CN206479651U - A kind of air-ground TEM reception systems with posture writing function - Google Patents
A kind of air-ground TEM reception systems with posture writing function Download PDFInfo
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- CN206479651U CN206479651U CN201720066824.8U CN201720066824U CN206479651U CN 206479651 U CN206479651 U CN 206479651U CN 201720066824 U CN201720066824 U CN 201720066824U CN 206479651 U CN206479651 U CN 206479651U
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Abstract
The utility model discloses a kind of air-ground TEM reception systems with posture writing function, reception system includes receiving coil, front-end circuit, signal acquisition module, MPU9250 postures logging modle, master controller and power supply, wherein receiving coil is connected with the input of front-end circuit, the output end of front-end circuit is connected with signal acquisition module, signal acquisition module is connected with master controller, and MPU9250 postures logging modle is also connected with master controller.Its method is：Step 1: receiving secondary field signal；Step 2: measurement initial data；Step 3: being divided into two branch road accesses；Step 4: nursing one's health secondary field signal；Step 5: secondary field signal acquisition；Step 6: being transmitted by serial communication to master controller；Step 7: completing DATA REASONING and storing process.Beneficial effect：Solve the problem of existing air-ground TEM detections can not record posture due to traditional inertial navigation volume, quality rotor craft carry inapplicable greatly.
Description
Technical field
The utility model is related to a kind of air-ground TEM reception systems, more particularly to a kind of air-ground with posture writing function
TEM reception systems.
Background technology
Currently, time-domain transient electromagnetic method (Time-domain Electromagnetic, abbreviation TEM) is that one kind is based on
The geophysical prospecting method of electromagnetic induction principle, the size and attenuation characteristic of the secondary field received according to receiver are analyzed
The distribution situation of underground medium.Reception system determines the quality of reception of secondary field data, and secondary field data reception quality is to visit
Survey the key factor of effect quality.
Air-ground TEM system is using ground launch, the working method received in the air, in flight course, receiving coil shake
The posture moment change, in measurement data trigger receive component direction, system transmitting-receiving away from etc. parameter error, influence data inversion effect
Really.To improve signal to noise ratio in air-ground TEM detections, low latitude near-earth flight is realized frequently with six rotorcraft carry receiving coil,
But its load-carrying is restricted, the conventional high-precision inertial navigation sensors suitable for aviation TEM are larger due to volume weight, no longer
Suitable for air-ground TEM detections；And handled by software baseline correction, although easily realized on algorithm, but actual treatment is imitated
Fruit precision is relatively low.
Chinese patent CN102096113B discloses a kind of time-domain ground-air electromagnetic detection system and the scaling method system
The induced signal tape deck that is connected by ground based recorder GPS synchronization units, the abnormal ring of closure, quality testing system and
The scaling method of time-domain ground-air electromagnetic detection system is constituted.In measurement, by removing the earth ambient field data, extract containing several
The abnormal ring electromagnetic signal of the pure closure of what error, input data QA system enters with the abnormal ring theoretical value of closure of calculating
Row compares, is fitted, and determines the detection resolution of systematic error, geometric parameter error and time-domain ground-air electromagnetic detection system,
The test and demarcation of electromagnetic survey system performance are realized, air-ground electromagnetic signal coil pose problem and solution is not directed to.
Chinese patent CN201380075951.9 discloses a kind of system and method for attitude updating, the system bag
Include：Gyro sensor, acceleration transducer, magnetometer sensor, gesture module, correction module.The invention is realized can
The acceleration and posture of electronic equipment are detected, attitude updating is calculated with acceleration.With the attitude updating calculated to correct
The posture of the electronic equipment of detection, but it is not directed to air-ground electromagnetic signal problem and solution.
Yin etc. (2004a) research discoveries, in general, big portion of the airborne electromagnetic system caused by attitudes vibration
The error (more than 95%) is divided to come from geometry influence, rather than electromagnetic induction effect.In helipot attitudes vibration to electricity
In the influence research of magnetic response, geometry influence is only considered, without considering electromagnetic induction effect, effectively confirm grinding for attitude updating
Study carefully meaning.
