CN215415928U - High-precision cesium optical pump dynamic magnetic measurement system applied to ship-borne hard link of shallow water area - Google Patents
High-precision cesium optical pump dynamic magnetic measurement system applied to ship-borne hard link of shallow water area Download PDFInfo
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- CN215415928U CN215415928U CN202120039754.3U CN202120039754U CN215415928U CN 215415928 U CN215415928 U CN 215415928U CN 202120039754 U CN202120039754 U CN 202120039754U CN 215415928 U CN215415928 U CN 215415928U
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Abstract
The utility model provides a high-precision cesium optical pump dynamic magnetic measurement system applied to shallow water area shipborne hard link, which is characterized by comprising a shipborne quick-release connecting structure, a cesium optical pump acquisition system, an RTK positioning structure, an IMU inertial navigation system, a watertight packaging probe cover and a power supply system, wherein the shipborne quick-release connecting structure is installed on the lower side of the cesium optical pump acquisition system, the cesium optical pump acquisition system and the shipborne quick-release connecting structure are connected with a ship through quick-release screws, the RTK positioning structure, the IMU inertial navigation system and the watertight packaging probe cover are installed on the upper side of the cesium optical pump acquisition system, and the power supply system is respectively connected with the cesium optical pump acquisition system, the RTK positioning structure and the IMU inertial navigation system; the utility model carries out relevant modification on the ship-borne cesium optical pump system, is matched with an angle measurer, a carbon fiber telescopic pipe, a sealed waterproof probe outer cover and an IMU inertial navigation system, can be independently used, does not limit the loading ship-borne type, and can change the connecting device according to different ships.
Description
Technical Field
The utility model relates to the technical field of geophysical exploration, in particular to a high-precision cesium optical pump dynamic magnetic measurement system applied to ship-borne hard links in shallow water areas.
Background
The magnetic field existing around the earth is called the earth's magnetic field. Marine geomagnetic field measurement is generally a process of performing geomagnetic measurement by a ship while sailing at sea with a magnetometer. At present, most of ocean magnetic field measurement can only work in a towing mode, a magnetic probe is towed in seawater behind a survey ship, and the length of a towing cable is more than 3 times of the length of the ship. This type of operation is easily restricted in some sea areas, such as offshore culture areas, polar ice floes, etc., which can lead to damage or even loss of the magnetic probe. In order to solve the problem, patent No. 201520274872.7 proposes an onboard magnetic force detecting device, which is installed on the hull of a measuring ship instead of being towed at the stern, and avoids damage to a magnetometer while data measurement is performed, but because the onboard magnetic force detecting device is completely installed on the ship, the material of the ship affects the measurement result obtained by the measuring instrument, the material of different ships is different, the generated magnetic interference is also different, and the result generated by the magnetometer completely installed on the ship is not accurate.
SUMMERY OF THE UTILITY MODEL
According to the technical problem, the utility model provides a high-precision cesium optical pump dynamic magnetic measurement system applied to shallow water area shipborne hard link, which is characterized by comprising a shipborne quick-release connecting structure, a cesium optical pump acquisition system, an RTK positioning structure, an IMU inertial navigation system, a watertight packaging probe cover and a power supply system, wherein the shipborne quick-release connecting structure is installed at the lower side of the cesium optical pump acquisition system, the cesium optical pump acquisition system and the shipborne quick-release connecting structure are connected with a ship through quick-release screws, the RTK positioning structure, the IMU inertial navigation system and the packaging probe cover are installed at the upper side of the cesium optical pump acquisition watertight system, and the power supply system is respectively connected with the cesium optical pump acquisition system, the RTK positioning structure and the IMU inertial navigation system;
the shipborne quick-release connecting structure comprises a mounting plate, a mounting bracket and mounting holes, wherein the mounting plate is fixed on the lower side of the cesium optical pump acquisition system, the lower side of the mounting plate is in threaded connection with the mounting bracket, the lower side of the mounting bracket is provided with the mounting holes, and the mounting bracket is connected with a mounting support on a ship through quick-release screws;
the cesium optical pump acquisition system comprises a shell, a magnetometer collector, an angle measurer, a three-component magnetic probe, a carbon fiber telescopic tube and a cesium optical pump probe, wherein the magnetometer collector is fixed inside the shell, an RTK positioning structure is fixed on the upper side of the shell, the carbon fiber telescopic tube is installed on the rear side of the shell, the angle measurer is installed between the carbon fiber telescopic tube and the shell, a limiting device is installed between the shell and the carbon fiber telescopic tube, the three-component magnetic probe and an IMU inertial navigation system are installed on the upper side of the carbon fiber telescopic tube through bolts, the cesium optical pump probe is installed at the tail end of the carbon fiber telescopic tube, and a watertight packaging probe cover wraps the upper side of the cesium optical pump probe.
