CN115774289A - Shipborne geomagnetic vector measurement carrier magnetic interference compensation method - Google Patents
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Abstract
The invention discloses a magnetic interference compensation method for a shipborne geomagnetic vector measurement carrier, which comprises the steps of compensation data acquisition and compensation parameter calculation, wherein the compensation data acquisition can be completed only by making the carrier sail according to a preset action in the compensation data acquisition process, and the method has the advantages of simple process, strong operability and short time consumption; in the process of calculating the compensation parameters, the geomagnetic component constraint principle is adopted, the compensation parameters are calculated by using a least square method, the calculation process is simple, and the calculation speed is high. In addition, the method does not need auxiliary equipment and has strong applicability. In an actual ship-borne geomagnetic vector measurement test, the geomagnetic vector compensated by the method has the precision reaching nT level, and the precision requirement of general geomagnetic measurement can be met.
Description
Technical Field
The invention belongs to the technical field of geomagnetic vector measurement, and particularly relates to a magnetic interference compensation method for a ship-borne geomagnetic vector measurement carrier.
Background
The geomagnetic field is a vector field, the component information of the geomagnetic field can be obtained by performing geomagnetic vector measurement, and then seven geomagnetic elements can be obtained, and compared with geomagnetic scalar measurement, the geomagnetic vector measurement has the characteristics of rich measurement information and high detection efficiency; the measurement of the geomagnetic vector on board the ocean is one of the main ways to obtain the high-precision geomagnetic vector field on board the ocean, and when the measurement of the geomagnetic vector on board the ocean is performed, a geomagnetic vector measurement system (generally including a three-component magnetometer, a high-precision inertial navigation system, a data acquisition module, a GNSS module, a data storage module, a structural component, etc.) needs to be carried on a measurement ship/measurement boat, and then the measurement of the navigation is performed.
The power device, the electrical equipment and the hull structure of the measuring ship/measuring boat inevitably contain ferromagnetic materials, which can generate interference magnetic fields including hard magnetic, induction magnetic fields and eddy magnetic fields, which can seriously affect the measurement accuracy of the geomagnetic vector field, so how to compensate the interference magnetic field of the carrier is a key problem for research in shipborne geomagnetic vector measurement.
In the aspect of interference magnetic field compensation, for example, a differential compensation method for reducing carrier interference of a three-component magnetic measurement system is used for compensating a fixed interference magnetic field and an induced interference magnetic field of a carrier, and the method includes firstly selecting a non-magnetic flat plate as a working platform, then fixing a magnetic source body and two paths of three-component magnetometers on the working platform, and calculating an interference magnetic field value by a differential method through rotating the posture of the working platform. For another example, a geomagnetic vector measurement error calibration method combining component and total amount constraints requires packaging a geomagnetic vector measurement system in a nonmagnetic regular hexahedral box, sequentially using each surface of the box as a bottom surface, and rotating the box to correct interference (including soft and hard magnets) and misalignment errors. For another example, in the experimental analysis in the text, the method has a poor application effect in practice, and after actual measurement data is subjected to interference compensation, the error of each component is still as high as hundreds of nT, which is obviously unacceptable in the practical geomagnetic vector measurement application. For another example, a method for compensating magnetic field interference of a naval vessel includes measuring a magnetic field value of the naval vessel running around a circle in a swinging state, solving induction and fixed magnetic parameters of the naval vessel by adopting a self-adaptive multi-population genetic algorithm, and accordingly eliminating the magnetic field interference of the naval vessel. For another example, in the ocean geomagnetic three-component measurement ship magnetic interference elimination algorithm based on Kalman filtering, the method requires that a measurement ship flexibly finishes part of compensation parameter calculation in an offshore area, then flexibly finishes the rest compensation parameter calculation in a remote sea area, the geomagnetic component error after compensation in a simulation test is superior to 200nT, the method needs to respectively finish compensation operation in the offshore area and the remote sea area, the compensation process is complicated, the compensated component error still reaches 200nT, and the requirement cannot be met in actual measurement operation.
In summary, the conventional carrier interfering magnetic field compensation method has the following problems: 1) The compensation method has high limitation, can only compensate the interference magnetic field under the semi-physical simulation measurement condition, and cannot compensate the real ship magnetic field; 2) The compensation precision of the proposed method is not high, and in simulation or actual measurement experiments, the error of the compensated magnetic field component is still as high as hundreds of nT, so that the actual application requirements can not be met; 3) The compensation steps are complicated, the calculation is complex, and the correction and the rapid compensation under the actual measurement condition are not favorably executed.
