CN116027232A - Mars surface magnetic field signal determination method and device - Google Patents
Mars surface magnetic field signal determination method and device Download PDFInfo
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- CN116027232A CN116027232A CN202310314664.4A CN202310314664A CN116027232A CN 116027232 A CN116027232 A CN 116027232A CN 202310314664 A CN202310314664 A CN 202310314664A CN 116027232 A CN116027232 A CN 116027232A
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Abstract
The invention provides a method and a device for determining a Mars surface magnetic field signal. The method for determining the Mars surface magnetic field signal comprises the following steps: under the condition that the attitude angle of the Mars is determined to be a first preset angle, the Mars mast is made to execute two preset rotating actions to perform two magnetic field measurements, and a first measurement result and a second measurement result are respectively obtained; under the condition that the attitude angle of the Mars is determined to be a second preset angle, the Mars mast is made to execute two preset rotating actions to perform two magnetic field measurements, and a third measurement result and a fourth measurement result are respectively obtained; under the condition that the attitude angle of the Mars is determined to be a third preset angle, the Mars mast is made to execute two preset rotating actions to perform two magnetic field measurements, and a fifth measurement result and a sixth measurement result are respectively obtained; and determining a horizontal component of the Mars surface magnetic field signal and a vertical component of the Mars surface magnetic field signal.
Description
Technical Field
The invention relates to the technical field of magnetic field measurement, in particular to a method and a device for determining a Mars surface magnetic field signal.
Background
The fluxgate magnetometer is a payload for carrying out in-place vector magnetic field detection on a Mars vehicle, but magnetic interference of the Mars vehicle can greatly influence the accuracy of weak magnetic field detection on the surface of the Mars. To eliminate the influence of these magnetic disturbances, it is generally necessary to place the fluxgate probe on a long boom (generally greater than 5 meters) to be far away from the load platform, and to perform strict magnetic cleaning treatment on the load platform, which is a main technical means for removing magnetic field disturbances and acquiring high-precision magnetic measurement data. However, the magnetic field detection in place on the surface of the Mars by using the Mars is limited by the reliability design, cost, engineering implementation difficulty and other aspects of the Mars, and the design of the long extension rod or the strict magnetic cleaning of the Mars is often not easy to realize in engineering technology. Therefore, under the condition of no long extension rod, the detection of in-place weak magnetic field signals by using a Mars vehicle which is not subjected to magnetic cleaning is an important challenge, and is one of the development trends of future deep space magnetic field detection.
Before the first task is launched, the magnetic field calibration is carried out on the magnetometer and the whole Mars vehicle on the ground, and the background magnetic field data of the Mars vehicle are measured. However, the Mars are affected by the transmitting process and different detection environments, the background magnetic field of the Mars is also changed, and only the ground calibration result is often not used for deducting the interference magnetic field in the detection data, so that the effectiveness and the accuracy of the on-orbit detection data are greatly affected, and on-orbit calibration is needed. The rotation vector method is an effective method for determining the background weak magnetic field signal on orbit, however, the whole load platform rotates in situ in each detection process, which is often difficult to realize in-situ magnetic field detection of the surface magnetic field of the planet, and therefore, the method cannot be directly used in the extraction of the weak magnetic field signal of the Mars.
Disclosure of Invention
In view of the above, the present invention provides a method and apparatus for determining a Mars surface magnetic field signal.
According to a first aspect of the present invention, there is provided a method of determining a Mars surface magnetic field signal, comprising: under the condition that the attitude angle of the Mars is determined to be a first preset angle, the Mars mast is made to execute two preset rotating actions to perform two magnetic field measurements, and a first measurement result and a second measurement result are respectively obtained; under the condition that the attitude angle of the Mars is determined to be a second preset angle, the Mars mast is made to execute the twice preset rotating actions to perform twice magnetic field measurement, and a third measurement result and a fourth measurement result are respectively obtained; under the condition that the attitude angle of the Mars is determined to be a third preset angle, the Mars mast is made to execute the twice preset rotating actions so as to conduct twice magnetic field measurement, and a fifth measurement result and a sixth measurement result are respectively obtained; and determining a horizontal component of the Mars surface magnetic field signal and a vertical component of the Mars surface magnetic field signal from the first measurement result, the second measurement result, the third measurement result, the fourth measurement result, the fifth measurement result, and the sixth measurement result.