Wang Qi et al. is being published in《Chinese Journal of Geophysics》Document《The coil posture of fixed-wing airborne electromagnetic system and hang
Cabin swings influence research and correction》The middle fixed-wing aviation electricity derived in the case of any attitude angle and any swing angle
Magnetic response three-component calculation expression, the quantitative change rule of electromagnetic response three kinds of angles of simulation analysis are present simultaneously in the case of
Rule, gives fixed-wing airborne electromagnetic system coil posture and swing state bearing calibration based on response coefficient.
Sun is expensive red《Time domain grounded source ground-air electromagnetic surveying data prediction is studied》Middle proposition is to air-ground electromagnetic data
During reason, coil movement noise is removed using the baseline correction algorithm of interpolation method baseline correction and wavelet multi_resolution analysis.It is logical
Cross software algorithm and motion artifacts are carried out with baseline correction, only late period data zero passage is made moderate progress, but attitudes vibration influence is whole
Attenuation curve, therefore can not thoroughly solve the problem of coil attitudes vibration is brought.
System above discloses air-ground TEM reception systems composition and by the mode solution such as simulation analysis, baseline correction
The problem of certainly air-ground electromagnetic surveying coil attitudes vibration triggers, existing air-ground TEM reception systems do not record attitude information, state
Inside and outside patent is also not directed to MPU9250 sensor applications in air-ground TEM measuring systems.
The content of the invention
The purpose of this utility model is to be to measurement in order to solve the receiving coil attitudes vibration in air-ground TEM measuring systems
The problem of system data acquisition and processing are brought, and a kind of air-ground TEM reception systems with posture writing function provided.
The air-ground TEM reception systems with posture writing function that the utility model is provided include receiving coil, front end electricity
Road, signal acquisition module, MPU9250 postures logging modle, master controller and power supply, wherein receiving coil and front-end circuit is defeated
Enter end to be connected, the output end of front-end circuit is connected with signal acquisition module, and signal acquisition module is connected with master controller,
MPU9250 postures logging modle is also connected with master controller, and power supply is front-end circuit, signal acquisition module, MPU9250 postures
Logging modle and master controller provide electric energy.
Front-end circuit is made up of the discharge circuit with positive input, reverse input end, wherein receiving coil two ends point
It is not connected with discharge circuit positive input, reverse input end, discharge circuit forward direction output end and signal acquisition module are positive
Input is connected, and discharge circuit inverse output terminal is connected with signal acquisition module reverse input end.
Signal acquisition module includes A/D Acquisition Circuits, digital isolation circuit and sequential control circuit, wherein A/D collections
The positive input of circuit is connected with the positive output end of front-end circuit, the reverse input end and front-end circuit of A/D Acquisition Circuits
Inverse output terminal is connected, and the output end of A/D Acquisition Circuits is connected with digital isolation circuit input, and A/D Acquisition Circuits are also
It is connected with sequential control circuit, digital isolation circuit output end is connected with master controller, and A/D Acquisition Circuits are adopted for 24-Bit
Collector.
MPU9250 posture logging modles include MPU9250 sensors and from controller, and wherein MPU9250 sensors are defeated
Go out end with from controller to be connected, be connected from controller by serial communication with master controller, it is integrated in MPU9250 sensors
Three-axis gyroscope, three axis accelerometer and three axle magnetometer.
Central processing unit CPU is provided with master controller, master controller is also associated with SD card, liquid crystal display and GPS
Synchronization control circuit, master controller receives data in the synchronizing signal from GPS synchronization control circuits, SD cards and transported by computer
Calculate processing and carry out attitude updating.
Power supply includes lithium battery and mu balanced circuit, and lithium battery forms positive supply and negative supply after being connected with mu balanced circuit, its
Middle positive supply and negative supply are connected with front-end circuit, positive supply also with signal acquisition module, MPU9250 posture logging modles
It is connected with master controller.
Receiving coil, digital isolation circuit, the assembling that mu balanced circuit is existing equipment, therefore, concrete model and specification do not have
Have and further repeated.