Disclosure of Invention
I solve the above-mentioned problem, the invention has proposed a kind of ship-borne earth magnetism vector measurement carrier magnetic interference compensation method, including compensating data acquisition method and compensation parameter and solving the algorithm; in the compensation data acquisition process, the compensation data acquisition can be completed only by making the carrier sail according to the preset action, and the process is simple, strong in operability and short in time consumption; in the process of calculating the compensation parameters, a geomagnetic component constraint principle is adopted, the compensation parameters are calculated by using a least square method, the calculation process is simple, and the calculation speed is high. In addition, the method does not need auxiliary equipment and has strong applicability. In an actual ship-borne geomagnetic vector measurement test, the geomagnetic vector compensated by the method has the precision reaching nT level, and the precision requirement of general geomagnetic measurement can be met.
The invention is realized by adopting the following technical scheme:
a magnetic interference compensation method for a ship-borne geomagnetic vector measurement carrier is provided, which comprises the following steps:
s1) obtaining a correction model of the three-component magnetometer based on a three-component magnetometer measurement model under a carrier coordinate system;
wherein the three-component magnetometer has a measurement model B m ＝(I+M)B e +B h (1)；
Correction model is B e ＝G(B m -B h ) (2)；
G＝(I+M) -1 ；
B m ＝[B mx ,B my ,B mz ] T Is a three-component value output by the three-component magnetometer,
B e ＝[B ex ,B ey ,B ez ] T is a projection value vector value of the geomagnetic field under a carrier coordinate system,
B h ＝[B hx ,B hy ,B hz ] T i is the unit matrix,
s2) is provided with
To obtain
Deform it into
Wherein, B' m ＝[B mx ,B my ,B mz ,-1]，G 1 ＝[g 11 ,g 12 ,g 13 ,g 14 ] T ，G 2 ＝[g 21 ,g 22 ,g 23 ,g 24 ] T ，G 3 ＝[g 31 ,g 32 ,g 33 ,g 34 ]，
S3) controlling the ship carrier to sail in a S-turn cross-drawing mode, and acquiring n groups of measurement data during the S-turn cross-drawing mode to obtain
S4) respectively calculating to obtain G according to the least square method 1 ，G 2 And G 3 The best estimate of (c) is:
wherein the content of the first and second substances,
a matrix formed by the output values of the three-component magnetometer; b is e ′ x ,B e ′ y ,B e ′ z Comprises the following steps:
computing geomagnetic vector under compensation water area geographic coordinate system by using IGRF
Setting the attitude angle output by the high-precision inertial navigation of the geomagnetic vector measurement system in the calibration process to be At (r,p,h) According to At (r,p,h) To pair
Rotating the coordinates to obtain
B e ″＝[B′ ex ,B′ ey ,B′ ez ] T ；
Is a transformation matrix from the geographic coordinate system to the carrier coordinate system:
r, p and h respectively represent a roll angle, a pitch angle and a course angle of high-precision inertial navigation output;
s5) defining vector G 4 ＝[g 14 ,g 24 ,g 34 ] T Obtaining GB according to formulas (3) and (4) h ＝G 4 Calculating to obtain a hard magnetic vector B by a least square method h ；
S6) based on B e ＝G(B m -B h ) Compensating the geomagnetic vector data obtained by actual measurement operation to obtain a geomagnetic vector B under a carrier coordinate system e ；
S7) utilizing the attitude angle output by the high-precision inertial navigation to B e Coordinate rotation is carried out to obtain a geomagnetic vector B in a geographic coordinate system g ＝[B gx ,B gy ,B gz ] T . Compared with the prior art, the invention has the advantages and positive effects that:
1. when compensation data are collected, the ship carrier is carried out in a mode of drawing a cross shape in an S-shaped bent navigation way; compared with the traditional 'eight' azimuth method, the method saves more time and can reduce the influence of geomagnetic diurnal variation in the compensation process; compared with an O-winding method, the attitude which possibly appears in the measurement can be better covered, and the acquired compensation data is more effective; 2. the compensation parameters are calculated by adopting a least square method, and compared with a general iterative calculation method, a Kalman filtering method and other methods, the method is higher in calculation speed and higher in efficiency; 3. the compensation parameters are calculated by adopting the constraint of the geomagnetic components, compared with the constraint of the geomagnetic total field, the calculated compensation parameters are more accurate, and the compensation effect on geomagnetic vector data is better; 4. auxiliary equipment is not needed, the implementation process is simple, and the practicability is strong; 5. the method can be popularized and applied to the compensation of magnetic interference of geomagnetic vector measurement carriers based on other carriers, such as airplanes, AUV and the like.
