CN115184697A - Space three-dimensional electric field measuring sensor and measuring method thereof - Google Patents
Space three-dimensional electric field measuring sensor and measuring method thereof Download PDFInfo
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Abstract
The present disclosure provides a spatial three-dimensional electric field measurement sensor, comprising: the outer induction electrode unit is arranged on the supporting unit and used for inducing an external electric field signal; at least one pair of external sensing electrodes is arranged in the external sensing electrode unit in a differential mode, and the external sensing electrode unit comprises at least 4 external sensing electrodes; the electric field sensitive unit is arranged in the supporting unit and used for acquiring an external electric field signal, conditioning the signal and outputting an electric field detection signal; the electric field sensitive unit comprises at least 4 electric field sensitive subunits, and the at least 4 electric field sensitive subunits are electrically connected with the at least 4 outer induction electrodes in a one-to-one correspondence manner; the structure self-electrification detection unit is arranged in the supporting unit and is used for detecting the surface charge quantity of the supporting unit; the signal processing unit is arranged in the supporting unit and used for carrying out differential processing or arithmetic processing on the surface charge quantity and the electric field detection signal to obtain a three-dimensional electric field signal. The disclosure also provides a space three-dimensional electric field measuring method.
Description
Technical Field
The disclosure relates to the technical field of sensors, in particular to a spatial three-dimensional electric field measuring sensor and a measuring method thereof.
Background
The electric charges are everywhere in the space, and are small enough to triboelectrically adsorb tiny objects and large enough to electrically flash thunder and lightning to leave a bright white curve. Any charge creates an electric field in its surrounding space, and the electrical interaction between the charges is transferred through the medium of the electric field. The space electric field detection plays a very important role in the fields of aerospace, meteorological research, lightning early warning and the like. However, the existing space electric field measuring method and device have the following problems: 1) The space electric field is a three-dimensional vector field, but the existing measuring device only realizes the measurement in a certain direction in space; 2) The supporting structure unit of the measuring device may accumulate charges, which affects the accuracy of the measured electric field; 3) And the information of the electric field component of the three-dimensional electric field in the air to the ground cannot be accurately observed, so that the inversion of meteorological models such as thunderstorm clouds and the like is not facilitated.
Disclosure of Invention
In order to solve the above problems in the prior art, the present disclosure provides a spatial three-dimensional electric field measurement sensor and a measurement method thereof, which aim to improve the accuracy of the sensor in observing each component of an aerial three-dimensional electric field in an inertial coordinate system.
A first aspect of the present disclosure provides a spatial three-dimensional electric field measurement sensor, including: the outer induction electrode unit is arranged on the supporting unit and used for inducing an external electric field signal; wherein, there is at least one pair of external induction electrodes differential arrangement in the external induction electrode unit, the external induction electrode unit includes at least 4 external induction electrodes; the electric field sensitive unit is arranged in the supporting unit and used for acquiring an external electric field signal, conditioning the signal and outputting an electric field detection signal; the electric field sensitive unit comprises at least 4 electric field sensitive subunits, and the at least 4 electric field sensitive subunits are electrically connected with the at least 4 outer induction electrodes in a one-to-one correspondence manner; the structure self-electrification detection unit is arranged in the supporting unit and used for detecting the surface charge quantity of the supporting unit; and the signal processing unit is arranged in the supporting unit and used for carrying out differential processing or arithmetic processing on the surface charge quantity and the electric field detection signal to obtain a three-dimensional electric field signal.
Further, each electric field sensitive subunit includes: the electric field sensitive device is used for acquiring an external electric field signal induced by an external induction electrode connected with the electric field sensitive device; and the signal conditioning circuit is connected with the electric field sensitive device and is used for conditioning the output signal of the electric field sensitive device and outputting an electric field detection signal.
Further, the signal processing unit includes: the gesture detection device comprises a main control unit, a gesture detection unit and a signal sending module, wherein the gesture detection unit is electrically connected with the main control unit; the attitude detection unit is used for acquiring the pose information of the sensor and outputting the pose information to the main control unit; the main control unit is electrically connected with the electric field sensitive unit, the structure self-electrification detection unit, the attitude detection unit and the signal sending module and is used for carrying out differential processing or operation processing on the surface charge quantity and the electric field detection signal to obtain a three-dimensional electric field signal under a carrier coordinate system; obtaining three-dimensional electric field information under an inertial coordinate system according to the three-dimensional electric field signal and the pose information under the carrier coordinate system; the signal sending module is used for outputting the three-dimensional electric field information under the inertial coordinate system to external equipment.
Further, each outer sensing electrode is one or more of a circular electrode, a square electrode, a curved electrode, and a diamond electrode.
Further, the spatial three-dimensional electric field measurement sensor further includes: and the sensor energy supply unit is arranged in the supporting unit and used for supplying electric energy to the sensor.
Further, the supporting unit includes: the inner part of the shell is a cavity, a plurality of insulating supports and a supporting structure; the plurality of insulating supports are arranged on the shell and correspond to the at least 4 outer induction electrodes one by one; the supporting structure is arranged in the shell and is detachably connected with the shell; the electric field sensitive unit, the structure self-electrification detection unit and the signal processing unit are arranged on the supporting structure.