According to an embodiment of the present invention, when determining that the attitude angle of the Mars vehicle is the first preset angle, the performing the two preset rotations on the Mars mast to perform the two magnetic field measurements, respectively obtaining the first measurement result and the second measurement result includes: enabling a Mars mast to execute a first preset rotation action so as to obtain a first measurement result according to a sensor mounted on the Mars mast; and enabling the Mars mast to execute a second preset rotating action so as to obtain the second measurement result according to a sensor mounted on the Mars mast.
According to an embodiment of the present invention, the first preset angle is zero degrees, the second preset angle is ninety degrees, and the third preset angle is one hundred eighty degrees.
According to an embodiment of the invention, the first preset rotational motion is a mast yaw motion and the second preset rotational motion is a mast pitch motion.
According to an embodiment of the invention, the mast yaw action comprises rotating the mast yaw angle from zero degrees to ninety degrees, and returning from ninety degrees to zero degrees; the mast pitching action includes rotating the mast pitch angle from zero degrees to thirty degrees and back from thirty degrees to zero degrees.
According to an embodiment of the present invention, the determining the horizontal component of the Mars surface magnetic field signal and the vertical component of the Mars surface magnetic field signal according to the first measurement result, the second measurement result, the third measurement result, the fourth measurement result, the fifth measurement result, and the sixth measurement result includes: determining a first spark background and a magnetic field composite field horizontal component to be measured by a magnetometer, a second spark background and a magnetic field composite field horizontal component to be measured by the magnetometer, and a third spark background and a magnetic field composite field horizontal component to be measured by the magnetometer according to the first measurement result, the third measurement result and the fifth measurement result respectively; and determining the horizontal component of the Mars surface magnetic field signal according to the first Mars background and the magnetic field synthesized field horizontal component to be measured by the magnetometer, the second Mars background and the magnetic field synthesized field horizontal component to be measured by the magnetometer, and the third Mars background and the magnetic field synthesized field horizontal component to be measured by the magnetometer.
According to an embodiment of the present invention, the determining the horizontal component of the Mars surface magnetic field signal and the vertical component of the Mars surface magnetic field signal according to the first measurement result, the second measurement result, the third measurement result, the fourth measurement result, the fifth measurement result, and the sixth measurement result includes: and determining the vertical component of the Mars surface magnetic field signal according to the second measurement result, the fourth measurement result and the sixth measurement result.
A second aspect of the present invention provides a device for determining a magnetic field signal of a Mars surface, comprising: the first obtaining module is used for enabling the Mars mast to execute two preset rotating actions to conduct two magnetic field measurements under the condition that the attitude angle of the Mars is determined to be a first preset angle, and obtaining a first measurement result and a second measurement result respectively; the second obtaining module is used for enabling the Mars mast to execute the twice preset rotating actions to perform twice magnetic field measurement under the condition that the attitude angle of the Mars is determined to be a second preset angle, so that a third measurement result and a fourth measurement result are respectively obtained; the third obtaining module is used for enabling the Mars mast to execute the twice preset rotating actions to perform twice magnetic field measurement under the condition that the attitude angle of the Mars is determined to be a third preset angle, so as to obtain a fifth measurement result and a sixth measurement result respectively; and a first determining module configured to determine a horizontal component of the Mars surface magnetic field signal and a vertical component of the Mars surface magnetic field signal according to the first measurement result, the second measurement result, the third measurement result, the fourth measurement result, the fifth measurement result, and the sixth measurement result.
A third aspect of the present invention provides an electronic device comprising: one or more processors; and a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the methods disclosed above.
A fourth aspect of the invention also provides a computer readable storage medium having stored thereon executable instructions which when executed by a processor cause the processor to perform the method disclosed above.
