CN114325511B - Method and system for calculating co-point design of fluxgate magnetometer sensor - Google Patents
Method and system for calculating co-point design of fluxgate magnetometer sensor Download PDFInfo
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Abstract
The invention provides a method for designing and calculating the same point of a fluxgate magnetometer sensor based on magnetic moment measurement. The fluxgate magnetometer performs measurement and calculation of satellite magnetic field intensity and magnetic moment through a sensor center datum point, the field value of the sensor structure center point is assumed to be an induction field value generated by a measured magnetic product source point, and the magnetic field intensity actually detected by the sensor is the volume average of the field intensity of a sensor area; thus, the structure of the sensor directly affects the accurate determination of the magnetic moment of the magnet, especially the determination and analysis of the near-source magnetic moment value. The magnetic core size in the sensor, the interval between each magnetic core and other structural parameters are key for determining the consistency of the field values of the two magnetic cores; in particular in the case of sensors of different structures, the homogeneity of the magnetic field strength of the sensor structure in the central position will directly influence the true reliability of the detection result for the measured magnetic moment. The invention can ensure the uniformity of the fluxgate magnetometer sensor. Helping to achieve satellite reliability.
Description
Technical Field
The invention relates to the technical field of satellite and product magnetic measurement, in particular to a method and a system for designing and calculating the same point based on a fluxgate magnetometer sensor.
Background
The fluxgate magnetometer sensor has the greatest characteristic that the sensor is suitable for measuring a weak magnetic field working near a zero magnetic field; the sensor has small volume, light weight, low power consumption and measuring sensitivity up to 0.01nT. This patent magnetic sensor magnetic core structural design characteristics is: the dimension in the major axis direction is much larger than the dimension in the minor axis direction, and when magnetized in the major axis direction, the dimension is much smaller than the demagnetizing effect and demagnetizing coefficient when magnetized in the minor axis direction; thus, the magnetic core is considered to be magnetized only by the magnetic field in the longitudinal direction, so that only the magnetic field component in the longitudinal direction is measured during actual use.
As key testing equipment of a satellite magnetic laboratory, the fluxgate magnetometer sensor is used for monitoring and detecting the magnetism of a ground satellite, and measuring and calculating the magnetic moment and direction of the satellite. The accuracy of the magnetic sensor uniformity directly influences the overall technical index performance of the equipment such as measuring range accuracy, resolution, stability and the like; further influence satellite magnetism detection's precision and error, this patent designs the invention in order to solve above-mentioned factor problem promptly.
The fluxgate magnetometer is suitable for measuring steady and constant weak magnetic fields due to the advantages of small volume, small frequency response (generally within 10 HZ), good stability, component test and the like, and can be used for monitoring geomagnetism and environmental magnetic fields in spacecraft ground magnetic environment simulation equipment, and testing, analyzing and calculating magnetic fields and magnetic moments of various magnets. The uniformity of the sensor is one of important factors for ensuring the test precision; in a ground laboratory, whether the magnetic moment value of a satellite and a product is accurately acquired or not is one of design factors affecting the orbit attitude parameters of the satellite. Therefore, the invention has important significance for satellite reliability.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for calculating the homography design of a fluxgate magnetometer sensor.
The method for calculating the homography design of the fluxgate magnetometer sensor comprises the following steps: the method comprises the following steps:
a non-eccentric model building step: aiming at the structural mode relation of different positions between a non-eccentric single component sensor and a measured element magnetic moment when the sensor detects a near source magnetic moment, establishing a theoretical calculation model of an average field and an actual center field of a region sensed by the non-eccentric single component sensor in different modes, and calculating to obtain a data change corresponding relation between a deviation coefficient and a field source distance coefficient of the non-eccentric single component sensor in different modes;
and (3) establishing an eccentric model: establishing a theoretical calculation model of an area average field and a center field generated by magnetic moment of a measured element induced in different modes aiming at the structural modes of different positions of the eccentric single-component sensor;
a sensor structure model building step: combining superposition of single component sensor eccentric models in different directions in the directions of x, y and z to obtain a theoretical calculation model of the average field intensity of the measured magnetic moment in the sensor area and the field intensity of the actual center point of the sensor;
The calculation steps are as follows: and calculating to obtain the corresponding relation between the deviation coefficient and the field source distance coefficient of the magnetic field intensity detection mean value induced by the orthogonal three-component sensor generated by the measured near-source magnetic moment and the actual central field intensity, and the data change of the magnetic core length, the azimuth among the magnetic cores, the eccentricity and the eccentricity coefficient of the sensor, and obtaining the design method and calculation results of the same point of different combination sensors.
Preferably, the non-eccentric model building step includes:
when the measured element magnetic moment model is placed in the direction of the perpendicular bisector of the strip type single component sensor in a non-eccentric manner, the perpendicular distance r of the center point of the sensor is obtained a At a position, the moment of the element is parallel to the axial direction of the sensorCalculating an axial magnetic field model of a point p position on a sensor shaft, an average value of the axial magnetic field model of a sensor region and an actual magnetic field model of a magnetic moment at a central point of the sensor to obtain a deviation coefficient k a Distance coefficient n of field source a A data change correspondence table between parameters;
when the measured element magnetic moment model is in the axial direction of the non-eccentric strip-shaped single-component sensor, the vertical distance r of the center point of the sensor is obtained b At a position, the moment of the element is parallel to the axial direction of the sensorCalculating an axial magnetic field model of a point p position on a sensor shaft, an average value of the axial magnetic field model of a sensor region and an actual magnetic field model of a magnetic moment at a central point of the sensor to obtain a deviation coefficient k b Distance coefficient n of field source b And a data change corresponding relation table between parameters.