The carbon fiber telescopic pipe and the cesium optical pump probe are connected through a buckle, the buckle is composed of an installation pipe, an insertion pipe and a fixing bolt, fixing holes are formed in the installation pipe and the insertion pipe, the insertion pipe is inserted into the installation pipe, the fixing bolt is inserted into the fixing holes of the installation pipe and the insertion pipe, a fixing nut is installed at one end of the fixing bolt, the installation pipe is connected with the carbon fiber telescopic pipe in a welded mode, and the insertion pipe is connected with the cesium optical pump probe in a welded mode.
The carbon fiber telescopic pipe is fixed on the shell through a movable rotating shaft.
The angle measurer is characterized in that a fixing hole is formed in the shell on the rear side of the angle measurer, a fixing hole is formed in the front end of the carbon fiber telescopic tube, a fixing bolt penetrates through the fixing hole in the carbon fiber telescopic tube and is fixed with a fixing hole in the shell, and a fixing nut is fixed on the rear side of the fixing bolt.
The cesium optical pump acquisition system has a high-frequency sampling function, and adopts frequencies of 1/3hz,10hz,20hz and 100 hz.
And the RTK positioning adopts an RTK system to accurately position the aircraft to obtain an accurate measuring point.
The IMU inertial navigation system can provide high-precision probe attitude information for the system.
The cesium optical pump acquisition system further comprises data preprocessing software, and the data preprocessing software has the functions of format conversion, combination of magnetic measurement data and navigation data, data filtering, posture correction, daily change correction, rarefaction, data deletion, measurement line division and the like.
The carbon fiber telescopic pipe connects the cesium optical pump probe with the magnetometer collector through the carbon fiber pipe with adjustable telescopic length, and the length is adjusted according to the compensation requirements of different ships.
The watertight packaging probe cover is made of ABS materials, and is packaged by the sealing ring and the titanium alloy screw, so that the safety of the cesium optical pump probe is guaranteed.
The cesium optical pump acquisition system further comprises a platform magnetic compensation system, the platform magnetic compensation system carries out relevant compensation flight, the solved compensation coefficient is considered to have the minimum error after compensation in all directions of an airplane, finally, in an actual shipborne magnetic test, the compensation precision can reach within 2NT, common methods such as a Gaussian elimination method selected by column principal elements, iterative approximation of singular value decomposition, a partial least square calculation method, a stepwise regression algorithm and the like are adopted, certain algorithms have advantages when processing certain problems, but have corresponding defects, in addition, model coefficients can change along with magnetic dip angles and latitudes, the ideal effect can not be achieved by compensation through fixed coefficients, a self-adaptive algorithm can be sampled, and the compensation precision is improved.
The magnetic compensation action requirement of the platform magnetic compensation system is as follows: the ship provided with the magnetic detector performs motor magnetic compensation movement in a certain range, and the ship is required to face the heading towards four typical directions of east, west, south and north, namely the geomagnetic heading when moving; each direction is respectively subjected to swinging (heading) maneuver; the duration of each maneuver is not less than 3 times, and the repeatability of the maneuver angle is kept; each action of compensation flight does not require to absolutely meet the requirement of an angle, and as long as the action is uniform, the neglect of small and large maneuvering actions is avoided, and the method is most favorable for solving the magnetic compensation coefficient. In an extreme case, if the magnetic compensation coefficient calculation fails due to the fact that the compensation action has poor quality and is not completed for a specified number of times or the action amplitude is very uneven, the compensation action may be required to be performed for another time, but the compensation action is performed for 2 times at most. In the adjustment test stage, in order to obtain as much sample data as possible, the compensation motion of the quadrangle is performed for 2 times every time the ship carries out navigation.
The utility model has the beneficial effects that: the utility model carries out relevant modification on the ship-borne cesium optical pump system, is matched with an angle measurer, a carbon fiber telescopic pipe, a sealed waterproof probe outer cover and an IMU inertial navigation system, can be independently used, does not limit the loading ship-borne type, and can change the connecting device according to different ships.
