CN202975350U - Magnetic target locating device based on five three-axis vector magnetic sensors - Google Patents

Abstract

The utility model discloses a magnetic target locating device based on five three-axis vector magnetic sensors. A measurement array formed by five three-axis vector magnetic sensors is used for locating a magnetic target, simultaneously the device comprises a data acquisition module and a data processing module, and in case of need, the device also may comprise a locating result display module. The magnetic measurement array formed by the five vector magnetic sensors is used to measure the magnetic induction strength on some point around the magnetic target, and then the 15 paths of magnetic signals are subjected to data acquisition by the data acquisition module, and then the acquired data is sent to a data process and analysis module to computer the magnetic moment, therefore the relative position of the magnetic target and the measurement point is obtained. The magnetic target is located by the device, and the single-point real-time measurement is performed with relatively high measurement precision.

Description

Magnetic target locating device based on five three axis vector magnetic sensors

Technical field

The utility model relates to a kind of high-precision magnetic target locating device, is specifically related to a kind of magnetic target locating device based on five three axis vector magnetic sensors, belongs to the magnetic measurement field.

Background technology

The magnetic detection technology is widely used in the fields such as navigator fix, geologic prospecting, biologic medical, raising of a wreck.The magnetic orientation technology is one of core technology of magnetic detection technology.

At present the most frequently used magnetic positioning method, derive corresponding ranging formula according to the magnetic target magnetic field model of setting up exactly, and then position according to measured magnetic field value and find the solution.This is actually a refutation process, relates to and finds the solution Nonlinear System of Equations, and common method for solving has neural network, the stepwise regression method, and Genetic algorithm searching is found the solution, and POWELL method, genetic algorithm and simplicial method are united and are found the solution etc.

Above-mentioned this traditional magnetic positioning method exists data volume large, calculation of complex, the shortcoming such as solving result is unstable, and real-time is poor, and positioning error is large.

Summary of the invention

In view of this, the utility model proposes a kind of magnetic target locating device based on five three axis vector magnetic sensors, the utilization of this device is comprised of five three axis vector magnetic sensors the magnetic moment that magnetic gradient Tensor measuring array is measured magnetic target, and bearing accuracy is high, and calculating simplicity.

This measurement mechanism comprises magnetic gradient Tensor measuring array, data acquisition module and data processing module.

Described magnetic gradient Tensor measuring array is comprised of five three axis vector magnetic sensors, and when arranging magnetic gradient Tensor measuring array, three axis vector magnetic sensors that are positioned at the sensing point place are reference sensor.Other three axis vector magnetic sensor is distributed in around reference sensor, is reference sensor.If three sensitive axes directions of reference sensor be respectively x to, y to z to, should guarantee when arranging magnetic gradient Tensor measuring array: arrange at least reference sensor on both direction; When arranging reference sensor on certain direction, guarantee that the make progress reference sensor of forward and negative sense of the party is arranged symmetrically with; Each reference sensor all equates with distance between reference sensor; Three sensitive axes that all three axis vector magnetic sensors are corresponding are parallel mutually.

Described data acquisition module carries out data acquisition to 15 road magnetic signals of five three axis vector magnetic sensors simultaneously.

Described data processing module is connected with data acquisition module, data acquisition module sends to data processing module with the data that collect, data processing module carries out magnetic moment according to the data that receive and resolves, thereby obtains the relative position relation of magnetic target and sensing point.

For display measurement result intuitively, this device further comprises the positioning result display module, and the positioning result display module is connected with data processing module, is used for showing the positioning result of data processing module output.

Beneficial effect

This device utilizes to be comprised of five three-component vector Magnetic Sensors measures the magnetic moment measurement that array carries out magnetic target, the location

Method is simple, bearing accuracy is high and convenient and swift.

Description of drawings

The theory diagram of this device of Fig. 1;

The structural representation of the magnetic survey array that five three axis vector magnetic sensors of Fig. 2 form;

The design sketch of Fig. 3 for adopting this device that magnetic target is positioned.

Embodiment

Below in conjunction with the accompanying drawing embodiment that develops simultaneously, the utility model is described in detail.

The present embodiment provides a kind of magnetic target magnetic moment measurement device based on five three axis vector magnetic sensors, and the magnetic gradient Tensor measuring array that this device utilizes five three axis vector magnetic sensors to form is measured the magnetic moment of magnetic target.