Preferably, the eccentric model building step includes:
the vertical z component sensor is obtained according to the mode of the x-direction eccentric z component sensor and the measured element magnetic moment model, the eccentricity of the midpoint on the x-axis to the center o is delta, and the element magnetic moment is parallel to the axial direction of the sensorObtain a distance r from the center o in the x-axis c Further calculating the axial magnetic field intensity of the position p of the point on the sensor, the average value of the axial magnetic field model of the sensor area and the actual magnetic field model of the element magnetic moment at the center point of the sensor to obtain the deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor under the eccentric mode c ；
The z component sensor is vertically placed according to the y direction eccentric z component sensor module and the measured element magnetic moment model, the eccentricity of the midpoint to the center o on the y axis is delta, and the element magnetic moment parallel to the axial direction of the sensor is obtainedObtain a distance r from the center o in the x-axis d Further calculating the axial magnetic field intensity of the position p of the point on the sensor, the average value of the axial magnetic field model of the sensor area and the actual magnetic field model of the element magnetic moment at the center point of the sensor to obtain the deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor under the eccentric mode d ；
Obtaining a parallel x-component sensor by a z-direction eccentric x-component strip sensor and a measured element magnetic moment model, wherein the eccentricity of a midpoint of the parallel x-component sensor to a center o on a z-axis is delta, and the element magnetic moment parallel to x is obtainedObtain a distance r from the center o in the x-axis e The axial magnetic field intensity of the position p of the point on the sensor, the average value of the axial magnetic field model of the sensor area and the actual magnetic field model of the element magnetic moment at the center point of the sensorFurther calculating and obtaining a deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor in the eccentric mode e ；
Obtaining a parallel x-placed x-component sensor according to an x-direction eccentric x-component strip sensor and a measured element magnetic moment model, wherein the eccentricity of a midpoint on an x-axis to a center o is delta, and the element magnetic moment parallel to x is obtainedObtain a distance r from the center o in the x-axis x Further calculating the axial magnetic field intensity of the position p of the point on the sensor, the average value of the axial magnetic field model of the sensor area and the actual magnetic field model of the element magnetic moment at the center point of the sensor to obtain the deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor under the eccentric mode e 。
Preferably, the sensor structure model comprises a two-core type in-line sensor, wherein the two-core type in-line sensor adopts one-to-one serial arrangement magnetic core combination on the same axis, the lengths of the two magnetic cores are l, and each single-component magnetic core is used as a detection value of the component in an anti-series average way;
And (3) using a single magnetic core, and respectively obtaining the magnetic moment models of the strip-type sensor with the x component and the measured element according to the x direction eccentricity: left and right end magnetic core field value, coefficient of deviation:k F+ 、k F- relationships and mathematical expressions between;
the average synthesis calculation of the combination of the sensor magnetic core and the actual field value of the element magnetic moment at the center O of the sensor and the detection reading value is utilized to obtain the field value and the deviation coefficient of the sensor magnetic core:the relationship between them;
further calculating to obtain deviation coefficientField source distance coefficient n x And a data change corresponding relation table between parameters.
Preferably, the sensor structure model comprises a six-core orthogonal three-component sensor, wherein the six-core orthogonal three-component sensor model consists of three orthogonal parallel symmetrical eccentric strip type magnetic core pairs, and each pair of magnetic cores takes positive serial average as a detection value of the component;
the lengths of the six magnetic cores are l, and the distances between each pair of parallel magnetic cores are 2delta= 3;
the moment of the element on the x-point on the x-axis with r from the center oThe average detection reading value of the element magnetic moment on the three groups of x, y and z sensors +.>And the actual center field H xx 、H xy 、H xz Obtaining magnetic field model detection values of the sensors of the x group, the y group and the z group and an actual magnetic field model of the element magnetic moment at the center point of the sensor; further calculating a deviation coefficient k for obtaining the ratio of the average detection value of the x-group, y-group and z-group sensors to the actual center field value c 、k d 、k e A mathematical expression;
if define distance r c ，r d ，r e The ratio of the sensor length l to the field source distance coefficient n is taken asAt 1 value, the field source distance coefficient n and the deviation coefficient k are obtained c 、k d 、k e Data change correspondence of (a).
According to the present invention, there is provided a system for computing a co-point design of a fluxgate magnetometer sensor, comprising: the device comprises the following modules:
and a non-eccentric model building module: aiming at the structural mode relation of different positions between a non-eccentric single component sensor and a measured element magnetic moment when the sensor detects a near source magnetic moment, establishing a theoretical calculation model of an average field and an actual center field of a region sensed by the non-eccentric single component sensor in different modes, and calculating to obtain a data change corresponding relation between a deviation coefficient and a field source distance coefficient of the non-eccentric single component sensor in different modes;
and the eccentric model building module is used for: establishing a theoretical calculation model of an area average field and a center field generated by magnetic moment of a measured element induced in different modes aiming at the structural modes of different positions of the eccentric single-component sensor;
sensor structure model establishment module: combining superposition of single component sensor eccentric models in different directions in the directions of x, y and z to obtain a theoretical calculation model of the average field intensity of the measured magnetic moment in the sensor area and the field intensity of the actual center point of the sensor;
The calculation module: and calculating to obtain the corresponding relation between the deviation coefficient and the field source distance coefficient of the magnetic field intensity detection mean value induced by the orthogonal three-component sensor generated by the measured near-source magnetic moment and the actual central field intensity, and the data change of the magnetic core length, the azimuth among the magnetic cores, the eccentricity and the eccentricity coefficient of the sensor, and obtaining the design method and calculation results of the same point of different combination sensors.
Preferably, the non-eccentric modeling module includes:
when the measured element magnetic moment model is placed in the direction of the perpendicular bisector of the strip type single component sensor in a non-eccentric manner, the perpendicular distance r of the center point of the sensor is obtained a At a position, the moment of the element is parallel to the axial direction of the sensorCalculating an axial magnetic field model of a point p position on a sensor shaft, an average value of the axial magnetic field model of a sensor region and an actual magnetic field model of a magnetic moment at a central point of the sensor to obtain a deviation coefficient k a Distance coefficient n of field source a A data change correspondence table between parameters;
when the measured element magnetic moment model is in the axial direction of the non-eccentric strip-shaped single-component sensor, the vertical distance r of the center point of the sensor is obtained b At a position, the moment of the element is parallel to the axial direction of the sensorCalculating an axial magnetic field model of a point p position on a sensor shaft, an average value of the axial magnetic field model of a sensor region and an actual magnetic field model of a magnetic moment at a central point of the sensor to obtain a deviation coefficient k b Distance coefficient n of field source b And a data change corresponding relation table between parameters.