The utility model is mainly installed on ships through a shipborne quick-release connecting structure, is suitable for various loading ships, only needs to simply replace a connecting piece, can be fixedly connected with a support column on the ship through an installation support, also can be detached, directly carries out bolt fixing connection on an installation plate and the ship, can carry out transverse bolt fixing on the installation support, carries out longitudinal bolt fixing on the installation plate, and meets the safety requirements of different ships under different conditions. The utility model adds the angle measurer, can accurately calculate the inclination angle of the carbon fiber extension tube, and is convenient for smooth measurement. The cesium optical pump probe and the carbon fiber telescopic tube are in stable buckle limiting arrangement, so that the sensors are arranged in the same direction every time, the optical pump probe can provide stable magnetic field information, and the data consistency among different aircrafts is greatly improved.
The utility model also adds an RTK system which can provide high-precision GPS position information for magnetic measurement;
the high-precision IMU inertial navigation system is arranged near the cesium optical pump probe, and high-precision attitude information can be provided for the system. Near the collector, install high accuracy three-component fluxgate sensor additional for magnetism survey compensation, the whole set provides the total magnetic field intensity in addition, has also provided the measured value of stable component field, is more favorable to geological interpretation.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
FIG. 2 is a cross-sectional view of the snap structure of the present invention.
FIG. 3 is a schematic view of the shipborne quick release connection structure of the present invention.
FIG. 4 is a schematic view of the angle measuring device and housing assembly of the present invention.
Fig. 5 is a schematic diagram of the cesium optical pump collection system of the present invention.
FIG. 6 is a data processing diagram of the present invention.
As shown in the figure: the device comprises a ship-mounted quick-release connecting structure 1, a cesium optical pump collecting system 2, an RTK positioning structure 3, an IMU inertial navigation system 4, a watertight packaging probe cover 5, a mounting plate 1-1, a mounting bracket 1-2, a shell 2-1, a magnetometer collector 2-2, an angle measurer 2-3, a three-component magnetic probe 2-4, a carbon fiber telescopic tube 2-5, a cesium optical pump probe 2-6 and a buckle 2-7.
Detailed Description
The application is further elucidated on the basis of the figures and examples:
example 1
The utility model provides a high-precision cesium optical pump dynamic magnetic measurement system applied to shallow water shipborne hard link, which comprises a shipborne quick-release connecting structure 1, a cesium optical pump acquisition system 2, an RTK positioning structure 3, an IMU inertial navigation system 4, a watertight packaging probe cover 5 and a power supply system, wherein the shipborne quick-release connecting structure 1 is installed at the lower side of the cesium optical pump acquisition system 2, the cesium optical pump acquisition system 2 and the shipborne quick-release connecting structure 1 are connected with a ship through quick-release screws, the RTK positioning structure 3, the IMU inertial navigation system 4 and the watertight packaging probe cover 5 are installed at the upper side of the cesium optical pump acquisition system 2, and the power supply system is respectively connected with the cesium optical pump acquisition system 2, the RTK positioning structure 3 and the IMU inertial navigation system 4; the shipborne quick-release connecting structure 1 comprises a mounting plate 1-1, a mounting bracket 1-2 and mounting holes, wherein the mounting plate 1-1 is fixed on the lower side of a cesium optical pump acquisition system 2, the lower side of the mounting plate 1-1 is in threaded connection with the mounting bracket 1-2, the lower side of the mounting bracket 1-2 is provided with the mounting holes, and the mounting bracket 1-2 is connected with mounting pillars on a ship through quick-release screws; the cesium optical pump acquisition system 2 comprises a shell 2-1, a magnetometer collector 2-2, an angle measurer 2-3, a three-component magnetic probe 2-4, a carbon fiber telescopic tube 2-5 and a cesium optical pump probe 2-6, wherein the magnetometer collector 2-2 is fixed inside the shell 2-1, an RTK positioning structure 3 is fixed on the upper side of the shell 2-1, a carbon fiber telescopic tube 2-5 is installed on the rear side of the shell 2-1, the angle measurer 2-3 is installed between the carbon fiber telescopic tube 2-5 and the shell 2-1, a limiting device is installed between the shell 2-1 and the carbon fiber telescopic tube 2-5, the three-component magnetic probe 2-4 and an IMU inertial navigation system 4 are installed on the upper side of the carbon fiber telescopic tube 2-5 through bolts, and the cesium optical pump probe 2-6 is installed at the tail end of the carbon fiber telescopic tube 2-5, the upper sides of the cesium optical pump probes 2-6 are wrapped with watertight packaging probe covers 5. The carbon fiber telescopic tube 2-5 and the cesium optical pump probe 2-6 are connected through a