Further, each outer sensing electrode is made of a conductive material, a semi-conductive material, or a composite material plated with a conductive layer.
Further, the structure formed by the shell and the outer induction electrode unit is spherical, hexahedral or cylindrical.
A second aspect of the present disclosure provides a method for measuring a spatial three-dimensional electric field, which is implemented based on the spatial three-dimensional electric field measuring sensor provided in the first aspect of the present disclosure, and includes: placing the spatial three-dimensional electric field measurement sensor provided by the first aspect of the present disclosure in an external electric field environment; the outer induction electrode units induce external electric field signals with different dimensions and correspondingly output the external electric field signals to the electric field sensitive subunits which are correspondingly connected one by one; wherein, at least one pair of external induction electrodes are arranged in the external induction electrode unit in a differential mode; the electric field sensitive unit is used for sensing an external electric field signal, conditioning the signal and outputting an electric field detection signal to the signal processing unit; the structure self-electrification detection unit is used for detecting the surface charge quantity of the support unit; the signal processing unit performs differential processing or arithmetic processing on the surface charge amount and the electric field detection signal to obtain a three-dimensional electric field signal.
Further, the measurement method further includes: and obtaining the three-dimensional electric field information under the inertial coordinate system according to the three-dimensional electric field signal and the pose information acquired by the pose detection unit.
The embodiment of the disclosure provides a space three-dimensional electric field measurement sensor and a measurement method, the sensor effectively weakens the interference of the environment on the sensor and realizes the desire of accurate measurement by placing a charged detection unit and an external induction electrode unit of the sensor in a differential detection or non-differential detection mode; pose information acquired by the attitude detection unit provides guarantee for accurately describing observation of the space three-dimensional electric field under the inertial coordinate system.
Drawings
For a more complete understanding of the present disclosure and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which:
FIG. 1 schematically illustrates a perspective view of a spatial three-dimensional electric field measurement sensor according to an embodiment of the present disclosure;
FIG. 2 schematically illustrates a structural schematic of a spheroidal spatial three-dimensional electric field measurement sensor according to an embodiment of the disclosure;
FIG. 3 schematically illustrates a structural schematic of a columnar-like spatial three-dimensional electric field measurement sensor, according to an embodiment of the present disclosure;
FIG. 4 schematically illustrates a structural schematic of an outer sensing electrode according to an embodiment of the present disclosure;
FIG. 5 schematically illustrates a structural schematic of a spatial three-dimensional electric field measurement sensor according to another embodiment of the present disclosure;
FIG. 6 schematically shows a spatial three-dimensional electric field measurement schematic according to an embodiment of the present disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
Fig. 1 schematically illustrates a perspective view of a spatial three-dimensional electric field measurement sensor according to an embodiment of the present disclosure.
As shown in fig. 1, the spatial three-dimensional electric field measurement sensor 100 includes: the device comprises a supporting unit 10, an external induction electrode unit, an electric field sensitive unit, a structure self-electrification detecting unit 40, a signal processing unit 50 and a sensor energy supply unit 60.
In the embodiment of the present disclosure, the external sensing electrode unit is disposed on the supporting unit 10 and detachably connected to the supporting unit 10, and is configured to sense an external electric field signal; wherein, there is at least one pair of outer induction electrodes 20 differential setting in the outer induction electrode unit, and this outer induction electrode unit includes at least 4 outer induction electrodes 20. The electric field sensitive unit is arranged in the supporting unit 10 and used for acquiring an external electric field signal, conditioning the signal and outputting an electric field detection signal; the electric field sensing unit comprises at least 4 electric field sensing subunits 30, and the at least 4 electric field sensing subunits 30 are electrically connected with the at least 4 outer sensing electrodes 20 in a one-to-one correspondence manner. The structure-self-charging detecting unit 40 is disposed in the supporting unit 10, and detects the surface charge amount of the supporting unit 10. The signal processing unit 50 is disposed in the supporting unit 10, and configured to perform difference processing or arithmetic processing on the surface charge amount and the electric field detection signal to obtain a three-dimensional electric field signal.
As shown in fig. 1, the supporting unit 10 includes: the device comprises a shell 101 with a cavity inside, a plurality of insulating supports 102, a supporting structure 103 and a structure self electrification detection unit connecting end 104. Wherein, a plurality of insulating supports 102 are located on the housing 101, and correspond to at least 4 outer induction electrodes 20 one by one, and each insulating support 102 is used for supporting one outer induction electrode 20. Specifically, each insulating support 102 is a ring-shaped structure with a groove, and each insulating support 102 is disposed non-coplanar with the adjacent insulating support 102. Each outer induction electrode 20 and the corresponding insulating support jointly form a suspension potential, and the whole formed by the outer induction electrode 20 and the corresponding insulating support is electrically connected with the electric field sensitive subunit 30. The support structure 103 is located within the housing 101 and is removably attached to the inner wall of the housing 101. The structure self-charging detecting unit connecting terminal 104 is used for connecting the structure self-charging detecting unit 40. The supporting structure 103 is a polyhedron having a cavity, and an electric field sensitive subunit 30, a structure self-charged detecting unit 40 and a signal processing unit 50 can be disposed on one side of the supporting structure.