The measurement mechanism that the present embodiment provides comprises magnetic gradient Tensor measuring array, data acquisition module, data processing module and magnetic moment display module, as shown in Figure 1.

Wherein the arrangement of magnetic gradient Tensor measuring array as shown in Figure 2, the numbering of establishing five three axis vector magnetic sensors is respectively No. 1～No. 5.As reference sensor, other three axis vector magnetic sensor is as the reference sensor with No. 1 three axis vector magnetic sensors being arranged in the sensing point place.If three sensitive axes directions of reference sensor be respectively x to, y to z to, set up coordinate system xyz, three sensitive axes that all three axis vector magnetic sensors are corresponding are parallel mutually.In four reference sensors No. 2 and No. 4 three axis vector magnetic sensors be arranged in x to forward and negative sense, No. 3 and No. 5 three axis vector magnetic sensors be arranged in y to forward and negative sense; Distance between four reference sensors and reference sensor is d.

Data acquisition module carries out data acquisition to 15 road magnetic signals of five three axis vector magnetic sensors simultaneously, and the data of five three axis vector magnetic sensor outputs are respectively: (B _1x, B _1Y, B _1z), (B _2x, B _2y, B _2z), (B _3x, B _3y, B _3z), (B _4x, B _4y, B _4z), (B _5x, B _5y, B _5z); B wherein _abRepresent the magnetic induction density on the b direction that a three axis vector magnetic sensors record, a=1,2,3,4,5, b=x, y, z, wherein the magnetic induction density B of magnetic target at the sensing point place is the magnetic signal of reference sensor output: (B _1x, B _1y, B _1z).

Data processing module is connected with data acquisition module, and data acquisition module sends to data processing module with the data that collect, and data processing module carries out magnetic moment according to the data that receive and resolves, thereby draws three axle magnetic moments of magnetic target.

The settlement process of data processing module comprises:

(1) calculate magnetic target at the magnetic gradient tensor G at sensing point place

Magnetic field is vector field, has magnetic field around magnetic target, and the second-order tensor in magnetic field is called the magnetic gradient tensor, is designated as G.The expression formula of magnetic gradient tensor G is:

$G=\left[\begin{array}{ccc}\frac{{\∂B}_x}{\∂x}& \frac{{\∂B}_x}{\∂y}& \frac{{\∂B}_x}{\∂z}\\ \frac{{\∂B}_y}{\∂x}& \frac{{\∂B}_y}{\∂y}& \frac{{\∂B}_y}{\∂z}\\ \frac{{\∂B}_z}{\∂x}& \frac{{\∂B}_z}{\∂y}& \frac{{\∂B}_z}{\∂z}\end{array}\right]=\left[\begin{array}{ccc}{B}_{\mathrm{xx}}& B_{\mathrm{xy}}& B_{\mathrm{xz}}\\ B_{\mathrm{yx}}& B_{\mathrm{yy}}& B_{\mathrm{yz}}\\ B_{\mathrm{zx}}& B_{\mathrm{zy}}& B_{\mathrm{zz}}\end{array}\right]---\left(1\right)$

B wherein _ijThe derivative (i=x, y, z, j=x, y, z) of magnetic induction density on the j direction on expression i direction.

By Theory of Electromagnetic Field, the magnetic field that magnetic bodies produces is passive irrotational field, and therefore, the matrix of magnetic gradient tensor G has symmetry, namely when i ≠ j, and B _ij=B _ji, and B is arranged _zz-B _xx-B _yy=0

Have:

$\left\{\begin{array}{c}{B}_{\mathrm{xy}}=B_{\mathrm{yx}}\\ B_{\mathrm{xz}}=B_{\mathrm{zx}}\\ B_{\mathrm{yz}}=B_{\mathrm{zx}}\\ B_{\mathrm{zz}}=-B_{\mathrm{xx}}-B_{\mathrm{yy}}\end{array}\right.$

Magnetic target at the magnetic gradient tensor G at sensing point place is:

$G=\left[\begin{array}{ccc}{B}_{\mathrm{xx}}\≈\frac{B_{2x}-B_{4x}}{2d}& B_{\mathrm{xy}}\≈\frac{B_{2y}-B_{4y}}{2d}& B_{\mathrm{xz}}\≈\frac{B_{2z}-B_{4z}}{2d}\\ B_{\mathrm{yx}}=\frac{B_{3x}-B_{5x}}{2d}& B_{\mathrm{yy}}\≈\frac{B_{3y}-B_{5y}}{2d}& B_{\mathrm{yz}}\≈\frac{B_{3z}-B_{5z}}{2d}\\ B_{\mathrm{zx}}\≈\frac{B_{2z}-B_{4z}}{2d}& B_{\mathrm{zy}}\≈\frac{B_{3z}-B_{5z}}{2d}& B_{\mathrm{zz}}\≈\frac{B_{4x}+B_{5y}-B_{2x}-B_{3y}}{2d}\end{array}\right]---\left(2\right)$

(2) utilize magnetic gradient tensor G and magnetic induction density B to calculate the relative position relation of magnetic gradient Tensor measuring array and magnetic target

Be magnetic dipole with magnetic target equivalence to be measured, take magnetic dipole as true origin, the distance of establishing between sensing point and magnetic dipole is

Have:

$\stackrel{\→}{r}=\left[\begin{array}{c}x\\ y\\ z\end{array}\right]={-3G}^{-1}B---\left(3\right)$

The magnetic target that step 2 is obtained is at sensing point place's magnetic induction density B and magnetic gradient tensor G substitution formula (3), and the position coordinates (x, y, z) of sensing point in take magnetic dipole (magnetic target) as the coordinate system of initial point is:

$\stackrel{\→}{r}=\left[\begin{array}{c}x\\ y\\ z\end{array}\right]=-3{\left[\begin{array}{ccc}{B}_{\mathrm{xx}}\≈\frac{B_{2x}-B_{4x}}{2d}& B_{\mathrm{xy}}\≈\frac{B_{2y}-B_{4y}}{2d}& B_{\mathrm{xz}}\≈\frac{B_{2z}-B_{4z}}{2d}\\ B_{\mathrm{yx}}\≈\frac{B_{3x}-B_{5x}}{2d}& B_{\mathrm{yy}}\≈\frac{B_{3y}-B_{5y}}{2d}& B_{\mathrm{yz}}\≈\frac{B_{3z}-B_{5z}}{2d}\\ B_{\mathrm{zx}}\≈\frac{B_{2z}-B_{4z}}{2d}& B_{\mathrm{zy}}\≈\frac{B_{3z}-B_{5z}}{2d}& B_{\mathrm{zz}}\≈\frac{B_{4x}+B_{5y}-B_{2x}-B_{3y}}{2d}\end{array}\right]}^{-1}\left[\begin{array}{c}{B}_{1x}\\ B_{1y}\\ B_{1z}\end{array}\right]---\left(4\right)$

The sensing point that calculates by formula (4) just can position magnetic target with respect to the coordinate position of magnetic target.

Adopt design sketch that this device positions certain magnetic target as shown in Figure 3.

In sum, these are only preferred embodiment of the present utility model, is not be used to limiting protection domain of the present utility model.All within spirit of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.

Claims (2)

1. based on the magnetic target locating device of five three axis vector magnetic sensors, it is characterized in that, comprise magnetic gradient Tensor measuring array, data acquisition module and data processing module;

Described magnetic gradient Tensor measuring array is comprised of five three axis vector magnetic sensors, and when arranging magnetic gradient Tensor measuring array, three axis vector magnetic sensors that are positioned at the sensing point place are reference sensor; Other three axis vector magnetic sensor is distributed in around reference sensor, is reference sensor; If three sensitive axes directions of reference sensor be respectively x to, y to z to, should guarantee when arranging magnetic gradient Tensor measuring array: arrange at least reference sensor on both direction; When arranging reference sensor on certain direction, guarantee that the make progress reference sensor of forward and negative sense of the party is arranged symmetrically with; Each reference sensor all equates with distance between reference sensor; Three sensitive axes that all three axis vector magnetic sensors are corresponding are parallel mutually;

Described data acquisition module carries out data acquisition to 15 road magnetic signals of five three axis vector magnetic sensors simultaneously;

Described data processing module is connected with data acquisition module, and data acquisition module sends to data processing module with the data that collect.

2. the magnetic target locating device based on five three axis vector magnetic sensors as claimed in claim 1, is characterized in that, further comprises the positioning result display module, and described positioning result display module is connected with data processing module.

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