Drawings
The foregoing and other objects, features and advantages of the invention will be apparent from the following description of embodiments of the invention with reference to the accompanying drawings, in which:
FIG. 1 schematically illustrates a flow chart of a method of determining a Mars surface magnetic field signal in accordance with an embodiment of the invention;
fig. 2 schematically shows a block diagram of a determination device of a Mars surface magnetic field signal according to an embodiment of the invention; and
fig. 3 schematically shows a block diagram of an electronic device adapted to implement a method of determining a magnetic field signal of a Mars surface according to an embodiment of the invention.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. 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 invention. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The terms "comprises," "comprising," and/or 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 unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.
Where expressions like at least one of "A, B and C, etc. are used, the expressions should generally be interpreted in accordance with the meaning as commonly understood by those skilled in the art (e.g.," a system having at least one of A, B and C "shall include, but not be limited to, a system having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).
A method of determining the magnetic field signal of the Mars surface of the disclosed embodiment will be described in detail with reference to fig. 1.
Fig. 1 schematically shows a flow chart of a method of determining a Mars surface magnetic field signal according to an embodiment of the invention. As shown in FIG. 1, the embodiment includes operations S101-S104.
In operation S101, in case that it is determined that the attitude angle of the Mars vehicle is a first preset angle, the Mars mast is made to perform two preset rotating actions to perform two magnetic field measurements, and a first measurement result and a second measurement result are obtained, respectively.
For example, in the case of determining that the attitude angle of the Mars is a first preset angle, causing the Mars mast to perform a first preset rotation action to obtain a first measurement result from a sensor mounted on the Mars mast; and enabling the Mars mast to execute a second preset rotating action so as to obtain a second measurement result according to the sensor mounted on the Mars mast.
The sensor may be a fluxgate magnetometer, which is a sensor that uses the fluxgate effect to measure vector magnetic fields.
The first predetermined angle may be zero degrees, or ninety degrees, or one hundred eighty degrees.
The first preset rotation motion may be a mast yaw motion, which may include rotating the mast yaw angle from zero degrees to ninety degrees, and back from ninety degrees to zero degrees. It will be appreciated that the mast yaw angle may also be rotated from zero degrees to eighty-five degrees or ninety-five degrees and back to zero degrees, as is not limited.
The second preset rotation may be a mast pitching motion, which may include rotating the mast pitch angle from zero degrees to thirty degrees, and back from thirty degrees to zero degrees. It will be appreciated that the mast pitch angle may also be rotated from zero degrees to twenty-seven degrees or thirty-two degrees and back to zero degrees, as is not limited.
In operation S102, in case that it is determined that the attitude angle of the Mars vehicle is the second preset angle, the Mars mast is made to perform the preset rotating action twice to perform the magnetic field measurement twice, and the third measurement result and the fourth measurement result are obtained, respectively.
For example, in the case where the attitude angle of the Mars is determined to be the second preset angle, the Mars mast is caused to perform the first preset rotation action to obtain a third measurement result according to the sensor mounted on the Mars mast; and enabling the Mars mast to execute the second preset rotating action so as to obtain a fourth measuring result according to the sensor mounted on the Mars mast.
The second predetermined angle may be zero degrees, or ninety degrees, or one hundred eighty degrees. It should be noted that the second preset angle is different from the first preset angle.
In operation S103, in case that it is determined that the attitude angle of the Mars vehicle is the third preset angle, the Mars mast is made to perform the preset rotating action twice to perform the magnetic field measurement twice, and the fifth measurement result and the sixth measurement result are obtained, respectively.
The third predetermined angle may be zero degrees, or ninety degrees, or one hundred eighty degrees. It should be noted that the third preset angle is different from the first preset angle and the second preset angle.
For example, when the attitude angle of the Mars is determined to be a third preset angle, the Mars mast is caused to execute the first preset rotation operation to obtain a fifth measurement result according to a sensor mounted on the Mars mast; and enabling the Mars mast to execute the second preset rotating action so as to obtain a sixth measuring result according to the sensor mounted on the Mars mast.
In operation S104, a horizontal component of the Mars surface magnetic field signal and a vertical component of the Mars surface magnetic field signal are determined according to the first, second, third, fourth, fifth, and sixth measurement results.