Preferably, the eccentric model creation module includes:
the vertical z component sensor is obtained according to the mode of the x-direction eccentric z component sensor and the measured element magnetic moment model, the eccentricity of the midpoint on the x-axis to the center o is delta, and the element magnetic moment is parallel to the axial direction of the sensorObtain a distance r from the center o in the x-axis c Further calculating the axial magnetic field intensity of the position p of the point on the sensor, the average value of the axial magnetic field model of the sensor area and the actual magnetic field model of the element magnetic moment at the center point of the sensor to obtain the deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor under the eccentric mode c ；
The z component sensor is vertically placed according to the y direction eccentric z component sensor module and the measured element magnetic moment model, the eccentricity of the midpoint to the center o on the y axis is delta, and the element magnetic moment parallel to the axial direction of the sensor is obtainedObtain a distance r from the center o in the x-axis d Further calculating the axial magnetic field intensity of the position p of the point on the sensor, the average value of the axial magnetic field model of the sensor area and the actual magnetic field model of the element magnetic moment at the center point of the sensor to obtain the deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor under the eccentric mode d ；
Obtaining a parallel x-component sensor by a z-direction eccentric x-component strip sensor and a measured element magnetic moment model, wherein the eccentricity of a midpoint of the parallel x-component sensor to a center o on a z-axis is delta, and the element magnetic moment parallel to x is obtainedObtain a distance r from the center o in the x-axis e Further calculating the axial magnetic field intensity of the position p of the point on the sensor, the average value of the axial magnetic field model of the sensor area and the actual magnetic field model of the element magnetic moment at the center point of the sensor to obtain the deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor under the eccentric mode e ；
Obtaining a parallel x-placed x-component sensor according to an x-direction eccentric x-component strip sensor and a measured element magnetic moment model, wherein the eccentricity of a midpoint on an x-axis to a center o is delta, and the element magnetic moment parallel to x is obtainedObtain a distance r from the center o in the x-axis x Further calculating the axial magnetic field intensity of the position p of the point on the sensor, the average value of the axial magnetic field model of the sensor area and the actual magnetic field model of the element magnetic moment at the center point of the sensor to obtain the deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor under the eccentric mode e 。
Preferably, the sensor structure model comprises a two-core type in-line sensor, wherein the two-core type in-line sensor adopts one-to-one serial arrangement magnetic core combination on the same axis, the lengths of the two magnetic cores are l, and each single-component magnetic core is used as a detection value of the component in an anti-series average way;
And (3) using a single magnetic core, and respectively obtaining the magnetic moment models of the strip-type sensor with the x component and the measured element according to the x direction eccentricity: left and right end magnetic core field value, coefficient of deviation:k F+ 、k F- relationships and mathematical expressions between;
the average synthesis calculation of the combination of the sensor magnetic core and the actual field value of the element magnetic moment at the center O of the sensor and the detection reading value is utilized to obtain the field value and the deviation coefficient of the sensor magnetic core:the relationship between them;
further calculating to obtain deviation coefficientField source distance coefficient n x And a data change corresponding relation table between parameters.
Preferably, the sensor structure model comprises a six-core orthogonal three-component sensor, wherein the six-core orthogonal three-component sensor model consists of three orthogonal parallel symmetrical eccentric strip type magnetic core pairs, and each pair of magnetic cores takes positive serial average as a detection value of the component;
the lengths of the six magnetic cores are l, and the distances between each pair of parallel magnetic cores are 2delta= 3;
the moment of the element on the x-point on the x-axis with r from the center oThe average detection reading value of the element magnetic moment on the three groups of x, y and z sensors +.>And the actual center field H xx 、H xy 、H xz Obtaining magnetic field model detection values of the sensors of the x group, the y group and the z group and an actual magnetic field model of the element magnetic moment at the center point of the sensor; further calculating a deviation coefficient k for obtaining the ratio of the average detection value of the x-group, y-group and z-group sensors to the actual center field value c 、k d 、k e A mathematical expression;
if define distance r c ，r d ，r e The ratio of the sensor length l to the field source distance coefficient n is taken asAt 1 value, the field source distance coefficient n and the deviation coefficient k are obtained c 、k d 、k e Data change correspondence of (a).
Compared with the prior art, the invention has the following beneficial effects:
1. the invention has wide application and can be used for designing, developing and calibrating magnetic related equipment in the aerospace field; the method can also be applied to the design and manufacture of instruments and equipment in the magnetic related fields such as ships, oceans, geology and the like, and has higher design technology and instruction significance.
2. The invention can ensure the uniformity of the fluxgate magnetometer sensor.
3. The invention helps to achieve satellite reliability.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
FIG. 1 is a schematic diagram of a magnetic moment model 1 of a magnetic moment measuring-based fluxgate magnetometer sensor with a single component sensor and a measured element placed in a non-eccentric manner by a method for designing and calculating the same point of the magnetic moment measuring-based fluxgate magnetometer sensor;
FIG. 2 is a schematic diagram of a magnetic moment model 2 of a fluxgate magnetometer sensor with a strip-type single-component sensor and a measured element placed non-eccentrically by a method for designing and calculating the same based on magnetic moment measurement according to the present invention;
FIG. 3 is a schematic diagram of a magnetic moment model of a fluxgate magnetometer sensor and a measured element based on the same point design and calculation method of the magnetic moment measurement
FIG. 4 is a schematic diagram of a magnetic moment model of a single component sensor and a measured element of a fluxgate magnetometer sensor based on magnetic moment measurement with a method of designing and calculating the identity of the sensor in the y-direction eccentric z-direction;
FIG. 5 is a schematic diagram of a magnetic moment model of a single component sensor and a measured element of a fluxgate magnetometer sensor based on magnetic moment measurement according to the method of designing and calculating the homogeneity of the sensor;
FIG. 6 is a schematic diagram of a magnetic moment model of a fluxgate magnetometer sensor and a measured element based on the magnetic moment measurement, wherein the magnetic moment model is designed and calculated by the same point as the magnetic moment measurement;
FIG. 7 is a schematic diagram of a magnetic moment model of a two-core in-one serial sensor and a measured element of a fluxgate magnetometer sensor based on magnetic moment measurement according to the present invention;
FIG. 8 is a schematic diagram of a six-core orthogonal three-component sensor and a measured element magnetic moment model of a fluxgate magnetometer sensor based on magnetic moment measurement according to the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
As shown in fig. 1 to 8, the present invention provides a method for designing and calculating the homogeneity of a fluxgate magnetometer sensor based on magnetic moment measurement, wherein the fluxgate magnetometer sensor performs measurement and calculation of magnetic field intensity through a central datum point of the sensor, the magnetic field intensity detected by the sensor is the volume average of the field intensity of a sensor (mainly a magnetic core), and the volume of a sensor structure directly influences the accurate measurement of the magnetic moment of a magnet, especially the measurement and analysis of a near-source magnetic moment value. In the reference of the two-core type in-line sensor and the orthogonal three-component sensor, the uniformity of the magnetic field intensity of the sensor structure at the center position directly influences the true reliability of the detection result for the measured magnetic moment. In order to more accurately characterize the magnetic characteristic response relationship between the instrument and the product; it is necessary to construct some physical mathematical models based on electromagnetic field principles to approximate and idealize the actual situation, and to perform scientific design and calculation.