In an embodiment of the present disclosure, the outer induction electrode unit includes: at least 4 outer induction electrodes 20, each outer induction electrode 20 is arranged on the insulating support 102 and detachably connected with the insulating support 102 for inducing an external electric field signal. Specifically, each outer induction electrode is arranged non-coplanar with the adjacent outer induction electrode, and spatial three-dimensional electric field signal induction is realized in differential arrangement or non-differential arrangement. As shown in fig. 2, the overall structure formed by the housing 101 and the N outer inductive electrodes 20 is spherical, and 6 outer inductive electrodes 20 are located on different surfaces of the sphere to form 3 pairs of outer inductive electrodes 20 arranged oppositely, so as to realize the induction of a spatial three-dimensional electric field; or, 4 outer induction electrodes 20 are located on different surfaces of the sphere, and at least one pair of outer induction electrodes are arranged differently, so as to realize the induction of the spatial three-dimensional electric field.
As shown in fig. 3, the structure of the case 101 and the outer induction electrode unit is cylindrical. For example, if the outer sensing electrode unit includes 6 outer sensing electrodes 20, 4 of the outer sensing electrodes 20 may be located on different sides of the cylinder, and 2 outer sensing electrodes 20 may be located on the upper and lower surfaces of the cylinder, so as to realize the sensing of the spatial three-dimensional electric field. Or as shown in fig. 5, if the outer sensing electrode units are located on the side of the cylinder, two pairs of sensing electrodes are formed by 4 outer sensing electrodes 20, and the two pairs of sensing electrodes are orthogonally arranged and have a certain height difference, so as to realize the sensing of the spatial three-dimensional electric field.
Specifically, each outer sensing electrode 20 is made of a conductive material, a semi-conductive material, or a composite material plated with a conductive layer, which may be a circular, square, curved, or diamond electrode, as shown in fig. 4.
It should be noted that the appearance shape of at least 4 outer sensing electrodes 20 may be determined according to the external structure formed by the outer sensing electrodes and the housing 101, the structure formed by at least 4 outer sensing electrodes 20 and the housing 101 includes, but is not limited to, a sphere, a hexahedron, a cylinder, and other symmetrical solid figures, when the overall appearance of the sensor is a sphere, each outer sensing electrode 20 may be a circular electrode, a curved electrode, and the like; when the overall appearance of the sensor is hexahedron, each outer sensing electrode 20 may be a rectangular, square, or diamond electrode, etc.
In the embodiment of the present disclosure, the electric field sensing subunit 30 is disposed on the supporting structure 103, and is configured to acquire an external electric field signal, perform signal conditioning, and output an electric field detection signal. The electric field sensing unit comprises at least 4 electric field sensing subunits 30, and the at least 4 electric field sensing subunits 30 are electrically connected with the at least 4 outer sensing electrodes 20 in a one-to-one correspondence manner.
Specifically, when the outer sensing electrodes 20 in the outer sensing electrode unit are differentially disposed on the housing 101, each electric field sensing subunit 30 is electrically connected to each outer sensing electrode 20 in a one-to-one correspondence. For example, when the number of the outer induction electrodes 20 is 6, 3 pairs of outer induction electrodes are formed, two outer induction electrodes of each pair of outer induction electrodes are oppositely arranged and used for inducing an external electric field signal of one dimension, and 3 pairs of outer induction electrodes 20 realize the detection of a three-dimensional electric field signal; when the number of the outer induction electrodes 20 is 4, 2 pairs of outer induction electrodes are formed, and two outer induction electrodes in each pair of outer induction electrodes are oppositely arranged and used for inducing an external electric field signal with one dimension; two pairs of outer induction electrodes are orthogonally arranged and have a certain height difference so as to realize the detection of three-dimensional electric field signals. As shown in fig. 5.
Specifically, when there are outer sensing electrodes 20 in the outer sensing electrode unit that are not differentially disposed on different surfaces of the casing 101, that is, one pair of outer sensing electrodes 20 is differentially disposed on the casing 101, and the other pair of outer sensing electrodes 20 is separately disposed on different surfaces of the casing 101. For example, when the number of the outer sensing electrodes 20 is 4, one pair of the outer sensing electrodes 20 is disposed on the casing 101 oppositely and is used for sensing an external electric field signal of one dimension, and the other two outer sensing electrodes 20 are disposed on two different surfaces of the casing 101 separately and are used for sensing electric field signals of the other two dimensions, so as to obtain a three-dimensional electric field signal. When the number of the outer sensing electrodes 20 is 5, two pairs of the outer sensing electrodes 20 are oppositely disposed on the housing 101 and used for sensing two-dimensional outer electric field signals, and the remaining one outer sensing electrode 20 is used for sensing another-dimensional electric field signal, so as to obtain a three-dimensional electric field signal.