For example, determining a first Mars background and a magnetic field composite field horizontal component to be measured by the magnetometer, a second Mars background and a magnetic field composite field horizontal component to be measured by the magnetometer, and a third Mars background and a magnetic field composite field horizontal component to be measured by the magnetometer according to the first measurement result, the third measurement result and the fifth measurement result respectively; and determining the horizontal component of the Mars surface magnetic field signal according to the first Mars background and the magnetic field composite field horizontal component to be measured by the magnetometer, the second Mars background and the magnetic field composite field horizontal component to be measured by the magnetometer, and the third Mars background and the magnetic field composite field horizontal component to be measured by the magnetometer.
For example, the vertical component of the Mars surface magnetic field signal is determined based on the second measurement result, the fourth measurement result, and the sixth measurement result.
It can be understood that the extraction of the weak magnetic field signal on the planet surface, and the extraction and separation of the disturbing magnetic field of the Mars background (i.e. the non-rotating part) are key to the extraction of the weak magnetic signal on the in-orbit background.
In this embodiment, the sensor fluxgate magnetometer may be mounted on the pitman pitching mechanism, so that the resultant vector of the magnetic field to be measured of the magnetic background of the Mars and the magnetometer can be determined through pitching and yaw rotation of the mast, such as the resultant field horizontal component of the magnetic field to be measured of the magnetic background of the first Mars and the magnetometer, the resultant field horizontal component of the magnetic field to be measured of the magnetic background of the second Mars and the magnetometer, and the resultant field horizontal component of the magnetic field to be measured of the third Mars and the magnetometer.
The magnetic field to be measured is a Mars background magnetic field which is an effective measuring target of the magnetometer, and the train background magnetic field is an interference magnetic field which needs to be subtracted. In order to further extract the magnetic field to be measured, the horizontal component and the vertical component of the magnetic field signal on the surface of the Mars are determined, and the Mars are required to do mast rotation actions under at least three or more different attitude angles (the adjacent yaw angles of the Mars are not less than ninety degrees) respectively, so that the Mars background magnetic field and the magnetic field to be measured can be separated. The pitching and yaw rotation combined modes are simple and feasible to operate, can be used as an on-orbit calibration working condition of a magnetometer in the positioning detection process of the Mars, and are used for obtaining a background magnetic field of the Mars, so that an effective magnetic field to be detected is obtained after the background magnetic field is subtracted from original detection data as an interference magnetic field.
For example, step one: the magnetic field at zero attitude angle (e.g., based on the state prior to calibration of relative rotation) is measured as follows.
And I, powering up the zero load controller, which is used for controlling the wheels, the masts and the cradle head of the Mars, and powering up and preheating the magnetometer for 30min.
And (2) powering up the mast drive, performing yaw action on the mast, rotating the yaw angle from 0 degree to 90 degrees, returning to a zero position from 90 degrees, and calculating the horizontal component of the combined field of the spark background and the magnetic field to be measured of the magnetometer according to a formula I.
Wherein, the liquid crystal display device comprises a liquid crystal display device,
for the magnetic field to be measured of Mars background and magnetometer to synthesize the field horizontal component, +.>
For the gesture conversion matrix from the sensor coordinate system to the Mars coordinate system, +.>
Determining ∈m according to the rotation angle of the mast>
For the measurement result of the sensor, e.g. the first measurement result,/->
Is a mast interference field.
And III, operating the mast to perform pitching action, wherein the spreading angle is from 0 DEG to front to 30 DEG, then returning to zero position from 30 DEG, powering off the mast, and calculating the vertical component of the magnetic field to be measured of the magnetometer by using the second indication.
Wherein, the liquid crystal display device comprises a liquid crystal display device,
the vertical component of the magnetic field to be measured of the magnetometer can be used as the vertical component of the magnetic field signal of the Mars surface,/for the magnetometer>
The system is a gesture transformation matrix from a Mars coordinate system to a Mars geographic coordinate system; />
A measurement result of the sensor, such as a second measurement result; />
Interfering a magnetic field for the mast; />
The gesture matrix from the Mars coordinate system to the sensor coordinate system; />
A matrix describing the center of the magnetic moment and the position of the sensor;Mbackground magnetic moment for Mars. />
Can be determined by equation three.