The invention designs, analyzes and calculates the center field uniformity model generated by the measured near source magnetic moment with respect to the structural shape of the single-component and multi-component strip sensor, and obtains different model data results.
The main technical design method of the invention is as follows:
the magnetic field is generated by the magnet, and the magnetic field model of various magnets can be generated by electromagnetic Piaor-Saval (Biot-Savart) law. For a magnet with a constant magnetic moment, if the distance from the center of the magnet is relatively large, the volume of the magnet is relatively small, and the magnet can be regarded as the total magnetic momentA meta magnetic moment centered at the center of the magnet; when the distance from the center of the magnet is relatively close, the volume of the magnet is relatively large, and the macroscopic magnet can be regarded as a set of meta-magnetic moments at various position points in the magnet. The magnetic field strength at this point, within a short distance into the magnet, can be simply seen as the sum of the magnetic field strengths at that point generated by each micro-viewpoint magnetic moment within the entire magnet.
The field value of the geometric center point of the sensor of the fluxgate magnetometer can be theoretically assumed to be the induction field value generated by the source point of the magnetic product to be detected, and the actual acquisition value of the sensor is the average value of the field intensity of the geometric size area of the sensor; the magnetic core size in the sensor and the structural parameters such as the interval between the magnetic cores are key to determining the consistency (i.e. the uniformity) of the field values of the two magnetic cores.
Firstly, establishing a theoretical calculation model of an average field and an actual center field of a region sensed by a non-eccentric single component sensor in different modes according to the structural mode relation of different positions between the non-eccentric single component sensor and the magnetic moment of a measured element when the sensor detects a near source magnetic moment; by further analytical calculation: the data change corresponding relation between the deviation coefficient (the ratio of the average field of a sensor area to the actual center field of the sensor) and the field source distance coefficient (the ratio of the detection distance of the sensor to the structural length of the sensor magnetic core) of the non-eccentric single-component sensor in different modes is obtained. Secondly, establishing a theoretical calculation model of an area average field and a center field generated by magnetic moment of the detected element induced in different modes (eccentric placement) aiming at different position structure modes of the eccentric placement single-component sensor. Finally, combining the superposition combination of the two-core type one-word serial sensor and the six-core type orthogonal three-component sensor structure models in the x, y and z directions of the single-component sensor eccentric models in different directions to obtain a theoretical calculation model of the average field intensity of the measured element magnetic moment in the two-core type one-word serial sensor and the six-core type orthogonal three-component sensor area and the actual center point field intensity of the sensor; further comprehensively analyzing and designing calculation to obtain the corresponding relationship of the deviation coefficient between the magnetic field intensity detection mean value induced by the orthogonal three-component sensor generated by the measured near-source magnetic moment and the actual central field intensity, the field source distance coefficient and the data change of the sensor magnetic core length, the inter-magnetic-core azimuth, the eccentricity coefficient and the like, and obtain the design method and calculation results of the same point of different combination sensors.
In order to solve the technical problems, the method for designing and calculating the uniformity of the fluxgate magnetometer sensor based on magnetic moment measurement comprises the following steps:
s1, designing and calculating the same point of a magnetic moment of a point element by a non-eccentric placed strip type single component sensor;
s2, designing and calculating the point-to-point magnetic moment of the point element by using an eccentrically placed strip type single-component sensor;
s3, designing and calculating the same point of the magnetic moment of the point element by the two-core type in-line sensor;
s4, designing and calculating the magnetic moment uniformity of the point element by a six-core orthogonal three-component sensor.
The method for designing and calculating the point-to-point element magnetic moment of the non-eccentric single-component sensor comprises the following steps:
the sensor being of the non-eccentric single-component strip type, the transverse length being designed to be substantially smaller than the axial length, the field strength of the sensor region being uniform, i.e. the average value of the detection thereofActual field strength H from the center point O In addition to the uniformity of the field distribution caused by the field source, also depends on the axial average length l of the core region.
Firstly, under the mode of non-eccentric placement of a strip type single component sensor and a measured element magnetic moment model 1 (shown in figure 1), the vertical distance r of the central point of the sensor is obtained a At a position, the moment of the element is parallel to the axial direction of the sensorThe mathematical expression of the axial magnetic field model of the position p of the point on the sensor shaft, the mathematical expression of the average value of the axial magnetic field model of the sensor area and the mathematical expression of the actual magnetic field model of the element magnetic moment at the center point of the sensor are expressed. Further calculating to obtain deviation coefficient k a And a data change corresponding relation table between parameters such as a field source distance coefficient n and the like.
Secondly, under the mode of non-eccentric placement of the strip type single component sensor and the measured element magnetic moment model 2 (shown in figure 2), the vertical distance r of the central point of the sensor is obtained b At a position, the moment of the element is parallel to the axial direction of the sensorThe mathematical expression of the axial magnetic field model of the position p of the point on the sensor shaft, the mathematical expression of the average value of the axial magnetic field model of the sensor area and the mathematical expression of the actual magnetic field model of the element magnetic moment at the center point of the sensor are expressed. Further calculating to obtain deviation coefficient k b And a data change corresponding relation table between parameters such as a field source distance coefficient n and the like.
Specifically, in the model 1 mode, the vertical distance r at the center point of the sensor is considered a Position, a magnetic moment direction parallel to the axial direction of the sensorAs shown in fig. 1, the axial magnetic field of the moment of this element to the position of point p on the sensor axis is determined by the biot-savart law:
The average of the axial magnetic field in the sensor area is thus:
while the actual magnetic field of the moment of the element at the centre point of the sensor:
taking the sensor length l, defining the measured valueFor the actual value H oa Is the deviation coefficient k a ：
If define distance r a The ratio of the sensor length l to the field source distance coefficient n is the field source distance coefficient n and the deviation coefficient k are obtained a Is shown in Table 1 below.
TABLE 1 field source distance coefficient n and offset coefficient k a Data relationship table
Table 1 data relationship shows: in the measurement according to the model of fig. 1, when the magnetic moment is closer to the point element, the measured value is lower than the actual value of the center of the sensor, and the longer the sensor, the closer the distance, the larger the deviation coefficient.
When another model mode 2 is considered, the moment of the element is parallel to the axial directionIs placed on the axis of the sensor and has a distance r from the center o point b Where (fig. 2). Axial magnetic field of the element magnetic moment to the p position of the point on the sensor shaft:
averaging of the axial magnetic field of the sensor region:
the actual magnetic field of the moment of the element at the center point of the sensor:
taking the length l of the sensor, defining the measured valueFor the actual value H ob Is the deviation coefficient k b ：
From field source distance coefficientThen the field source distance coefficient n and the deviation coefficient k are obtained b Is shown in Table 2 below.