The air-ground TEM reception systems measuring method with posture writing function that the utility model is provided, its method is as follows
It is described：
Step 1: receiving the secondary field signal in transient electromagnetic detecting using receiving coil；
Step 2: measuring its three-axis gyroscope, three axis accelerometer and three axle for being internally integrated using MPU9250 sensors
Magnetometer initial data；
Step 3: the secondary field signal described in step one is divided into two branch roads through shielded cable is accessing front-end circuit just
To input and front-end circuit reverse input end；
Step 4: carrying out protection, filtering, the level lifting of front end signal conditioning, i.e. signal to secondary field signal；
Step 5: secondary field signal acquisition, signal is transmitted to signal acquisition circuit by shielding line, electricity is gathered using A/D
Road gathers secondary field signal；
Carried out Step 6: the posture initial data feeding described in step 2 is carried out into Kalman filtering processing from controller
Attitude algorithm, and the attitude data after resolving is transmitted to master controller by serial communication；
Step 7: master controller receives the synchronizing signal from GPS synchronization control circuits, will be secondary described in step 5
Stored after attitude data synchronization described in field signal and step 6 into SD card, so far, complete air-ground transient electromagnetic signal
The DATA REASONING and storing process of air-ground TEM reception systems with posture writing function in detection.
Kalman filtering is utilized in step 6, Kalman filtering state equation and measurement equation is set up, and pass through attitude angle
The noise measurement noise covariance that is filtered of estimation realizes that Kalman filtering autoregression data update, by it is constantly optimal from
Recurrence obtains optimal attitude angle, realizes the quick resolving of posture.
The beneficial effects of the utility model：
The utility model is compared with existing air-ground Transient electromagnetic measure system：One is accurate recording receiving coil posture, is led to
Cross the secondary field signal of attitude updating and effectively reduce influence of the coil attitudes vibration to air-ground TEM Effect on Detecting and compensate for existing base
The data processing methods such as line correction can not solve the problems, such as the deficiency of attitudes vibration in air-ground TEM detections；Two be based on MPU9250
Posture writing circuit small volume and less weight, attitude algorithm is quick, accurate, solve existing air-ground TEM detections due to traditional inertial navigation volume,
Not the problem of quality does not apply to rotor craft carry greatly and can not record posture.
Brief description of the drawings
Fig. 1 is overall system architecture schematic diagram described in the utility model.
Fig. 2 is attitude algorithm principle schematic described in the utility model.
Fig. 3 is the secondary field data of reception system described in the utility model schematic diagram synchronous with attitude data.
1st, receiving coil 2, front-end circuit 3, signal acquisition module 4, MPU9250 postures logging modle 5, master controller
6th, power supply 7, SD card 8, liquid crystal display 9, GPS synchronization control circuits 10, lithium battery 11, mu balanced circuit.
Embodiment
Refer to shown in Fig. 1, Fig. 2 and Fig. 3：
The air-ground TEM reception systems with posture writing function that the utility model is provided include receiving coil 1, front end electricity
Road 2, signal acquisition module 3, MPU9250 postures logging modle 4, master controller 5 and power supply 6, wherein receiving coil 1 and front end electricity
The input on road 2 is connected, and the output end of front-end circuit 2 is connected with signal acquisition module 3, signal acquisition module 3 and master control
Device 5 processed is connected, and MPU9250 postures logging modle 4 is also connected with master controller 5, and power supply 6 is front-end circuit 2, signal acquisition
Module 3, MPU9250 postures logging modle 4 and master controller 5 provide electric energy.
Front-end circuit 2 is made up of the discharge circuit with positive input, reverse input end, wherein the two ends of receiving coil 1
It is connected respectively with discharge circuit positive input, reverse input end, discharge circuit forward direction output end and signal acquisition module 3 are just
It is connected to input, discharge circuit inverse output terminal is connected with the reverse input end of signal acquisition module 3.
Signal acquisition module 3 includes A/D Acquisition Circuits, digital isolation circuit and sequential control circuit, wherein A/D collections
The positive input of circuit is connected with the positive output end of front-end circuit 2, the reverse input end and front-end circuit of A/D Acquisition Circuits
2 inverse output terminals are connected, and the output end of A/D Acquisition Circuits is connected with digital isolation circuit input, and A/D Acquisition Circuits are also
It is connected with sequential control circuit, digital isolation circuit output end is connected with master controller 5, A/D Acquisition Circuits are 24-Bit
Acquisition Circuit, ADC chips selection ADS1271 chips.