Wherein, the liquid crystal display device comprises a liquid crystal display device,
for permeability in vacuum, r is the position vector from the bottom center of the Mars mast to the sensor, +.>
、
、/>
The unit vectors are respectively the position vectors r under the Mars coordinate system.
Step two: the magnetic field at ninety degrees of the Mars attitude angle (e.g., relative rotation is referenced to the state prior to calibration) is measured as follows.
And I, operating the Mars to turn back to zero and turn off from the initial 0-degree yaw rotation +90 DEG to the attitude yaw angle +90 DEG Mars wheels.
And II, repeating the operation in the step I, calculating the horizontal component of the combined field of the spark background and the magnetic field to be measured of the magnetometer, and calculating the vertical component of the magnetic field to be measured of the magnetometer.
It will be appreciated that the calculations are still performed using equations one and two,
still the measurement result of the sensor, in this step, e.g. the third measurement result, the fourth measurement result。
Step three: the magnetic field at a one hundred eighty degree attitude angle of the Mars (e.g., based on the state prior to calibration of relative rotation) is measured as follows.
And I, operating the Mars, namely turning the Mars from +90 DEG yaw rotation +90 DEG to the attitude yaw angle +180 DEG, and turning back to zero and powering off the Mars.
And II, repeating the operation in the step I, calculating the horizontal component of the combined field of the spark background and the magnetic field to be measured of the magnetometer, and calculating the vertical component of the magnetic field to be measured of the magnetometer.
It will be appreciated that the calculations are still performed using equations one and two,
still the measurement result of the sensor, in this step, for example, the fifth measurement result, the sixth measurement result.
Step four: the horizontal component of the Mars surface magnetic field signal and the vertical component of the Mars surface magnetic field signal are determined.
And I, operating the posture of the Mars from +180 DEG yaw rotation +180 DEG to +360 DEG attitude yaw angle (0 DEG initial), and turning back to zero and powering off the Mars wheels.
And II, separating the Mars background magnetic field from the horizontal component of the magnetic field to be measured by the magnetometer according to a formula IV.
Wherein, the liquid crystal display device comprises a liquid crystal display device,
the horizontal component of the magnetic field to be measured is a magnetometer, and can be used as the horizontal component of the Mars surface magnetic field signal. />
Is a gesture transformation matrix from a Mars coordinate system to a Mars geographic coordinate system, and is +.>
And determining according to the yaw angle of the Mars. />
For the combined field horizontal component of the magnetic field to be measured of the Mars background and the magnetometer, a first Mars background and the combined field horizontal component of the magnetic field to be measured of the magnetometer, a second Mars background and the combined field horizontal component of the magnetic field to be measured of the magnetometer, and a third Mars background and the combined field horizontal component of the magnetic field to be measured of the magnetometer are determined according to a first measurement result, a third measurement result and a fifth measurement result respectively by adopting a formula I. />
The magnetic field is disturbed for the background of the Mars.
It can be understood that under the condition of different Mars attitude angles (zero degrees, ninety degrees and one hundred eighty degrees), the fourth equation can be expanded into a linear equation set, and the measurement results (such as the first measurement result, the third measurement result and the fifth measurement result) of different sensors are substituted into the first equation to solve
Then according to the linear equation system obtained by the fourth expansion of the formula, the +.>
And
thus separating the horizontal components of the magnetic field to be measured of the Mars background magnetic field and the magnetometer, and determining the horizontal components of the magnetic field signals of the Mars surface.
Operation III, it can be appreciated that equation II can be extended to a system of linear equations that can be solved based on the measurements of different sensors (e.g., the second measurement, the fourth measurement, and the sixth measurement) and the system of linear equations obtained by extension of equation II
Thereby determining the vertical component of the Mars surface magnetic field signal.
The embodiment of the invention provides a method for determining a Mars surface magnetic field signal, which can determine the horizontal component of the Mars surface magnetic field signal and the vertical component of the Mars surface magnetic field signal in a complex electromagnetic environment, thereby extracting the Mars surface weak magnetic field signal and effectively overcoming the complex requirements of a traditional rotation vector method on a rotation mode and a rotation angle.