TABLE 2 field source distance coefficient n and offset coefficient k b Data relationship table
Table 2 data relationship shows: in the measurement according to the model of fig. 2, when the moment of the element is closer to the end point of the sensor, the measured value is higher than the actual value of the center of the sensor, and the longer the sensor, the closer the distance, the larger the deviation coefficient.
The method for designing and calculating the co-point property of the magnetic moment of the point element by the eccentric single-component sensor comprises the following steps:
eccentric placement of single-component sensors is the basis for multi-core three-component sensor design, different modelsIn the mode, the deviation coefficient of the detection value of the single-component sensor is placed in a manner of eccentric core and the length l, the eccentricity delta or the eccentricity coefficient of the sensorField source distance coefficient->The relationship design of (2) is as follows:
first, a vertically placed z component sensor is obtained according to the mode of an eccentric z component sensor in the x direction and a measured element magnetic moment model (shown in figure 3), wherein the eccentricity of a midpoint to a center o in the x axis is delta, and the element magnetic moment is parallel to the axial direction of the sensorR from the center o in the x-axis c The mathematical expression of the axial magnetic field intensity of the position p of the point on the sensor, the mathematical expression of the average value of the axial magnetic field model of the sensor area and the mathematical expression of the actual magnetic field model of the element magnetic moment at the center point of the sensor are shown. Further calculating to obtain the deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor in the eccentric mode c 。
Next, the z component sensor is vertically arranged according to the eccentric z component sensor module and the measured element magnetic moment model (shown in fig. 4), the eccentricity of the midpoint to the center o on the y axis is delta, and the element magnetic moment parallel to the axial direction of the sensor is obtainedR from the center o in the x-axis d The mathematical expression of the axial magnetic field intensity of the position p of the point on the sensor, the mathematical expression of the average value of the axial magnetic field model of the sensor area and the mathematical expression of the actual magnetic field model of the element magnetic moment at the center point of the sensor are shown. Further calculating to obtain the deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor in the eccentric mode d 。
Again, the strip sensor and the measured element magnetic moment model (shown in FIG. 5) are eccentrically arranged along the z direction to obtain parallel x placementAn x-component sensor having a midpoint with an eccentricity delta from the center o in the z-axis, a moment of the element parallel to xR from the center o in the x-axis e The mathematical expression of the axial magnetic field intensity of the position p of the point on the sensor, the mathematical expression of the average value of the axial magnetic field model of the sensor area and the mathematical expression of the actual magnetic field model of the element magnetic moment at the center point of the sensor are shown. Further calculating to obtain the deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor in the eccentric mode e 。
Finally, the x component bar sensor and the measured element magnetic moment model (shown in figure 6) are eccentric in the x direction, the x component sensor is placed in parallel with x, the eccentricity of the midpoint on the x axis to the center o is delta, and the element magnetic moment parallel to x is obtainedR from the center o in the x-axis x The mathematical expression of the axial magnetic field intensity of the position p of the point on the sensor, the mathematical expression of the average value of the axial magnetic field model of the sensor area and the mathematical expression of the actual magnetic field model of the element magnetic moment at the center point of the sensor are shown. Further calculating to obtain the deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor in the eccentric mode e 。
To this end, for the above-mentioned several eccentric placement strip type single component sensor model deviation coefficients, in sensor length l, eccentricity delta and eccentricity coefficientField source distance coefficient->Under the change of the equal parameter design specification, various data relations between the eccentric combination state of the single component sensor and the deviation coefficient of the single component sensor can be obtained.
Specific: (1) x-direction eccentric z-component sensor pair mu xz Determination of the field
Vertically placed z-minutesAn amount sensor, wherein the center point of the amount sensor is eccentric distance delta from the center o on the x axis, and the direction of a magnetic moment is parallel to the element magnetic moment of the axial direction of the sensor;r from the center o in the x-axis c Axial magnetic field strength at point p on the sensor (see FIG. 3)
Averaging of the axial magnetic field of the sensor region
The actual magnetic field of the element magnetic moment at the center o position
Thus, in the model of fig. 3, the deviation coefficient of the ratio of the measured value of the eccentric sensor to the actual value:
(2) y-direction eccentric z-component sensor pair mu xz Determination of the field
The z-component sensor is placed vertically, the eccentricity delta of the midpoint to the center o on the y-axis, a magnetic moment direction is parallel to the elementary magnetic moment of the sensor axis:r from the center o in the x-axis d The method comprises the steps of carrying out a first treatment on the surface of the Axial magnetic field strength at point p on the sensor (see FIG. 4)
Averaging of the axial magnetic field of the sensor region:
the actual magnetic field of the element magnetic moment at the center o position
Thus, in the model of fig. 4, the coefficient of deviation of the measured value from the actual value of the eccentric sensor:
(3) z-direction eccentric x-component sensor pair mu xx Determination of the field
The x sensor is placed in parallel with x, the eccentricity delta of the midpoint to the center o in the z-axis, a magnetic moment direction is parallel to the element magnetic moment of x:r from the center o in the x-axis e The method comprises the steps of carrying out a first treatment on the surface of the The axial magnetic field strength at the position p of the point p on the sensor (see FIG. 5)>
Averaging of the axial magnetic field of the sensor region:
the actual magnetic field of the element magnetic moment at the center o position
Thus, in the model of fig. 5, the coefficient of deviation of the measured value from the actual value of the eccentric sensor:
(4) x-direction eccentric x-component probe pair mu xx Determination of the field
The x probe is placed in parallel with x, the eccentricity delta of the midpoint to the center o on the x axis, and a magnetic moment direction is parallel to the element magnetic moment of x:r from the center o in the x-axis x The method comprises the steps of carrying out a first treatment on the surface of the Axial magnetic field strength for point p on probe (per fig. 6):
averaging of the probe region axial magnetic field:
the actual magnetic field of the meta-magnetic moment at the center o position:
thus, in the model of fig. 6, the coefficient of deviation of the eccentric probe measurement from the actual value:
the method for designing and calculating the magnetic moment of the point element by using the four eccentrically placed single-component sensors is more complete.
