the micro control unit to generate a fundamental wave signal and a frequency multiplication signal;
performing power amplification processing on the fundamental wave signal to obtain a driving signal, and sending the driving signal to a probe of the fluxgate magnetometer; wherein the drive signal is used to excite the probe to cause the probe to generate a fluxgate signal;
acquiring the fluxgate signal and carrying out frequency-selecting amplification processing on the acquired fluxgate signal to obtain a frequency-selecting amplification signal;
carrying out phase-sensitive detection processing on the basis of the frequency-selective amplification signal and the frequency doubling signal to obtain a phase-sensitive detection signal;
and integrating the phase-sensitive detection signal, performing analog-to-digital conversion on the signal obtained by the integration processing, and transmitting the signal to the micro control unit.
2. The fluxgate signal processing method of claim 1, wherein the fluxgate signal processing method further comprises:
and feeding back a signal obtained by integrating the phase-sensitive detection signal to the probe after passing through a voltage-current converter.
3. The fluxgate signal processing method of claim 1, wherein a difference value of the phase value between the fundamental wave signal and the frequency multiplication signal is a preset value.
4. The fluxgate signal processing method of claim 1, wherein the fundamental wave signal and the frequency multiplication signal are homologous signals.
5. A fluxgate signal processing circuit, characterized in that the fluxgate signal processing circuit comprises: the magnetic flux gate magnetometer comprises a micro control unit, a power amplification unit, a probe of a flux gate magnetometer, a frequency selection amplification unit, a phase sensitive detection unit and a signal conversion unit; wherein,
the micro control unit is respectively connected with the power amplification unit and the phase-sensitive detection unit and is used for sending the generated fundamental wave signal to the power amplification unit; simultaneously, the generated frequency multiplication signal is sent to the phase-sensitive detection unit;
the power amplification unit is connected with the probe and is used for performing power amplification processing on the received fundamental wave signal and sending a driving signal obtained after the power amplification processing to the probe so as to excite the probe to generate a fluxgate signal;
the frequency-selecting amplification unit is respectively connected with the probe and the phase-sensitive detection unit and is used for carrying out frequency-selecting amplification processing on the fluxgate signal after receiving the fluxgate signal sent by the probe and sending the frequency-selecting amplification signal obtained after the frequency-selecting amplification processing to the phase-sensitive detection unit;
the phase-sensitive detection unit is connected with the signal conversion unit and is used for carrying out phase-sensitive detection processing based on the frequency-selective amplification signal and the frequency multiplication signal after receiving the frequency-selective amplification signal and sending a phase-sensitive detection signal obtained after the phase-sensitive detection processing to the signal conversion unit;
the signal conversion unit is connected with the micro control unit and used for performing integration processing on the phase-sensitive detection signal and performing analog-to-digital conversion processing on a signal obtained by the integration processing after receiving the phase-sensitive detection signal, and transmitting the signal after the analog-to-digital conversion processing to the micro control unit.
6. The fluxgate signal processing circuit according to claim 5, wherein the signal conversion unit includes an integration module and an analog-to-digital conversion module; wherein,
the integration module is respectively connected with the phase-sensitive detection unit and the analog-to-digital conversion module, and is used for performing integration processing on the phase-sensitive detection signal and then sending the phase-sensitive detection signal to the analog-to-digital conversion module after receiving the phase-sensitive detection signal sent by the phase-sensitive detection unit;
the analog-to-digital conversion module is connected with the micro control unit and used for performing analog-to-digital conversion processing on the received signal obtained by the integral processing and transmitting the signal after the analog-to-digital conversion processing to the micro control unit.
7. The fluxgate signal processing circuit of claim 6 wherein the fluxgate signal processing circuit further comprises a voltage to current converter; the integration module is connected with the probe through the voltage-current converter and used for feeding back a signal obtained through integration processing to the probe after passing through the voltage-current converter.
8. The fluxgate signal processing circuit according to claim 5, wherein a difference of the phase value between the fundamental wave signal and the frequency multiplication signal is a preset value.
9. Computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor realizes the steps of the fluxgate signal processing method according to any of the preceding claims 1 to 4 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, performs the steps of the fluxgate signal processing method according to any one of the preceding claims 1 to 4.
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