buckle, the buckle is composed of an installation tube, an insertion tube and a fixing bolt, fixing holes are formed in the installation tube and the insertion tube, the insertion tube is inserted into the installation tube, the fixing bolt is inserted into the fixing holes of the installation tube and the insertion tube, and a fixing nut is installed at one end of the fixing bolt. The casing 2-1 at the rear side of the angle measurer 2-3 is provided with a fixing hole, the front end of the carbon fiber telescopic pipe 2-5 is provided with a fixing hole, a fixing bolt passes through the fixing hole on the carbon fiber telescopic pipe 2-5 and a fixing hole on the casing 2-1 for fixing, and a fixing nut is fixed at the rear side of the fixing bolt. The cesium optical pump acquisition system 2 has a high-frequency sampling function, and adopts frequencies of 1/3hz,10hz,20hz and 100 hz. And in the RTK positioning, an RTK system is adopted to accurately position the aircraft to obtain an accurate measuring point. And the IMU inertial navigation system 4 can provide high-precision probe attitude information for the system. The cesium optical pump acquisition system 2 further comprises data preprocessing software which has the functions of format conversion, combination of magnetic measurement data and navigation data, data filtering, posture correction, daily change correction, rarefaction, data deletion, measurement line division and the like. The carbon fiber extension tube 2-5 connects the cesium optical pump probe 2-6 with the magnetometer collector 2-2 through the carbon fiber tube with adjustable extension length, and the length is adjusted according to the compensation requirements of different ships. The watertight packaging probe cover 5 is made of ABS materials, and is packaged by a sealing ring and titanium alloy screws, so that the safety of the cesium optical pump probe 2-6 is guaranteed.
Example 2
When the quick-release connecting structure is used, the quick-release connecting structure is arranged on the rear side of a ship through the ship-mounted quick-release connecting structure 1, and according to different ship conditions, the quick-release connecting structure can be fixedly connected with a support column on the ship through the mounting bracket, the mounting bracket can also be detached, so that the mounting plate and the ship are directly fixedly connected through bolts, the mounting bracket can be transversely fixed through bolts, and the mounting plate can be longitudinally fixed through bolts, so that the safety requirements of different ships under different conditions are met. After the carbon fiber extension tube 2-5 is installed, the carbon fiber extension tube 2-5 is hung to the lower side of a ship, the carbon fiber extension tube 2-5 is pulled open, a cesium optical pump probe 2-6 is in contact with seawater on the lower side, then the angle between the carbon fiber extension tube 2-5 and the shell 2-1 is adjusted according to the conditions of a ship body, a sea area and the like, the angle is determined through the angle measurer 2-3, and then the carbon fiber extension tube 2-5 is fixed through fixing holes in the carbon fiber extension tube 2-5 and the shell 2-1 through fixing bolts, so that the installation is simple and convenient. The RTK system accurately positions the utility model to obtain an accurate measuring point and transmits the accurate measuring point to the magnetometer collector 2-2. The IMU inertial navigation system 4 provides high-precision probe posture information for the magnetometer collector 2-2, the cesium optical pump probe 2-6 transmits the collected information to the magnetometer collector 2-2, and the magnetometer collector 2-2 stores and processes the collected information, so that workers can know the sea area condition conveniently. The magnetic compensation flight steps are as follows:
1) the ship travel compensation area enters a compensation motion.
2) Keeping the flying vehicle sequentially entering south-north east-west air routes for parallel and straight navigation and carrying out back-and-forth flying once on the same air route. The ship keeps going into east-west course to make straight navigation and makes back-and-forth navigation once on the same route.
3) And completing magnetic compensation flight in the magnetic compensation area according to a planned route, wherein the magnetic compensation route is two quadrilateral routes taking a reference point as a center, the course of one quadrilateral comprises four courses (magnetic courses) of east, south, west and north, and the course of the other quadrilateral comprises the courses of southeast, northeast, northwest and southwest in sequence. The airplane stably finishes the action of yawing each 3 to and fro in sequence, and the attitude amplitude of the ship is fixed.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. While the utility model has been described with respect to the above embodiments, it will be understood by those skilled in the art that the utility model is not limited to the above embodiments, which are described in the specification and illustrated only to illustrate the principles of the utility model, but that various changes and modifications may be made without departing from the spirit and scope of the utility model as defined by the appended claims. The scope of the utility model is defined by the appended claims and equivalents thereof.