The method for designing and calculating the point-to-point magnetic moment of the two-core type linear parallel sensor comprises the following steps:
firstly, a two-core type in-line serial sensor adopts a one-to-one serial magnetic core combination (shown in fig. 7) on the same axis, the lengths of two magnetic cores are l, and each single-component magnetic core is used as a detection value of the component in an anti-serial way; the magnetic field of the uniform environment can be compensated, and the magnetic moment of the axial element can be directionally detected by utilizing the gradient magnetic field distribution of the point source magnetic moment;
next, using a single magnetic core, the magnetic moment model (shown in fig. 6) of the strip sensor and the measured element is obtained by the eccentric x component in the x direction: left and right end magnetic core field value, coefficient of deviation: k F+ 、k F- Relationships and mathematical expressions between;
finally, the average synthesis calculation of the combination of the sensor magnetic core and the actual field value of the element magnetic moment at the center O of the sensor and the detection reading value is utilized to obtain the field value and the deviation coefficient of the sensor magnetic core in the mode of figure 7:relationships and mathematical expressions. And further calculating to obtain a data change corresponding relation table (shown in table 3) between parameters such as a deviation coefficient, a field source distance coefficient nx and the like.
Specific: the lengths of the two magnetic cores are l, a model schematic diagram is shown in fig. 7, a reverse series combination of a pair of single-component double magnetic cores which are arranged in a straight line and in series on the same axis is adopted to compensate a uniform environment magnetic field, and the gradient magnetic field distribution of point source magnetic moment is utilized to directionally detect axial element magnetic moment.
The relation between the actual field value and the detection reading value of the magnetic moment of the element (22-24) at the center O of the sensor:
average detection value of axial magnetic field of sensor:
from the co-point relationship of the read value of the meta-magnetic moment on the sensor and the actual center field, the sensor's coefficient of deviation is as shown in FIG. 7:
defined hereink F+ 、k F- 、/>The method comprises the following steps of: left and right end magnetic core field values, deviation coefficients, sensor magnetic core field values and deviation coefficients.
If define distance r x The ratio of the sensor length l to the field source distance coefficient n x When the core shift coefficient ∈=5 takes a value, a field source distance coefficient n is obtained x And coefficient of deviation k F 、The data relationship of (2) is shown in Table 3 below.
TABLE 3 field source distance coefficient n x Coefficient of deviation fromData relationship table
/>
Table 3 data relationship shows: in the measurement according to the model of fig. 7, when the distance between the element magnetic moment and the sensor end point is the same, the smaller the eccentricity, i.e. the smaller the eccentricity coefficient, the larger the deviation coefficient; when the distance between the element magnetic moment and the end point of the sensor (field source distance coefficient) is gradually increased, the deviation coefficient is also gradually increased; when the eccentricity coefficient is determined, the optimal co-planarity can be found between the field source distance coefficient and the deviation coefficient.
The method for designing and calculating the point-to-point magnetic moment uniformity of the six-core orthogonal three-component sensor comprises the following steps:
the six-core orthogonal three-component sensor model consists of three orthogonal parallel symmetric eccentric stripe type magnetic core pairs (shown in fig. 8), and each pair of magnetic cores takes positive serial average as the detection value of the component.
The six magnetic cores are l in length, and the distances between each pair of parallel magnetic cores are 2Δ= ζ.
The moment of the element on the x-point on the x-axis with r from the center oThe average detection reading value of the element magnetic moment on the three groups of x, y and z sensors +.>And the actual center field H xx 、H xy 、H xz The magnetic field model detection value mathematical expression of the x-group, y-group and z-group sensors and the actual magnetic field model mathematical expression of the element magnetic moment at the center point of the sensor are obtained according to the co-point relation of the x-group, y-group and z-group sensors. Further calculating a deviation coefficient k for obtaining the ratio of the average detection value of the x-group, y-group and z-group sensors to the actual center field value c 、k d 、k e Mathematical expressions.
If define distance r c ，r d ，r e The ratio of the sensor length l to the field source distance coefficient n is taken asAt 1 value, the field source distance coefficient n and the deviation coefficient k are obtained c 、k d 、k e Data change correspondence (as shown in table 4).
Specifically, the orthogonal three-component magnetometer sensor can be used for precisely measuring the component value, the total value and the direction of the magnetic field intensity, and the uniformity of the three-component sensor is a key factor for ensuring the measurement accuracy. The six-core orthogonal three-component sensor consists of three orthogonal parallel symmetrical eccentric magnetic core pairs, a model schematic diagram is shown in fig. 8, and each pair of magnetic cores takes positive serial average as a detection value of the component. The six magnetic cores are l in length, and the distances between each pair of parallel magnetic cores are 2Δ= ζ. The expression of the moment of the element on the x-point on the x-axis, which is r from the center o, is:
reading values of element magnetic moment on three groups of x, y and z sensorsAnd the actual center field H xx 、H xy 、H xz Is defined herein (A ++>k c± 、k d± 、k e± The magnetic core field values and the deviation coefficients at the ends of the X direction, the Y direction and the Z direction are respectively shown as the following;
obtaining an average value, an actual field value and a deviation coefficient of the x groups from (18-20):
k xx ＝k e± ＝k e (30)
obtaining an average value, an actual field value and a deviation coefficient of the y group from (10-12):
/>
the average value, the actual field value and the deviation coefficient of the z group sensor are obtained from (14-16):
k zx ＝k d± ＝k d (36)
If define distance r c ，r d ，r e The ratio of the sensor length l to the field source distance coefficient n is taken asAt 1 value, the field source distance coefficient n and the deviation coefficient k are obtained c 、k d 、k e The data relationship of (2) is shown in Table 4 below.
TABLE 4 field source spacing coefficient n and offset coefficient k c 、k d 、k e Data relationship table
Table 4 data relationship shows: the smaller the sensor core length l, the smaller the eccentricity Δ or eccentricity factor ≡the better the sensor homogeneity.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.
Claims (10)
1. A method of computing a co-point design of a fluxgate magnetometer sensor, comprising: the method comprises the following steps:
a non-eccentric model building step: aiming at the structural mode relation of different positions between a non-eccentric single component sensor and a measured element magnetic moment when the sensor detects a near source magnetic moment, establishing a theoretical calculation model of an average field and an actual center field of a region sensed by the non-eccentric single component sensor in different modes, and calculating to obtain a data change corresponding relation between a deviation coefficient and a field source distance coefficient of the non-eccentric single component sensor in different modes;
And (3) establishing an eccentric model: establishing a theoretical calculation model of an area average field and a center field generated by magnetic moment of a measured element induced in different modes aiming at the structural modes of different positions of the eccentric single-component sensor;
a sensor structure model building step: combining superposition of single component sensor eccentric models in different directions in the directions of x, y and z to obtain a theoretical calculation model of the average field intensity of the measured magnetic moment in the sensor area and the field intensity of the actual center point of the sensor;
the calculation steps are as follows: and calculating to obtain the corresponding relation between the deviation coefficient and the field source distance coefficient of the magnetic field intensity detection mean value induced by the orthogonal three-component sensor generated by the measured near-source magnetic moment and the actual central field intensity, and the data change of the magnetic core length, the azimuth among the magnetic cores, the eccentricity and the eccentricity coefficient of the sensor, and obtaining the design method and calculation results of the same point of different combination sensors.