Other features and advantages of the present invention will become more apparent from the detailed description of the embodiments of the present invention when taken in conjunction with the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic view of a carrier navigation track in magnetic interference compensation of a shipborne geomagnetic vector measurement carrier provided by the present invention;
FIG. 2 is a schematic representation of a coordinate system of a vector according to the present invention;
fig. 3 is a schematic diagram of an implementation step of a magnetic interference supplement method for a shipborne geomagnetic vector measurement carrier according to the present invention;
fig. 4 is a comparison of data curves before and after compensation is performed on geomagnetic vector measurement based on the onboard geomagnetic vector measurement carrier magnetic interference supplement method provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art. In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In shipborne geomagnetic vector measurement, the interference of a carrier mainly comprises a hard magnetic field, an induction magnetic field and an eddy magnetic field; the hard magnet is a magnetic field reserved after the hard magnetic material on the carrier is magnetized by an external magnetic field, and the magnitude of the magnetic field is kept fixed relative to a carrier coordinate system in a short time; the induction magnetic field is a magnetic field generated by the excitation of the soft magnetic material on the carrier by an external magnetic field, and changes along with the posture change of the carrier relative to the earth magnetic field; the eddy magnetic field is a magnetic field generated by cutting magnetic lines of force by a metal conductor on the carrier.
Hard magnetic and induction magnetic fields which have great influence on the measurement accuracy of the geomagnetic vector in the interference magnetic field, and eddy magnetic field values which are small and belong to high-frequency components can be removed in a filtering mode; therefore, the method only compensates for the hard magnetic field and the induction magnetic field.
Based on the concept of the invention, before the operation of the ship-borne geomagnetic vector measurement system is started or after the operation is finished, the ship carrier is made to make sailing maneuvers according to certain actions, and compensation data obtained in the sailing maneuvers are used for calculating carrier magnetic interference compensation parameters and carrying out magnetic interference compensation on actual measurement operation data.
In principle, when error calibration or carrier magnetic interference compensation parameter calculation is carried out on the three-component magnetometer, the three-component magnetometer needs to be subjected to full attitude rotation in space and traverse the spatial attitude, so that more accurate compensation parameters are calculated; however, in the actual shipborne geomagnetic vector measurement process, the three-component magnetometer and the carrier are installed in a strapdown mode and cannot traverse the spatial attitude due to the limitation of the motion range of the carrier.
In the concept of the invention, in the compensation sailing process, the carrier is made to draw a cross shape in an S-bend sailing mode, as shown in fig. 1, so as to cover the posture which may appear on the carrier in the formal measurement operation process, and the specific implementation mode is as follows:
in or near a measuring area, selecting an open water area with small geomagnetic gradient and no obvious magnetic interference source around, selecting a certain point (which can be marked on an electronic chart) of the water area, sailing the carrier by taking the point as a center to draw a cross shape to and fro by using an S bend, wherein a sailing track schematic diagram is shown in figure 1, the length of each side of the cross shape is defined according to the length of a ship body, and the ship length is generally selected to be 20 times of the ship length, and L in figure 1 represents the ship length.
Establishing a vector coordinate system OX b Y b Z b Of which OX b Axis to the right along the transverse axis of the carrier, OY b Axis forward along the longitudinal axis of the carrier, OZ b Axial loadThe body is vertical and axially upward. Under the normal condition, a three-component magnetometer and a high-precision inertial navigation in a geomagnetic vector measurement system are installed in a strapdown mode through a structural part, a coordinate system between the three-component magnetometer and the high-precision inertial navigation is calibrated, and the coordinate systems of the two are in an aligned state; coordinate system OX for three-component magnetometer m Y m Z m Inertial navigation coordinate system OX p Y p Z p Unified with the carrier coordinate system.