Fig. 2 schematically shows a block diagram of a determination device of a Mars surface magnetic field signal according to an embodiment of the invention.
As shown in fig. 2, the determining apparatus 200 of the Mars surface magnetic field signal of this embodiment includes a first obtaining module 210, a second obtaining module 220, a third obtaining module 230, and a first determining module 240.
The first obtaining module 210 is configured to, when determining that the attitude angle of the Mars vehicle is a first preset angle, cause the Mars mast to perform two preset rotation actions to perform two magnetic field measurements, so as to obtain a first measurement result and a second measurement result respectively; the second obtaining module 220 is configured to, when determining that the attitude angle of the Mars vehicle is a second preset angle, make the Mars mast perform two preset rotation actions to perform two magnetic field measurements, so as to obtain a third measurement result and a fourth measurement result respectively; a third obtaining module 230, configured to, when determining that the attitude angle of the Mars vehicle is a third preset angle, cause the Mars mast to perform two preset rotation actions to perform two magnetic field measurements, so as to obtain a fifth measurement result and a sixth measurement result respectively; and a first determining module 240 for determining a horizontal component of the Mars surface magnetic field signal and a vertical component of the Mars surface magnetic field signal based on the first measurement result, the second measurement result, the third measurement result, the fourth measurement result, the fifth measurement result, and the sixth measurement result.
In some embodiments, the first obtaining module comprises: the first measurement submodule is used for enabling the Mars mast to execute a first preset rotation action so as to obtain a first measurement result according to a sensor carried on the Mars mast; and the second measurement submodule is used for enabling the Mars mast to execute a second preset rotating action so as to obtain a second measurement result according to the sensor mounted on the Mars mast.
In some embodiments, the first preset angle is zero degrees, the second preset angle is ninety degrees, and the third preset angle is one hundred eighty degrees.
In some embodiments, the first preset rotational motion is a mast yaw motion and the second preset rotational motion is a mast pitch motion.
In some embodiments, the mast yaw action includes rotating the mast yaw angle from zero degrees to ninety degrees, and returning from ninety degrees to zero degrees; the mast pitching action includes rotating the mast pitch angle from zero degrees to thirty degrees and back from thirty degrees to zero degrees.
In some embodiments, the first determining module comprises: the first determining submodule is used for determining a first spark background and magnetic field composite field horizontal component to be measured by the magnetometer, a second spark background and magnetic field composite field horizontal component to be measured by the magnetometer, and a third spark background and magnetic field composite field horizontal component to be measured by the magnetometer according to the first measurement result, the third measurement result and the fifth measurement result respectively; the second determining submodule is used for determining the horizontal component of the Mars surface magnetic field signal according to the horizontal component of the magnetic field composite field to be detected by the first Mars background and the magnetometer, the horizontal component of the magnetic field composite field to be detected by the second Mars background and the magnetometer and the horizontal component of the magnetic field composite field to be detected by the third Mars background and the magnetometer
In some embodiments, the first determining module comprises: and a third determination sub-module for determining a vertical component of the Mars surface magnetic field signal based on the second measurement result, the fourth measurement result, and the sixth measurement result.
Any of the first obtaining module 210, the second obtaining module 220, the third obtaining module 230, and the first determining module 240 may be combined in one module to be implemented, or any of the modules may be split into a plurality of modules according to an embodiment of the present invention. Alternatively, at least some of the functionality of one or more of the modules may be combined with at least some of the functionality of other modules and implemented in one module. According to embodiments of the present invention, at least one of the first obtaining module 210, the second obtaining module 220, the third obtaining module 230, and the first determining module 240 may be implemented at least in part as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in hardware or firmware in any other reasonable way of integrating or packaging the circuits, or in any one of or a suitable combination of three of software, hardware, and firmware. Alternatively, at least one of the first obtaining module 210, the second obtaining module 220, the third obtaining module 230, and the first determining module 240 may be at least partially implemented as a computer program module, which when executed may perform the respective functions.
Fig. 3 schematically shows a block diagram of an electronic device adapted to implement a method of determining a magnetic field signal of a Mars surface according to an embodiment of the invention.