According to an embodiment of the present disclosure, each electric field sensitive subunit 30 includes: an electric field sensitive device 301 and a signal conditioning circuit 302. The electric field sensing device 301 is used for acquiring an external electric field signal induced by the external induction electrode 20 connected with the electric field sensing device. The signal conditioning circuit 302 is connected to the electric field sensing device 301, and is configured to condition an electric field signal output by the electric field sensing device 301 and output an electric field detection signal. The signal conditioning circuit 302 conditions the electric field signal output by the electric field sensing device 301, specifically, the signal output by the device is converted into a standard signal, so that the signal processing unit 50 processes the signal.
It should be noted that the number of the outer sensing electrodes 20 is at least 4 and is not limited to 4, 5 or 6, in other application scenarios, the number of the outer sensing electrodes 20 may be more than 6, and the different number (N) of the outer sensing electrodes 20 may constitute N/2 pairs of the outer sensing electrodes in a differential configuration, or there is at least one pair of the outer sensing electrodes in a differential configuration, and the other outer sensing electrodes are not in a differential configuration, which is not limited in the embodiment of the present disclosure.
In the embodiment of the present disclosure, when the spatial three-dimensional electric field measurement sensor is placed in an electric field, the supporting unit 10 inevitably generates charge accumulation, which interferes with the electric field measurement at the position of the sensor, and in order to accurately obtain the influence of the supporting unit 10 on the electric field signal to be measured, the surface charge amount of the supporting unit 10 can be detected by the structural self-electrification detecting unit 40.
As shown in fig. 1, the structure itself live detection unit 40 is disposed on the supporting structure 103 and connected to the supporting structure unit connection end 104 through a metal wire (coaxial line) for detecting the surface charge amount of the supporting unit 10, and acquiring the influence of the supporting unit 10 on the external electric field to be detected, thereby improving the accuracy of the three-dimensional electric field detection signal.
In the embodiment of the present disclosure, the signal processing unit 50 is disposed on the supporting structure 103, and is configured to perform differential processing or arithmetic processing on the surface charge amount and the electric field detection signal to obtain a three-dimensional electric field signal. When the external induction electrodes 20 in the external induction electrode unit are differentially arranged, the signal processing unit 50 performs differential processing on the electric field detection signal of the electric field sensitive subunit 30, and meanwhile, the surface charge quantity as a compensation quantity also participates in the differential processing process to obtain a three-dimensional electric field signal; when the non-differential arrangement of the outer induction electrodes 20 exists in the outer induction electrode unit, the signal processing unit 50 performs operation processing on the electric field detection signal and the surface charge amount of the electric field sensitive subunit 30 to obtain a three-dimensional electric field signal.
Specifically, the signal processing unit 50 is electrically connected to the electric field sensitive subunit 30 and the structure self-electrification detecting unit 40, and is configured to obtain output signals of the electric field sensitive subunit 30 and the structure self-electrification detecting unit 40, and perform integrated operation processing on the signals to obtain a three-dimensional electric field signal.
According to an embodiment of the present disclosure, the signal processing unit 50 includes: the device comprises a main control unit 501, an attitude detection unit 502 and a signal transmission module 503, wherein the attitude detection unit 502 is electrically connected with the main control unit 501. The posture detection unit 502 is configured to acquire pose information of the sensor and output the pose information to the main control unit 501; the pose information includes, but is not limited to, the yaw angle α, pitch angle β, and roll angle γ of the sensor. The main control unit 501 is electrically connected with the electric field sensitive subunit 30, the structure self electrification detection unit 40 and the posture detection unit 502, performs difference processing or operation processing on the surface charge amount and the electric field detection signal to obtain a three-dimensional electric field signal under a carrier coordinate system, and outputs posture information in combination with the posture detection unit 502 to obtain three-dimensional electric field information under an inertial coordinate system.
Specifically, when the outer induction electrodes 20 in the outer induction electrode units are differentially disposed on the housing 101, the signal processing unit 50 performs differential processing on the electric field detection signals of the electric field sensitive subunits 30, and meanwhile, the surface charge amount as a compensation amount also participates in the differential processing process to obtain a three-dimensional electric field signal in the carrier coordinate system, and the posture detection unit 502 is combined to output the posture information to obtain three-dimensional electric field information in the inertial coordinate system. When the external induction electrode 20 is arranged in the external induction electrode unit in a non-differential manner, the signal processing unit 50 performs operation processing on the electric field detection signal and the surface charge amount of the electric field sensitive subunit 30 to obtain a three-dimensional electric field signal in a carrier coordinate system, and outputs pose information in combination with the attitude detection unit 502 to obtain three-dimensional electric field information in an inertial coordinate system. And the signal sending module 503 is electrically connected with the main control unit 501 and is used for outputting the three-dimensional electric field information in the inertial coordinate system to an external device.
It should be noted that the external device in communication connection with the spatial three-dimensional electric field measurement sensor 100 includes, but is not limited to, a terminal device such as an upper computer, a desktop computer, and a notebook computer. In addition, when the outer induction electrodes 20 in the outer induction electrode unit are differentially disposed, the structure-self-electrification detecting unit 40 obtains the surface charge amount of the supporting unit 10 as a compensation amount for improving the data detection accuracy. The determination of the surface charge calibration function may be obtained according to an actual calibration test, which is not limited in the embodiments of the present disclosure.