2. The method of computing a co-point design of a fluxgate magnetometer sensor according to claim 1, wherein the non-decentering model building step comprises:
testedWhen the meta magnetic moment model is placed in the direction of the perpendicular bisector of the strip type single component sensor in a non-eccentric manner, the perpendicular distance r of the center point of the sensor is obtained a At a position, the moment of the element is parallel to the axial direction of the sensorCalculating an axial magnetic field model of a point p position on a sensor shaft, an average value of the axial magnetic field model of a sensor region and an actual magnetic field model of a magnetic moment at a central point of the sensor to obtain a deviation coefficient k a Distance coefficient n of field source a A data change correspondence table between parameters;
when the measured element magnetic moment model is in the axial direction of the non-eccentric strip-shaped single-component sensor, the vertical distance r of the center point of the sensor is obtained b At a position, the moment of the element is parallel to the axial direction of the sensorCalculating an axial magnetic field model of a point p position on a sensor shaft, an average value of the axial magnetic field model of a sensor region and an actual magnetic field model of a magnetic moment at a central point of the sensor to obtain a deviation coefficient k b Distance coefficient n of field source b And a data change corresponding relation table between parameters.
3. The method of computing a co-point design of a fluxgate magnetometer sensor according to claim 2, wherein the eccentricity model building step comprises:
the vertical z component sensor is obtained according to the mode of the x-direction eccentric z component sensor and the measured element magnetic moment model, the eccentricity of the midpoint on the x-axis to the center o is delta, and the element magnetic moment is parallel to the axial direction of the sensor Obtain a distance r from the center o in the x-axis c The axial magnetic field intensity of the position p of the point on the sensor, the average value of the axial magnetic field model of the sensor area and the actual magnetic field model of the element magnetic moment at the center point of the sensor are further calculated to obtain the sensor area under the eccentric modeCoefficient of deviation k between average field value and actual center field value of sensor c ；
The z component sensor is vertically placed according to the y direction eccentric z component sensor module and the measured element magnetic moment model, the eccentricity of the midpoint to the center o on the y axis is delta, and the element magnetic moment parallel to the axial direction of the sensor is obtainedObtain a distance r from the center o in the x-axis d Further calculating the axial magnetic field intensity of the position p of the point on the sensor, the average value of the axial magnetic field model of the sensor area and the actual magnetic field model of the element magnetic moment at the center point of the sensor to obtain the deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor under the eccentric mode d ；
Obtaining a parallel x-component sensor by a z-direction eccentric x-component strip sensor and a measured element magnetic moment model, wherein the eccentricity of a midpoint of the parallel x-component sensor to a center o on a z-axis is delta, and the element magnetic moment parallel to x is obtainedObtain a distance r from the center o in the x-axis e Further calculating the axial magnetic field intensity of the position p of the point on the sensor, the average value of the axial magnetic field model of the sensor area and the actual magnetic field model of the element magnetic moment at the center point of the sensor to obtain the deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor under the eccentric mode e ；
Obtaining a parallel x-placed x-component sensor according to an x-direction eccentric x-component strip sensor and a measured element magnetic moment model, wherein the eccentricity of a midpoint on an x-axis to a center o is delta, and the element magnetic moment parallel to x is obtainedObtain a distance r from the center o in the x-axis x Further calculating the axial magnetic field intensity of the position p of the point on the sensor, the average value of the axial magnetic field model of the sensor area and the actual magnetic field model of the element magnetic moment at the center point of the sensor to obtain the average field of the sensor area under the eccentric modeCoefficient of deviation k between value and actual center field value of sensor e 。
4. The method for computing the co-point design of a fluxgate magnetometer sensor according to claim 3, wherein the sensor structure model comprises a two-core type-in-one serial sensor, the two-core type-in-one serial sensor adopts a one-to-one serial array magnetic core combination on the same axis, the lengths of the two magnetic cores are l, and each single-component magnetic core is used as a detection value of the component by means of anti-serial averaging;
and (3) using a single magnetic core, and respectively obtaining the magnetic moment models of the strip-type sensor with the x component and the measured element according to the x direction eccentricity: left and right end magnetic core field value, coefficient of deviation:k F+ 、k F- relationships and mathematical expressions between;
the average synthesis calculation of the combination of the sensor magnetic core and the actual field value of the element magnetic moment at the center O of the sensor and the detection reading value is utilized to obtain the field value and the deviation coefficient of the sensor magnetic core: The relationship between them;
further calculating to obtain deviation coefficientField source distance coefficient n x And a data change corresponding relation table between parameters.
5. The method for computing the co-point design of a fluxgate magnetometer sensor according to claim 3, wherein the sensor structure model comprises a six-core orthogonal three-component sensor, the six-core orthogonal three-component sensor model is composed of three orthogonal parallel symmetric eccentric strip-type magnetic core pairs, and each pair of magnetic cores takes positive serial average as a detection value of the component;
the lengths of the six magnetic cores are l, and the distances between each pair of parallel magnetic cores are 2delta= 3;
the moment of the element on the x-point on the x-axis with r from the center oThe average detection reading value of the element magnetic moment on the three groups of x, y and z sensors +.>And the actual center field H xx 、H xy 、H xz Obtaining magnetic field model detection values of the sensors of the x group, the y group and the z group and an actual magnetic field model of the element magnetic moment at the center point of the sensor; further calculating a deviation coefficient k for obtaining the ratio of the average detection value of the x-group, y-group and z-group sensors to the actual center field value c 、k d 、k e A mathematical expression;
if define distance r c ，r d ，r e The ratio of the sensor length l to the field source distance coefficient n is taken asAt 1 value, the field source distance coefficient n and the deviation coefficient k are obtained c 、k d 、k e Data change correspondence of (a).