As shown in fig. 3, an electronic device 300 according to an embodiment of the present invention includes a processor 301 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 302 or a program loaded from a storage section 308 into a Random Access Memory (RAM) 303. Processor 301 may include, for example, a general purpose microprocessor (e.g., a CPU), an instruction set processor and/or an associated chipset and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), or the like. Processor 301 may also include on-board memory for caching purposes. Processor 301 may include a single processing unit or multiple processing units for performing the different actions of the method flows according to embodiments of the invention.
In the RAM 303, various programs and data required for the operation of the electronic apparatus 300 are stored. The processor 301, the ROM302, and the RAM 303 are connected to each other via a bus 304. The processor 301 performs various operations of the method flow according to the embodiment of the present invention by executing programs in the ROM302 and/or the RAM 303. Note that the program may be stored in one or more memories other than the ROM302 and the RAM 303. The processor 301 may also perform various operations of the method flow according to embodiments of the present invention by executing programs stored in the one or more memories.
According to an embodiment of the invention, the electronic device 300 may further comprise an input/output (I/O) interface 305, the input/output (I/O) interface 305 also being connected to the bus 304. The electronic device 300 may also include one or more of the following components connected to the I/O interface 305: an input section 306 including a keyboard, a mouse, and the like; an output portion 307 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 308 including a hard disk or the like; and a communication section 309 including a network interface card such as a LAN card, a modem, or the like. The communication section 309 performs communication processing via a network such as the internet. The drive 310 is also connected to the I/O interface 305 as needed. A removable medium 311 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed on the drive 310 as needed, so that a computer program read therefrom is installed into the storage section 308 as needed.
The present invention also provides a computer-readable storage medium that may be embodied in the apparatus/device/system described in the above embodiments; or may exist alone without being assembled into the apparatus/device/system. The computer-readable storage medium carries one or more programs which, when executed, implement methods in accordance with embodiments of the present invention.
According to embodiments of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium, which may include, for example, but is not limited to: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. For example, according to an embodiment of the invention, the computer-readable storage medium may include ROM302 and/or RAM 303 and/or one or more memories other than ROM302 and RAM 303 described above.
Embodiments of the present invention also include a computer program product comprising a computer program containing program code for performing the method shown in the flowcharts. The program code means for causing a computer system to carry out the method for determining a Mars surface magnetic field signal provided by an embodiment of the present invention when the computer program product is run in the computer system.
The above-described functions defined in the system/apparatus of the embodiment of the present invention are performed when the computer program is executed by the processor 301. The systems, apparatus, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the invention.
In one embodiment, the computer program may be based on a tangible storage medium such as an optical storage device, a magnetic storage device, or the like. In another embodiment, the computer program may also be transmitted, distributed over a network medium in the form of signals, downloaded and installed via the communication part 309, and/or installed from the removable medium 311. The computer program may include program code that may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 309, and/or installed from the removable medium 311. The above-described functions defined in the system of the embodiment of the present invention are performed when the computer program is executed by the processor 301. The systems, devices, apparatus, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the invention.
According to embodiments of the present invention, program code for carrying out computer programs provided by embodiments of the present invention may be written in any combination of one or more programming languages, and in particular, such computer programs may be implemented in high-level procedural and/or object-oriented programming languages, and/or in assembly/machine languages. Programming languages include, but are not limited to, such as Java, c++, python, "C" or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Those skilled in the art will appreciate that the features recited in the various embodiments and/or claims of the invention can be combined in a variety of ways, even if such combinations or combinations are not explicitly recited in the present invention. In particular, the features recited in the various embodiments and/or claims of the present invention can be combined and/or combined in various ways without departing from the spirit and teachings of the invention. All such combinations and/or combinations fall within the scope of the invention.
The embodiments of the present invention are described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the invention is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the invention, and such alternatives and modifications are intended to fall within the scope of the invention.