According to an embodiment of the present disclosure, the spatial three-dimensional electric field measurement sensor 100 further includes: a sensor power supply unit 60, which is arranged within the support structure 103, for providing electrical energy to the spatial three-dimensional electric field measurement sensor 100.
As shown in fig. 1, the sensor power supply unit 60 includes: a voltage stabilizing and regulating circuit 601 and a power module 602. Wherein, the power module 602 is located inside the supporting structure 103 and is used for providing electric energy for the spatial three-dimensional electric field measurement sensor 100. The voltage stabilizing and regulating circuit 601 is electrically connected to the power module 602, and is configured to perform voltage stabilizing and regulating processing on the electrical signal output by the power module 602, and provide corresponding working voltages for each unit in the spatial three-dimensional electric field measurement sensor 100, so as to ensure that each functional module works normally.
As shown in fig. 6, a three-dimensional space electric field measuring sensor with a spherical overall structure is taken as an example, and a measuring method in which the outer sensing electrode 20 and the electric field sensitive subunit 30 are differentially disposed is specifically described. It should be noted that the direction of the externally applied electric field in the embodiments of the present disclosure is not only vertical, but for convenience of description, the vertical direction is taken as an example for detailed description, and the following description is taken with 6 external induction electrodes as an example.
When the space three-dimensional electric field measuring sensor is arranged in an electric field to be measured in the vertical direction, charges can be induced on the outer induction electrode unit. When only 1 pair of outer induction electrodes is perpendicular to the applied electric field, charges with opposite polarities are induced on the first induction electrode opposite to the upper side of the electric field and the second induction electrode opposite to the lower side of the electric field, and the electric field sensitive unit outputs a first electric field detection signal and a second electric field detection signal. The electric charges sensed by the third sensing electrode, the fourth sensing electrode, the fifth sensing electrode and the sixth sensing electrode are basically consistent, and the electric field sensing unit outputs a third electric field detection signal, a fourth electric field detection signal, a fifth electric field detection signal and a sixth electric field detection signal. The signal processing circuit unit performs differential processing on the electric field detection signal output by the electric field sensitive unit, and the surface charge quantity of the supporting unit 10 obtained by the self-electrification detecting unit 40 of the structure is used as compensation information to be added into the differential processing process, so that the electric field intensity to be detected in a carrier coordinate system is obtained.
When the space three-dimensional electric field measuring sensor is arranged in an electric field to be measured in the vertical direction, charges can be induced on the outer induction electrode unit. When the pair of outer induction electrodes 2 is perpendicular to the applied electric field, the first induction electrode and the second induction electrode which are opposite to each other above the electric field, and the third induction electrode and the fourth induction electrode which are opposite to each other below the electric field can induce charges with opposite polarities, and the electric field sensitive unit outputs a first electric field detection signal, a second electric field detection signal, a third electric field detection signal and a fourth electric field detection signal. The electric charges sensed by the fifth sensing electrode and the sixth sensing electrode are basically consistent, and the electric field sensing unit outputs a fifth electric field detection signal and a sixth electric field detection signal. The signal processing circuit unit performs differential processing on the electric field detection signal output by the electric field sensitive unit, and the surface charge quantity of the supporting unit 10 obtained by the self-electrification detecting unit 40 of the structure is used as compensation information to be added into the differential processing process, so that the electric field intensity to be detected in a carrier coordinate system is obtained.
When the space three-dimensional electric field measuring sensor is arranged in an electric field to be measured in the vertical direction, charges can be induced on the outer induction electrode unit. When 3 pairs of outer induction electrode perpendicular to applied electric field, first induction electrode, second induction electrode, the third induction electrode that the electric field top was right, can induce the opposite polarity's electric charge on the fourth induction electrode, fifth induction electrode, the sixth induction electrode that the electric field below was right, electric field sensitive unit output first electric field detected signal, second electric field detected signal, third electric field detected signal and fourth electric field detected signal, fifth electric field detected signal, sixth electric field detected signal. The signal processing circuit unit performs differential processing on the electric field detection signal output by the electric field sensitive unit, and the surface charge quantity of the supporting unit 10 obtained by the self-electrification detecting unit 40 of the structure is used as compensation information to be added into the differential processing process, so that the electric field intensity to be detected in a carrier coordinate system is obtained.
At this time, when the spatial three-dimensional electric field measurement sensor 100 is in an electric field to be measured, the electric field intensity of each component obtained by the electric field sensing unit can be represented as:
E X ＝E Xa -E Xb +f(E s )
E Y ＝E Ya -E Yb +f(E s )
E Z ＝E Za -E Zb +f(E s )
wherein E is Xa 、E Xb 、E Ya 、E Yb 、E Za And E Zb Respectively corresponding to the external electric field signals induced by the external induction electrodes 20 after passing through the electric field sensitive subunit 30; f () is a calibration function; e s Post-surface charge amount-converted electric field strength of the supporting unit 10 obtained for the structure self-electrification detecting unit 40; e X 、E Y And E Z Representing the electric field strength in three orthogonal directions in the carrier coordinate system.