In the carrier coordinate system, when considering the interference of the hard magnetic and the induced magnetic field of the carrier, the measurement model of the three-component magnetometer can be expressed as:
B m ＝(I+M)B e +B h (1)
wherein B is m ＝[B mx ,B my ,B mz ] T Three-component value, B, output by a three-component magnetometer e ＝[B ex ,B ey ,B ez ] T Is a projection value vector value, B, of the geomagnetic field in a carrier coordinate system h ＝[B hx ,B hy ,B hz ] T I is the hard magnetic interference generated by the carrier, I is the identity matrix,
is a matrix of induced magnetic field coefficients.
Through the measurement model, a correction model of the data of the three-component magnetometer can be obtained:
B e ＝G(B m -B h ) (2)
wherein, G = (I + M) -1 . According to the correction model, only the coefficient matrix G and the hard magnetic vector B are required to be obtained h Can pass the output B of the three-component magnetometer m Obtaining the real geomagnetic vector B under the carrier system e And the compensation of the carrier interference magnetic field is realized.
In the correction model, the coefficient matrix G and the hard magnetic vector B h The calculation process is as follows:
the coefficient matrix G is a 3 × 3 matrix, which is set as
The formula (2) is developed to obtain:
obtained by the formula (3):
wherein, B' m ＝[B mx ,B my ,B mz ,-1]，G 1 ＝[g 11 ,g 12 ,g 13 ,g 14 ] T ，G 2 ＝[g 21 ,g 22 ,g 23 ,g 24 ] T ，G 3 ＝[g 31 ,g 32 ,g 33 ,g 34 ]，
In the actual carrier magnetic interference compensation process, a plurality of sets of measurement data are acquired, and the form of equation (4) becomes:
the first formula B in formula (5) ex (i)＝B′ m (i)G 1 By way of example, (i =1,2,.., n, n > 4) is developed to yield:
equation (6) is abbreviated as:
B′ ex ＝B″ m G 1 (7)
in the formula (I), the compound is shown in the specification,
according to formula (7), when B ″) m 、B′ ex When known, G can be obtained according to the principle of least square 1 The best estimation of (c):
B″ m the matrix formed by actual output values of the three-component magnetometer is a known quantity.
B′ ex The acquisition method comprises the following steps:
in practice, the carrier magnetic interference compensation is usually selected in a water area with small geomagnetic gradient and no obvious geomagnetic anomaly and magnetic interference source around, and at this time, the geomagnetic vector obtained by the IGRF calculation can be used to approximately represent the real background geomagnetic vector at this point; the geomagnetic vector under the geographic coordinate system is calculated to be
In the calibration process, the attitude angle output by the geomagnetic vector measurement system high-precision inertial navigation is At (r,p,h) (ii) a According to At (r,p,h) For is to
Coordinate rotation is carried out to obtain a geomagnetic vector value B corresponding to each attitude in the carrier coordinate system e ″＝[B′ ex ,B′ ey ,B′ ez ] T The process is as follows:
wherein the content of the first and second substances,
is a transformation matrix from the geographic system to the carrier coordinate system:
By the above rotation, B 'was obtained' ex (ii) a By performing the calculation using the formula (8), G can be obtained 1 The best estimate of G, in the same way, can be calculated 2 、G 3 The best estimate of.
According to G 1 、G 2 、G 3 A coefficient matrix G can be obtained.
Hard magnetic vector B h The calculation is as follows:
definition vector G 4 Let G 4 ＝[g 14 ,g 24 ,g 34 ] T Referring to equations (3) and (4), there are:
GB h ＝G 4 (10)
in the formula, G and G 4 For a known quantity, the hard magnetic vector B can be obtained according to the least-squares principle h ：
B h ＝(G T G) -1 G T G 4 (11)。
From the above derivation and calculation, the coefficient matrix G and the hard magnetic vector B have been obtained h The geomagnetic vector data obtained by the actual measurement operation can be compensated online or offline in real time according to the formula (2).
After carrier magnetic interference compensation, a geomagnetic vector B under a carrier system is obtained e (ii) a Attitude angle output by high-precision inertial navigation, for B e Coordinate rotation is carried out to obtain a geomagnetic vector B in a geographic coordinate system g ＝[B gx ,B gy ,B gz ] T The process is as follows:
wherein the content of the first and second substances,
is the moment of rotation from the carrier system to the geographic coordinate systemArraying:
The flow chart of the compensation method is shown in fig. 3.