Claims (8)
1. A high-precision cesium optical pump dynamic magnetic measurement system applied to shallow water area shipborne hard link is characterized by comprising a shipborne quick-release connecting structure, a cesium optical pump acquisition system, an RTK positioning structure, an IMU inertial navigation system, a watertight packaging probe cover and a power supply system, wherein the shipborne quick-release connecting structure is installed on the lower side of the cesium optical pump acquisition system, the cesium optical pump acquisition system and the shipborne quick-release connecting structure are connected with a ship through quick-release screws, an RTK positioning structure, an IMU inertial navigation system and the watertight packaging probe cover are installed on the upper side of the cesium optical pump acquisition system, and the power supply system is respectively connected with the cesium optical pump acquisition system, the RTK positioning structure and the IMU inertial navigation system;
the shipborne quick-release connecting structure comprises a mounting plate, a mounting bracket and mounting holes, wherein the mounting plate is fixed on the lower side of the cesium optical pump acquisition system, the mounting bracket is in threaded connection with the lower side of the mounting plate, the mounting holes are formed in the lower side of the mounting bracket, and the mounting bracket is connected with mounting pillars on a ship through quick-release screws;
the cesium optical pump acquisition system is composed of a shell, a magnetometer collector, an angle measurer, a three-component magnetic probe, a carbon fiber telescopic tube and a cesium optical pump probe, wherein the magnetometer collector is fixed inside the shell, an RTK positioning structure is fixed on the upper side of the shell, the carbon fiber telescopic tube is installed on the rear side of the shell, the angle measurer is installed between the carbon fiber telescopic tube and the shell, a limiting device is installed between the shell and the carbon fiber telescopic tube, the three-component magnetic probe and an IMU inertial navigation system are installed on the upper side of the carbon fiber telescopic tube through bolts, the cesium optical pump probe is installed at the tail end of the carbon fiber telescopic tube, and a watertight probe packaging cover wraps the upper side of the cesium optical pump probe.
2. The high-precision cesium optical pump dynamic magnetic measurement system applied to the ship-borne hard link of the shallow water area as claimed in claim 1, wherein said carbon fiber expansion pipe and cesium optical pump probe are connected by a buckle, said buckle is composed of a mounting pipe, an insertion pipe and a fixing bolt, said mounting pipe and insertion pipe are provided with fixing holes, said insertion pipe is inserted into the mounting pipe, said fixing bolt is inserted into the fixing holes of the mounting pipe and insertion pipe, and one end of said fixing bolt is provided with a fixing nut.
3. The system of claim 1, wherein the angle measuring device has a rear housing with a hole for fastening, the carbon fiber extension tube has a front end with a hole for fastening, the fastening bolt passes through the hole for fastening and a hole for fastening, and the fastening bolt has a rear fastening nut.
4. The high-precision cesium optical pump dynamic magnetic measurement system applied to the ship-borne hard link of the shallow water area as claimed in claim 1, wherein said cesium optical pump collection system has a high-frequency sampling function and uses frequencies of 1/3hz,10hz,20hz and 100 hz.
5. The high-precision cesium optical pump dynamic magnetic measurement system for hard link on board shallow water ship as claimed in claim 1, wherein said RTK positioning structure uses RTK system to accurately position the aircraft to get accurate measurement point.
6. The high-precision cesium optical pump dynamic magnetic measurement system applied to the ship-borne hard link of the shallow water area as claimed in claim 1, wherein said carbon fiber extension tube connects the cesium optical pump probe with the magnetometer collector through a carbon fiber tube with adjustable extension length.
7. The high-precision cesium optical pump dynamic magnetic measurement system applied to ship-borne hard links in shallow water areas as claimed in claim 1, wherein said watertight packaging probe cover is made of ABS material and is packaged by a seal ring and titanium alloy screws.
8. The high-precision cesium optical pump dynamic magnetic measurement system applied to the shipborne hard link of the shallow water area as claimed in claim 1, wherein said carbon fiber telescopic tube is fixed on the housing through a movable rotating shaft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120039754.3U CN215415928U (en) | 2021-01-08 | 2021-01-08 | High-precision cesium optical pump dynamic magnetic measurement system applied to ship-borne hard link of shallow water area |
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| CN202120039754.3U CN215415928U (en) | 2021-01-08 | 2021-01-08 | High-precision cesium optical pump dynamic magnetic measurement system applied to ship-borne hard link of shallow water area |
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| CN202120039754.3U Active CN215415928U (en) | 2021-01-08 | 2021-01-08 | High-precision cesium optical pump dynamic magnetic measurement system applied to ship-borne hard link of shallow water area |
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