The total electric field strength E may be:
in the using process of the spatial three-dimensional electric field measurement sensor 100, the attitude inevitably changes, which affects the accuracy of the three-dimensional electric field to the ground observation component, the attitude detection unit 502 in the signal processing unit 50 outputs the attitude information of the spatial three-dimensional electric field measurement sensor 100, specifically, a yaw angle α, a pitch angle β and a roll angle γ, and each electric field component observed by the spatial three-dimensional electric field measurement sensor 100 to the ground can be represented as:
wherein,
and
respectively represent space three-dimensional electric field vectors under an inertial coordinate system
Three orthogonal components of (a);
and
respectively representing a spatial three-dimensional electric field vector under a carrier coordinate system
Three orthogonal components.
In the embodiment of the present disclosure, when the spatial three-dimensional electric field measurement sensor 100 is placed in an electric field, the external electric field change is sensed by the pair of external sensing electrodes arranged in a differential manner, the electric field sensing subunit 30 inputs the sensed external electric field signal into the electric field sensing device 301, the output signal of the electric field sensing device 301 outputs an electric field detection signal through the signal conditioning circuit 302, and the differential detection means adopted by the signal processing unit 50 greatly reduces the influence of the environment on the sensor. The differentially arranged external induction electrode pair greatly reduces the requirement of the measuring sensor on the environment, effectively weakens the interference of the environment on the electric field sensor, improves the common mode rejection ratio, and provides guarantee for accurately observing the change of each component of the spatial three-dimensional electric field in an inertial coordinate system by the yaw angle alpha, the pitch angle beta and the roll angle gamma which are acquired by the attitude detection unit.
As shown in fig. 5, a specific description will be given of a measurement method in which 4 outer sensing electrodes 20 and 4 electric field sensitive subunits 30 are arranged differentially, taking a spatial three-dimensional electric field measurement sensor with a cylindrical external structure as an example. The 4 outer induction electrodes 20 form two pairs of induction electrodes, and the two pairs of induction electrodes are orthogonally arranged and have a certain height difference, so as to realize the induction of a spatial three-dimensional electric field, as shown in fig. 5.
When the spatial three-dimensional electric field measurement sensor 100 is in an electric field to be measured, the electric field intensity of each component obtained by the electric field sensitive unit can be represented as:
E X ＝E Xa -E Xb +f(E s )
E Y ＝E Ya -E Yb +f(E s )
wherein the electric field detection signal processing in the X-axis and Y-axis directions, i.e. E, is performed by the signal processing unit 50 Za ＝E Ya -E Xa ，E Zb ＝E Yb -E Xb The following can be obtained:
wherein, f () is a calibration function; e s Post-surface charge amount converted electric field strength of the supporting unit 10 detected by the self-electrification detecting unit 40 for the structure; e Xa 、E Ya 、E Za The electric field intensity obtained after the external electric field signal passes through the electric field sensing unit 30 is sensed by the external sensing electrodes 20 in the XY orthogonal directions, respectively.
The total electric field strength E magnitude can be expressed as:
similarly, the electric field components observed by the spatial three-dimensional electric field measurement sensor 100 to the ground can be expressed as:
in the embodiment of the present disclosure, when the spatial three-dimensional electric field measurement sensor 100 is placed in an electric field, the change condition of the external electric field is sensed by orthogonally arranging two pairs of external sensing electrodes and having a certain height difference, the electric field sensing subunit 30 acquires an external electric field signal sensed by the external sensing electrodes 20 and outputs an electric field detection signal, the structure self-electrification detecting unit 40 acquires the surface charge amount of the supporting unit 10, and the signal processing unit 50 performs difference and arithmetic processing on the signals output by the electric field sensing subunit 30 and the structure self-electrification detecting unit 40.
Note that, when the outer induction electrodes 20 in the outer induction electrode unit are differentially disposed, the structure-self-charging detection unit 40 obtains the surface charge amount of the support unit 10 as a compensation amount for improving the data detection accuracy. The determination of the surface charge calibration function may be obtained according to an actual calibration test, which is not limited in this embodiment of the disclosure.
As shown in fig. 6, a spatial three-dimensional electric field measurement sensor with a spherical overall structure is taken as an example, and a measurement method when the non-differential arrangement of the outer induction electrodes 20 exists in the outer induction electrode unit is specifically described. Taking 4 external inductive electrodes 20 as an example, it is assumed that there is a pair of external inductive electrodes 20 arranged in difference in the X-axis direction, and there is one external inductive electrode 20 in each of the y-axis and Z-axis.
When the spatial three-dimensional electric field measurement sensor 100 is in an electric field to be measured, the electric field intensity of each component obtained by the electric field sensitive unit can be represented as:
E X ＝E Xa -E Xb +f(E s )
E Y ＝E Ya +f(E s )
E z ＝E Za +f(E s )
wherein E is Xa 、E Ya 、E Za Respectively, the electric field intensity corresponding to the external electric field signal induced by each external induction electrode 20 after passing through the electric field sensing subunit 30. f () is a calibration function; e s The electric field intensity after conversion of the surface charge amount of the supporting unit 10 obtained for the structure self-electrification detecting unit 40; e X 、E Y And E Z Representing the electric field strength in three orthogonal directions in the carrier coordinate system.