6. A fluxgate magnetometer sensor co-point design computing system, comprising: the device comprises the following modules:
and a non-eccentric model building module: aiming at the structural mode relation of different positions between a non-eccentric single component sensor and a measured element magnetic moment when the sensor detects a near source magnetic moment, establishing a theoretical calculation model of an average field and an actual center field of a region sensed by the non-eccentric single component sensor in different modes, and calculating to obtain a data change corresponding relation between a deviation coefficient and a field source distance coefficient of the non-eccentric single component sensor in different modes;
and the eccentric model building module is used for: establishing a theoretical calculation model of an area average field and a center field generated by magnetic moment of a measured element induced in different modes aiming at the structural modes of different positions of the eccentric single-component sensor;
sensor structure model establishment module: combining superposition of single component sensor eccentric models in different directions in the directions of x, y and z to obtain a theoretical calculation model of the average field intensity of the measured magnetic moment in the sensor area and the field intensity of the actual center point of the sensor;
the calculation module: and calculating to obtain the corresponding relation between the deviation coefficient and the field source distance coefficient of the magnetic field intensity detection mean value induced by the orthogonal three-component sensor generated by the measured near-source magnetic moment and the actual central field intensity, and the data change of the magnetic core length, the azimuth among the magnetic cores, the eccentricity and the eccentricity coefficient of the sensor, and obtaining the design method and calculation results of the same point of different combination sensors.
7. The fluxgate magnetometer sensor co-point design calculation system of claim 6, wherein the non-eccentric modeling module comprises:
when the measured element magnetic moment model is placed in the direction of the perpendicular bisector of the strip type single component sensor in a non-eccentric manner, the perpendicular distance r of the center point of the sensor is obtained a At a position, the moment of the element is parallel to the axial direction of the sensorCalculating an axial magnetic field model of a point p position on a sensor shaft, an average value of the axial magnetic field model of a sensor region and an actual magnetic field model of a magnetic moment at a central point of the sensor to obtain a deviation coefficient k a Distance coefficient n of field source a A data change correspondence table between parameters;
when the measured element magnetic moment model is in the axial direction of the non-eccentric strip-shaped single-component sensor, the vertical distance r of the center point of the sensor is obtained b At a position, the moment of the element is parallel to the axial direction of the sensorAxial magnetic field model for p position of point on sensor axis, average value of axial magnetic field model of sensor area, and elementary magnetic moment in sensingCalculating an actual magnetic field model of the center point of the device to obtain a deviation coefficient k b Distance coefficient n of field source b And a data change corresponding relation table between parameters.
8. The fluxgate magnetometer sensor co-point design calculation system of claim 7, wherein the eccentricity model building module comprises:
The vertical z component sensor is obtained according to the mode of the x-direction eccentric z component sensor and the measured element magnetic moment model, the eccentricity of the midpoint on the x-axis to the center o is delta, and the element magnetic moment is parallel to the axial direction of the sensorObtain a distance r from the center o in the x-axis c Further calculating the axial magnetic field intensity of the position p of the point on the sensor, the average value of the axial magnetic field model of the sensor area and the actual magnetic field model of the element magnetic moment at the center point of the sensor to obtain the deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor under the eccentric mode c ；
The z component sensor is vertically placed according to the y direction eccentric z component sensor module and the measured element magnetic moment model, the eccentricity of the midpoint to the center o on the y axis is delta, and the element magnetic moment parallel to the axial direction of the sensor is obtainedObtain a distance r from the center o in the x-axis d Further calculating the axial magnetic field intensity of the position p of the point on the sensor, the average value of the axial magnetic field model of the sensor area and the actual magnetic field model of the element magnetic moment at the center point of the sensor to obtain the deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor under the eccentric mode d ；
Obtaining a parallel x-component sensor by a z-direction eccentric x-component strip sensor and a measured element magnetic moment model, wherein the eccentricity of a midpoint of the parallel x-component sensor to a center o on a z-axis is delta, and the element magnetic moment parallel to x is obtained Obtain a distance r from the center o in the x-axis e Further calculating the axial magnetic field intensity of the position p of the point on the sensor, the average value of the axial magnetic field model of the sensor area and the actual magnetic field model of the element magnetic moment at the center point of the sensor to obtain the deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor under the eccentric mode e ；
Obtaining a parallel x-placed x-component sensor according to an x-direction eccentric x-component strip sensor and a measured element magnetic moment model, wherein the eccentricity of a midpoint on an x-axis to a center o is delta, and the element magnetic moment parallel to x is obtainedObtain a distance r from the center o in the x-axis x Further calculating the axial magnetic field intensity of the position p of the point on the sensor, the average value of the axial magnetic field model of the sensor area and the actual magnetic field model of the element magnetic moment at the center point of the sensor to obtain the deviation coefficient k between the average field value of the sensor area and the actual center field value of the sensor under the eccentric mode e 。
9. The system of claim 8, wherein the sensor structure model comprises a two-core, one-to-one, serial sensor, wherein the two-core, one-to-one, serial sensor uses a combination of cores arranged in a one-to-one, serial manner on the same axis, the two cores are each l in length, and each single component core is used as a detection value of the component by means of an inverse serial average;
And (3) using a single magnetic core, and respectively obtaining the magnetic moment models of the strip-type sensor with the x component and the measured element according to the x direction eccentricity: left and right end magnetic core field value, coefficient of deviation:k F+ 、k F- relationships and mathematical expressions between;
the average synthesis calculation of the combination of the magnetic core of the sensor by utilizing the co-point relation between the actual field value of the element magnetic moment at the center O of the sensor and the detection reading valueTo sensor core field value, coefficient of deviation:the relationship between them;
further calculating to obtain deviation coefficientField source distance coefficient n x And a data change corresponding relation table between parameters.
10. The fluxgate magnetometer sensor co-point design computing system of claim 8, wherein the sensor structure model comprises a six-core orthogonal three-component sensor, the six-core orthogonal three-component sensor model consisting of three orthogonal sets of parallel symmetric eccentric bar-type core pairs, each pair of cores having a positive string average as a detection value of the component;
the lengths of the six magnetic cores are l, and the distances between each pair of parallel magnetic cores are 2delta= 3;
the moment of the element on the x-point on the x-axis with r from the center oThe average detection reading value of the element magnetic moment on the three groups of x, y and z sensors +.>And the actual center field H xx 、H xy 、H xz Obtaining magnetic field model detection values of the sensors of the x group, the y group and the z group and an actual magnetic field model of the element magnetic moment at the center point of the sensor; further calculating a deviation coefficient k for obtaining the ratio of the average detection value of the x-group, y-group and z-group sensors to the actual center field value c 、k d 、k e A mathematical expression;
if define distance r c ，r d ，r e The ratio of the sensor length l to the field source distance coefficient n is taken asAt 1 value, the field source distance coefficient n and the deviation coefficient k are obtained c 、k d 、k e Data change correspondence of (a).
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