MPU9250 postures logging modle 4 includes MPU9250 sensors and from controller, and wherein MPU9250 sensors are defeated
Go out end with from controller to be connected, be connected from controller by serial communication with master controller 5.
Three-axis gyroscope, three axis accelerometer and three axle magnetometer are integrated with MPU9250 sensors.
Central processing unit CPU is provided with master controller 5, master controller 5 is also associated with SD card 7, the and of liquid crystal display 8
GPS synchronization control circuits 9, master controller 5 receives in the synchronizing signal from GPS synchronization control circuits 9, SD card 7 data by counting
Calculation machine calculation process carries out attitude updating.The ARM Cortex-M4 frameworks of the selection of master controller 5 in the present embodiment
STM32F407 chips.
Power supply 6 include lithium battery 10 and mu balanced circuit 11, lithium battery 10 be connected with mu balanced circuit 11 after formation positive supply and
Negative supply, wherein positive supply and negative supply are connected with front-end circuit 2, positive supply also with signal acquisition module 3, MPU9250
Posture logging modle 4 is connected with master controller 5.
Receiving coil 1, digital isolation circuit, the assembling that mu balanced circuit is existing equipment, therefore, concrete model and specification do not have
Have and further repeated.
The air-ground TEM reception systems measuring method with posture writing function that the utility model is provided, its method is as follows
It is described：
Step 1: receiving the secondary field signal in transient electromagnetic detecting using receiving coil 1；
Step 2: measuring its three-axis gyroscope, three axis accelerometer and three axle for being internally integrated using MPU9250 sensors
Magnetometer initial data；
Step 3: the secondary field signal described in step one is divided into two branch roads through shielded cable accesses front-end circuit 2
Positive input and front-end circuit reverse input end；
Step 4: carrying out protection, filtering, the level lifting of front end signal conditioning, i.e. signal to secondary field signal；
Step 5: secondary field signal acquisition, signal is transmitted to signal acquisition circuit by shielding line, electricity is gathered using A/D
Road gathers secondary field signal；
Carried out Step 6: the posture initial data feeding described in step 2 is carried out into Kalman filtering processing from controller
Attitude algorithm, and the attitude data after resolving is transmitted to master controller 5 by serial communication；
Step 7: master controller 5 receives the synchronizing signal from GPS synchronization control circuits 9, by two described in step 5
Stored after attitude data synchronization described in secondary field signal and step 6 into SD card 7, so far, complete air-ground transient electromagnetic letter
Number detection in have posture writing function air-ground TEM reception systems DATA REASONING and storing process.
In step 6, Kalman filtering resolve angles, specific method is as follows：
Kalman filtering state equation is set up, the process of attitude angle is calculated according to gyroscope Output speed value, is regarded as
The prediction of current state, sets up the state equation of filtering system, sets up quaternary number Q=(q0,q1,q2,q3)(q0,q1,q2,q3When being
Between function), the differential equation such as formula (1), the anti-attitude angle that pushes away is as current predicted value；
Wherein, attitude matrix angular velocity omega=[ωx ωy ωz]T, above formula is expanded into：
Using Fourth order Runge-Kutta, the attitude quaternion at current time is obtained, and then obtains the attitude angle at current time.