The total electric field strength E magnitude can be expressed as:
similarly, the electric field components observed by the spatial three-dimensional electric field measurement sensor 100 to the ground can be expressed as:
in the embodiment of the present disclosure, when the spatial three-dimensional electric field measuring sensor 100 is placed in an electric field, the outer induction electrodes 20 orthogonally arranged with each other induce a change condition of an external electric field, the electric field sensitive subunit 30 acquires an external electric field signal induced by the outer induction electrode 20 and outputs an electric field detection signal, the structure self-electrification detecting unit 40 acquires a surface charge amount of the supporting unit 10, and the signal processing unit 50 performs difference and arithmetic processing on the electric field detection signal output by the electric field sensitive subunit 30 and a signal output by the structure self-electrification detecting unit 40. When the external induction electrodes are arranged in the external induction electrode unit in a non-differential mode, the influence of the electric field measurement sensor on the electric field measurement result is greatly compensated by the surface charge quantity of the structure self electrified detection unit 40 obtained by the support unit 10, the interference of the electric field measurement sensor caused by the environment is reduced, and the yaw angle alpha, the pitch angle beta and the roll angle gamma obtained by the attitude detection unit provide guarantee for accurately observing the change of each component of the space three-dimensional electric field in the inertial coordinate system.
It should be noted that, when the number of the outer sensing electrodes is 5 or other odd number, the measurement principle is consistent with the principle of the above embodiment, and details of the measurement scenes of other numbers of outer sensing electrodes are not repeated in the embodiment of the present disclosure.
The embodiment of the present disclosure further provides a method for measuring a spatial three-dimensional electric field, which is implemented based on the spatial three-dimensional electric field measurement sensor 100 provided in the above embodiment, and specifically includes: the spatial three-dimensional electric field measurement sensor 100 provided by the above embodiment is placed in an external electric field environment; the outer induction electrode units induce external electric field signals with different dimensions and correspondingly output the external electric field signals to the electric field sensitive subunits which are correspondingly connected one by one; wherein, at least one pair of external induction electrodes are arranged in the external induction electrode unit in a differential mode; the electric field sensitive unit is used for sensing the external electric field signal, conditioning the signal and outputting an electric field detection signal to the signal processing unit; the structure self-electrification detection unit is used for detecting the surface charge quantity of the support unit; the signal processing unit performs differential processing or arithmetic processing on the surface charge amount and the electric field detection signal to obtain a three-dimensional electric field signal.
Further, the measuring method further comprises: and obtaining the three-dimensional electric field information under the inertial coordinate system according to the three-dimensional electric field signal under the carrier coordinate system and the pose information obtained by the pose detection unit 502.
It should be noted that the spatial three-dimensional electric field measurement method provided in the embodiment of the present disclosure is implemented based on the spatial three-dimensional electric field measurement sensor 100 shown in the above embodiments or implemented by other similar structures, and details of the spatial three-dimensional electric field measurement sensor 100 are not repeated here.
The embodiment of the present disclosure provides a spatial three-dimensional electric field measurement sensor and a measurement method, in which at least 4 outer sensing electrodes 20 and at least 4 electric field sensitive subunits 30 in the sensor can be arranged differentially or non-differentially. During differential setting, the signal processing unit 50 performs differential processing on electric field detection signals of the electric field sensitive subunit 30, meanwhile, surface charge amount as compensation amount also participates in the differential processing process to obtain three-dimensional electric field signals in a carrier coordinate system, and an observation result of the sensor in an inertial coordinate system is obtained by combining pose information of the attitude detection unit; when the sensor is arranged in a non-differential mode, the signal processing unit 50 performs operation processing on the electric field detection signal and the surface charge amount of the electric field sensitive subunit 30 to obtain a three-dimensional electric field signal in a carrier coordinate system, and an observation result of the sensor in an inertial coordinate system is obtained by combining pose information of the attitude detection unit; according to the space three-dimensional electric field measuring sensor provided by the embodiment of the disclosure, the interference of the environment on the sensor is effectively weakened and the desire of accurate measurement is realized by the arrangement of the electrified detection unit and the external induction electrode unit of the structure; pose information acquired by the attitude detection unit provides guarantee for accurately observing each component of the spatial three-dimensional electric field under the inertial coordinate system.
While the disclosure has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive.
Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the disclosure can be made to the extent not expressly recited in the disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments of the present disclosure and/or the claims may be made without departing from the spirit and teachings of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.
While the disclosure has been shown and described with reference to certain exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents. Accordingly, the scope of the present disclosure should not be limited to the above-described embodiments, but should be defined not only by the appended claims, but also by equivalents thereof.