Claims (10)
1. A method of determining a Mars surface magnetic field signal, comprising:
under the condition that the attitude angle of the Mars is determined to be a first preset angle, the Mars mast is made to execute two preset rotating actions to perform two magnetic field measurements, and a first measurement result and a second measurement result are respectively obtained;
under the condition that the attitude angle of the Mars is determined to be a second preset angle, the Mars mast is made to execute the twice preset rotating actions to perform twice magnetic field measurement, and a third measurement result and a fourth measurement result are respectively obtained;
under the condition that the attitude angle of the Mars is determined to be a third preset angle, the Mars mast is made to execute the twice preset rotating actions so as to conduct twice magnetic field measurement, and a fifth measurement result and a sixth measurement result are respectively obtained; and
and determining a horizontal component of the Mars surface magnetic field signal and a vertical component of the Mars surface magnetic field signal according to the first measurement result, the second measurement result, the third measurement result, the fourth measurement result, the fifth measurement result and the sixth measurement result.
2. The method of claim 1, wherein, in the case of determining that the attitude angle of the Mars vehicle is the first preset angle, causing the Mars mast to perform two preset rotations to perform two magnetic field measurements, respectively obtaining the first measurement result and the second measurement result comprises:
enabling a Mars mast to execute a first preset rotation action so as to obtain a first measurement result according to a sensor mounted on the Mars mast; and
and enabling the Mars mast to execute a second preset rotating action so as to obtain the second measurement result according to the sensor mounted on the Mars mast.
3. The method of claim 1, wherein the first preset angle is zero degrees, the second preset angle is ninety degrees, and the third preset angle is one hundred eighty degrees.
4. The method of claim 2, wherein the first preset rotational motion is a mast yaw motion and the second preset rotational motion is a mast pitch motion.
5. The method of claim 4, wherein the mast yaw action comprises rotating a mast yaw angle from zero degrees to ninety degrees, and returning from ninety degrees to zero degrees; the mast pitching action includes rotating the mast pitch angle from zero degrees to thirty degrees and back from thirty degrees to zero degrees.
6. The method of claim 2, wherein the determining the horizontal component of the spark surface magnetic field signal and the vertical component of the spark surface magnetic field signal from the first measurement, the second measurement, the third measurement, the fourth measurement, the fifth measurement, and the sixth measurement comprises:
determining a first spark background and a magnetic field composite field horizontal component to be measured by a magnetometer, a second spark background and a magnetic field composite field horizontal component to be measured by the magnetometer, and a third spark background and a magnetic field composite field horizontal component to be measured by the magnetometer according to the first measurement result, the third measurement result and the fifth measurement result respectively;
and determining the horizontal component of the Mars surface magnetic field signal according to the horizontal component of the magnetic field synthesized field to be detected by the first Mars vehicle background and the magnetometer, the horizontal component of the magnetic field synthesized field to be detected by the second Mars vehicle background and the magnetometer, and the horizontal component of the magnetic field synthesized field to be detected by the third Mars vehicle background and the magnetometer.
7. The method of claim 2, wherein the determining the horizontal component of the spark surface magnetic field signal and the vertical component of the spark surface magnetic field signal from the first measurement, the second measurement, the third measurement, the fourth measurement, the fifth measurement, and the sixth measurement comprises:
and determining the vertical component of the Mars surface magnetic field signal according to the second measurement result, the fourth measurement result and the sixth measurement result.
8. A device for determining a magnetic field signal of a Mars surface, comprising:
the first obtaining module is used for enabling the Mars mast to execute two preset rotating actions to conduct two magnetic field measurements under the condition that the attitude angle of the Mars is determined to be a first preset angle, and obtaining a first measurement result and a second measurement result respectively;
the second obtaining module is used for enabling the Mars mast to execute the twice preset rotating actions to perform twice magnetic field measurement under the condition that the attitude angle of the Mars is determined to be a second preset angle, so that a third measurement result and a fourth measurement result are respectively obtained;
the third obtaining module is used for enabling the Mars mast to execute the twice preset rotating actions to perform twice magnetic field measurement under the condition that the attitude angle of the Mars is determined to be a third preset angle, so as to obtain a fifth measurement result and a sixth measurement result respectively; and
and the first determining module is used for determining the horizontal component of the Mars surface magnetic field signal and the vertical component of the Mars surface magnetic field signal according to the first measurement result, the second measurement result, the third measurement result, the fourth measurement result, the fifth measurement result and the sixth measurement result.
9. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 7.
10. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1 to 7.
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