If renewal time is T, recursive form such as formula (3)：
Wherein,
The pre- measuring angle of output, can be regarded as the synthesis of real angle and error angle, as shown in formula (5)：
Wherein,For the attitude angle through differential equation,For true attitude angle,For according to gyroscope output angle
The evaluated error of prediction of speed attitude angle；
Kalman filtering measurement equation is set up, is obtained according to the three axle gravitational field acceleration and magnetometer of accelerometer measures
Three-axle magnetic field intensitometer calculate the attitude angle at current time as observed quantity；
The attitude angle calculated by accelerometer and magnetometer, as shown in formula (6)：
Wherein：For observed quantity,For true attitude angle,For measurement attitude angle and the error of real angle；
For the evaluated error of gyroscope angle,It is mutual for the angle estimation error of accelerometer and magnetometer
Independent zero-mean white noise sequence, meets：
The difference for calculating adjacent two moment angle estimation respectively obtains the fusion error at two moment：
Seek fusion error covariance：
The error of gyroscope, accelerometer and magnetometer be separate zero-mean white noise sequence, single-sensor,
The error at last moment and this moment be it is separate, Then have：
In a short time, the change of error turns to stationary process,Gyroscopic stabilization degree
Good, measurement accuracy is high, error is small,It is much smaller thanIts error can be ignored, then error covariance:
Obtain 2 rank centre-to-centre spacing of error, the i.e. covariance of accelerometer and magnetometer：
Estimate for posture angle noise, as the measurement noise covariance R of filtering fusion, use
Updated in the autoregression data of Kalman filtering, by continuous optimal autoregression, attitude angle can be calculated.
Claims (6)
1. a kind of air-ground TEM reception systems with posture writing function, it is characterised in that：Including receiving coil, front-end circuit,
Signal acquisition module, MPU9250 postures logging modle, the input of master controller and power supply, wherein receiving coil and front-end circuit
End is connected, and the output end of front-end circuit is connected with signal acquisition module, and signal acquisition module is connected with master controller,
MPU9250 postures logging modle is also connected with master controller, and power supply is front-end circuit, signal acquisition module, MPU9250 postures
Logging modle and master controller provide electric energy.
2. a kind of air-ground TEM reception systems with posture writing function according to claim 1, it is characterised in that：Institute
The front-end circuit stated is made up of the discharge circuit with positive input, reverse input end, wherein receiving coil two ends respectively with
Discharge circuit positive input, reverse input end are connected, and discharge circuit forward direction output end is inputted with signal acquisition module forward direction
End is connected, and discharge circuit inverse output terminal is connected with signal acquisition module reverse input end.
3. a kind of air-ground TEM reception systems with posture writing function according to claim 1, it is characterised in that：Institute
The signal acquisition module stated includes A/D Acquisition Circuits, digital isolation circuit and sequential control circuit, wherein A/D Acquisition Circuits
The positive output end of positive input and front-end circuit be connected, the reverse input end and front-end circuit of A/D Acquisition Circuits are reverse
Output end is connected, and the output ends of A/D Acquisition Circuits is connected with digital isolation circuit input, A/D Acquisition Circuits also with when
Sequence control circuit is connected, and digital isolation circuit output end is connected with master controller, and A/D Acquisition Circuits are that 24-Bit gathers electricity
Road, ADC chips selection ADS1271 chips.
4. a kind of air-ground TEM reception systems with posture writing function according to claim 1, it is characterised in that：Institute
The MPU9250 posture logging modles stated include MPU9250 sensors and from controller, wherein MPU9250 sensor outputs
It is connected with from controller, is connected from controller by serial communication with master controller, three is integrated with MPU9250 sensors
Axle gyroscope, three axis accelerometer and three axle magnetometer.
5. a kind of air-ground TEM reception systems with posture writing function according to claim 1, it is characterised in that：Institute
Central processing unit CPU is provided with the master controller stated, it is synchronous that master controller is also associated with SD card, liquid crystal display and GPS
Circuit is controlled, master controller receives data in the synchronizing signal from GPS synchronization control circuits, SD card and handled by Computing
Attitude updating is carried out, master controller selects the STM32F407 chips of ARM Cortex-M4 frameworks.
6. a kind of air-ground TEM reception systems with posture writing function according to claim 1, it is characterised in that：Institute
The power supply stated includes lithium battery and mu balanced circuit, and lithium battery forms positive supply and negative supply after being connected with mu balanced circuit, wherein just
Power supply and negative supply are connected with front-end circuit, positive supply also with signal acquisition module, MPU9250 postures logging modle and master
Controller is connected.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106772633A (en) * | 2017-01-20 | 2017-05-31 | 吉林大学 | A kind of air-ground TEM reception systems and measuring method with attitude writing function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106772633A (en) * | 2017-01-20 | 2017-05-31 | 吉林大学 | A kind of air-ground TEM reception systems and measuring method with attitude writing function |
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