Claims (10)
1. A spatial three-dimensional electric field measuring sensor, comprising:
the outer induction electrode unit is arranged on the supporting unit (10) and is used for inducing an outer electric field signal; wherein, there is at least one pair of external induction electrodes differential setting in the said external induction electrode unit, the said external induction electrode unit includes at least 4 external induction electrodes (20);
the electric field sensitive unit is arranged in the supporting unit (10) and is used for acquiring the external electric field signal, conditioning the signal and outputting an electric field detection signal; the electric field sensing unit comprises at least 4 electric field sensing sub-units (30), and the at least 4 electric field sensing sub-units (30) are electrically connected with the at least 4 outer sensing electrodes (20) in a one-to-one correspondence manner;
a structure self-charging detection unit (40) which is arranged in the support unit (10) and is used for detecting the surface charge quantity of the support unit (10);
and a signal processing unit (50) which is arranged in the supporting unit (10) and is used for carrying out difference processing or arithmetic processing on the surface charge quantity and the electric field detection signal to obtain a three-dimensional electric field signal.
2. The spatial three-dimensional electric field measuring sensor according to claim 1, characterized in that each electric field sensitive subunit (30) comprises:
an electric field sensing device (301) for acquiring the external electric field signal induced by the external induction electrode connected thereto;
and the signal conditioning circuit (302) is connected with the electric field sensitive device (301) and is used for conditioning the output signal of the electric field sensitive device (301) and outputting an electric field detection signal.
3. The spatial three-dimensional electric field measurement sensor according to claim 1, wherein the signal processing unit (50) comprises: the device comprises a main control unit (501), an attitude detection unit (502) and a signal sending module (503), wherein the attitude detection unit (502) and the signal sending module (503) are electrically connected with the main control unit; wherein,
the gesture detection unit (502) is used for acquiring the pose information of the sensor and outputting the pose information to the main control unit (501);
the main control unit (501) is electrically connected with the electric field sensitive unit, the structure self-electrification detection unit (40), the attitude detection unit (502) and the signal sending module (503) and is used for carrying out difference processing or operation processing on the surface charge amount and the electric field detection signal to obtain a three-dimensional electric field signal under a carrier coordinate system; obtaining three-dimensional electric field information under an inertial coordinate system according to the three-dimensional electric field signal under the carrier coordinate system and the pose information;
the signal sending module (503) is used for outputting the three-dimensional electric field information in the inertial coordinate system to an external device.
4. The spatial three-dimensional electric field measuring sensor according to claim 1, characterized in that each outer sensing electrode (20) is one or more of a circular electrode, a square electrode, a curved electrode and a diamond electrode.
5. The spatial three-dimensional electric field measuring sensor according to claim 1, further comprising:
a sensor energizing unit (60) disposed within the support unit (10) for providing electrical energy to the sensor.
6. The spatial three-dimensional electric field measurement sensor according to claim 1, characterized in that the support unit (10) comprises: the device comprises a shell (101) with a cavity inside, a plurality of insulating supports (102) and a supporting structure (103); the plurality of insulating supports (102) are arranged on the shell (101) and correspond to the at least 4 outer induction electrodes one to one; the supporting structure (103) is arranged in the shell (101) and is connected with the shell (101); wherein the electric field sensitive unit, the structure self-electrification detecting unit (40) and the signal processing unit (50) are arranged on the supporting structure (103).
7. The spatial three-dimensional electric field measuring sensor according to claim 1, characterized in that each outer sensing electrode (20) is made of a conductive material, a semi-conductive material or a composite material coated with a conductive layer.
8. The spatial three-dimensional electric field measurement sensor according to claim 6, wherein the structure formed by the housing (101) and the outer sensing electrode unit is spherical, hexahedral or cylindrical.
9. A method of measuring a spatial three-dimensional electric field based on the spatial three-dimensional electric field measuring sensor according to any one of claims 1 to 8, comprising:
placing the spatial three-dimensional electric field measurement sensor according to any one of claims 1 to 8 in an external electric field environment;
the outer induction electrode units induce external electric field signals with different dimensionalities and correspondingly output the external electric field signals to the electric field sensitive subunits (30) which are correspondingly connected one by one; wherein, at least one pair of external induction electrodes (20) are arranged in the external induction electrode unit in a differential mode;
the electric field sensitive unit is used for sensing the external electric field signal, conditioning the signal and outputting an electric field detection signal to the signal processing unit (50);
a structure self-electrification detecting unit (40) for detecting the surface charge amount of the supporting unit (10); a signal processing unit (50) performs differential processing or arithmetic processing on the surface charge amount and the electric field detection signal to obtain a three-dimensional electric field signal.
10. The method of claim 9, further comprising:
and obtaining the three-dimensional electric field information under an inertial coordinate system according to the three-dimensional electric field signal and the pose information obtained by the pose detection unit (502).
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| CN117289040A (en) * | 2023-11-27 | 2023-12-26 | 中国科学院空天信息创新研究院 | Three-dimensional direct current electric field detection device and detection method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117289040A (en) * | 2023-11-27 | 2023-12-26 | 中国科学院空天信息创新研究院 | Three-dimensional direct current electric field detection device and detection method |
| CN117289040B (en) * | 2023-11-27 | 2024-02-23 | 中国科学院空天信息创新研究院 | Three-dimensional direct current electric field detection device and detection method |
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