In one embodiment of the present invention, during the compensation voyage, the collected measured data is as shown in the following table:
watch 1
The geomagnetic vector under the geographic coordinate system in the compensation water area calculated by using the IGRF is as follows:
and calculating to obtain: g 1 ＝[0.9967,-0.0090,0.0100,622.4720] T ，G 2 ＝[0.0081,1.0027,-0.0016,-446.5671] T ，G 3 ＝[-0.0014,-0.0038,1.0076,-504.6515] T 。
Coefficient matrix is obtained
G 4 ＝[622.4720,-446.5671,-504.6515] T 。
Is calculated to obtain B h ＝[625.5000,-451.2034,-501.6596] T 。
According to the calculated coefficient matrix and vector, the measured data is compensated, and according to the attitude angle, the geomagnetic data obtained before and after compensation is rotated to a geographic coordinate system, as shown in fig. 4.
It should be noted that, in a specific implementation process, the control part may be implemented by a processor in a hardware form executing a computer execution instruction in a software form stored in a memory, which is not described herein, and all programs corresponding to actions executed by the control part may be stored in a computer readable storage medium of the system in a software form, so that the processor can call and execute operations corresponding to the above modules.
The computer-readable storage media above may include volatile memory, such as random access memory; non-volatile memory, such as read-only memory, flash memory, a hard disk, or a solid state disk; combinations of the above categories of memory may also be included.
The processor referred to above may also be referred to collectively as a plurality of processing elements. For example, the processor may be a central processing unit, but may also be other general purpose processors, digital signal processors, application specific integrated circuits, field programmable gate arrays or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or the like. A general-purpose processor may be a microprocessor, or may be any conventional processor or the like, or may be a special-purpose processor.
It should be noted that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art should also make changes, modifications, additions or substitutions within the spirit and scope of the present invention.
Claims (1)
1. A magnetic interference compensation method for a ship-borne geomagnetic vector measurement carrier is characterized by comprising the following steps:
s1) obtaining a correction model of the three-component magnetometer based on a three-component magnetometer measurement model under a carrier coordinate system;
wherein the three-component magnetometer has a measurement model B m ＝(I+M)B e +B h (1)；
Correction model is B e ＝G(B m -B h ) (2)；
G＝(I+M) -1 ；
B m ＝[B mx ,B my ,B mz ] T Is a three-component value output by the three-component magnetometer,
B e ＝[B ex ,B ey ,B ez ] T is a projection value vector value of the geomagnetic field under a carrier coordinate system,
B h ＝[B hx ,B hy ,B hz ] T i is the unit matrix,
s2) is provided with
To obtain
Deform it into
Wherein, B' m ＝[B mx ,B my ,B mz ,-1]，G 1 ＝[g 11 ,g 12 ,g 13 ,g 14 ] T ，G 2 ＝[g 21 ,g 22 ,g 23 ,g 24 ] T ，G 3 ＝[g 31 ,g 32 ,g 33 ,g 34 ]，
S3) controlling the ship carrier to sail in a S-turn cross-drawing mode, and acquiring n groups of measurement data during the S-turn cross-drawing mode to obtain
S4) obtaining the optimal estimation of G1, G2 and G3 according to the least square method as follows:
wherein the content of the first and second substances,
a matrix formed by the output values of the three-component magnetometer; b is e ′ x ,B e ′ y ,B e ′ z Comprises the following steps:
computing geomagnetic vector in geographic coordinate system by using IGRF
Setting the attitude angle output by the high-precision inertial navigation of the geomagnetic vector measurement system in the calibration process to be At (r,p,h) According to At (r,p,h) To pair
Rotating the coordinates to obtain
B e ″＝[B′ ex ,B′ ey ,B′ ez ] T ；
Is a transformation matrix from the geographic coordinate system to the carrier coordinate system:
r, p and h respectively represent a roll angle, a pitch angle and a course angle of high-precision inertial navigation output;
s5) defining vector G 4 ＝[g 14 ,g 24 ,g 34 ] T Obtaining GB according to the formulas (2) and (3) h ＝G 4 Calculating to obtain a hard magnetic vector B by a least square method h ；
S6) based on B e ＝G(B m -B h ) Compensating the geomagnetic vector data obtained by actual measurement operation to obtain a geomagnetic vector B under a carrier coordinate system e ；
S7) utilizing the attitude angle output by the high-precision inertial navigation to B e Coordinate rotation is carried out to obtain a geomagnetic vector B in a geographic coordinate system g ＝[B gx ,B gy ,B gz ] T 。
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