JP5305202B2 - Underwater electric field measuring device and underwater electric field measuring method - Google Patents
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Abstract
Description
この発明は、雑音補償に工夫を凝らした水中電界測定装置及び水中電界測定方法に関する。 The present invention relates to an underwater electric field measurement device and an underwater electric field measurement method that have been devised for noise compensation.
一般に、海中や水中の電位、電界を測定するのに水中電界センサを使用するが、海中や水中で電位や電界を測定する場合に、目的とする電位の他に雑音が重畳するため、この雑音分を除去するための雑音補償が行われている。 In general, an underwater electric field sensor is used to measure the electric potential and electric field in the sea and underwater. However, when measuring electric potential and electric field in the sea or underwater, noise is superimposed in addition to the target electric potential. Noise compensation for removing the minute is performed.
従来の雑音補償は、図６に示すように、電界測定を行うための水中電界センサ（被補償用）１１の他に補償用の水中電界センサ１２を、水中電界測定用センサ１１の近傍に、それぞれのセンサの検出軸を同じ方向となるように設置し、目的とする電界発生体等の到来前に測定用の水中電界センサ１１と補償用水中電界センサ１２とで、それぞれ環境水中雑音を測定し、測定用の水中電界センサ１１の測定値から補償用の水中電界センサ１２の測定値を引く(減算する)ことにより、雑音補償を行っている。 As shown in FIG. 6, in the conventional noise compensation, in addition to the underwater electric field sensor (for compensated) 11 for performing electric field measurement, a compensating underwater electric field sensor 12 is placed near the underwater electric field measuring sensor 11. The detection axis of each sensor is set to be in the same direction, and the underwater electric field sensor 11 for measurement and the underwater electric field sensor 12 for compensation measure the environmental underwater noise before arrival of the target electric field generator or the like. Then, noise compensation is performed by subtracting (subtracting) the measurement value of the compensation underwater electric field sensor 12 from the measurement value of the measurement underwater electric field sensor 11.
また、水中電界測定時に、環境雑音を低減補償するために、目標体が測定領域に無い状態と、測定領域中にある状態で、電界センサにより、それぞれ電界を測定して環境雑音測定データと目標体測定データとを記憶し、次に環境雑音測定データと目標体測定データとをそれぞれ周波数解析して、環境雑音周波数解析データと目標体測定周波数解析データとを記憶し、目標体測定周波数解析データから環境雑音周波数解析データを減算して、交流雑音低減された目標体電界測定データを得るようにした水中電界測定方法が開示されている（特許文献１参照）。 In order to reduce and compensate for environmental noise during underwater electric field measurement, the electric field sensor is used to measure the environmental noise measurement data and the target while the target body is not in the measurement area and in the measurement area. The body measurement data is stored, then the environmental noise measurement data and the target body measurement data are frequency analyzed, respectively, and the environmental noise frequency analysis data and the target body measurement frequency analysis data are stored, and the target body measurement frequency analysis data is stored. An underwater electric field measurement method is disclosed in which environmental noise frequency analysis data is subtracted from a target electric field measurement data with reduced AC noise (see Patent Document 1).
上記した測定用の水中電界センサと補償用の水中電界センサを備える水中電界測定装置では、環境水中電界雑音を補償できる。 In the underwater electric field measurement device including the underwater electric field sensor for measurement and the underwater electric field sensor for compensation, environmental underwater electric field noise can be compensated.
しかし、この種の水中電界測定装置では環境水中電界雑音のほか、波浪等の影響により水中電界測定装置が揺れる場合、水中電界センサに接続された電線に印加される地磁気が変動することにより発生する電磁誘導雑音も検知する。 However, in this type of underwater electric field measurement device, in addition to environmental underwater electric field noise, when the underwater electric field measurement device shakes due to the influence of waves, etc., it occurs due to fluctuations in the geomagnetism applied to the wires connected to the underwater electric field sensor. It also detects electromagnetic induction noise.
この電磁誘導雑音は、上記した従来のように被補償用の水中電界センサ出力から補償用の水中電界センサ出力を引いても、補償用、被補償用の水中電界測定装置の揺れが異なり、検知する電磁誘導雑音の大きさが相違するので雑音補償を行うことができない。 This electromagnetic induction noise is detected even when the compensation underwater electric field sensor output is subtracted from the compensated underwater electric field sensor output as described above, and the compensation of the underwater electric field measurement device for compensation and compensation is different. Noise compensation cannot be performed because the magnitude of the electromagnetic induction noise to be performed is different.
この発明は、上記問題点に着目してなされたものであって、装置本体が水中で揺れによる電磁誘導雑音を検知する場合でも、雑音補償ができ、測定上のＳ／Ｎを向上できる水中電界測定装置を提供することを目的とする。 The present invention has been made paying attention to the above-mentioned problems, and even when the apparatus main body detects electromagnetic induction noise due to shaking in water, it can compensate for noise and improve the S / N in measurement. It aims at providing a measuring device.
本願の請求項１に係る水中電界測定装置は、水中電界センサと、加速度及び角速度を計測するジャイロと、３軸磁気センサとを備えた水中電界測定装置であって、前記水中電界センサの出力に重畳した前記水中電界センサが揺動することに起因する電磁誘導雑音を、前記ジャイロ及び前記３軸磁気センサの出力に基づいて補正する補正手段を有することを特徴とする。 An underwater electric field measurement device according to claim 1 of the present application is an underwater electric field measurement device including an underwater electric field sensor, a gyro for measuring acceleration and angular velocity, and a three-axis magnetic sensor. It has a correction means which corrects electromagnetic induction noise resulting from oscillation of the superimposed underwater electric field sensor based on the output of the gyroscope and the three-axis magnetic sensor.
また、請求項２に係る水中電界測定装置は、請求項１に記載の水中電界測定装置において、前記電磁誘導雑音計算手段は、前記ジャイロからの３軸加速度データと前記３軸磁気センサからの３軸磁気データとにより、速度ｖで電線が運動することにより発生する電磁誘導雑音を計算する第１の電磁誘導雑音計算手段と、 前記ジャイロからの３軸角速度データと、前記３軸磁気センサからの３軸磁気データとにより、角速度ωで電線が回転することにより発生する電磁誘導雑音を計算する第２の電磁誘導雑音計算手段と、前記第１の電磁誘導雑音計算手段で計算された電磁誘導雑音と、前記第２の電磁誘導雑音計算手段で計算された電磁誘導雑音を加算する電磁誘導雑音加算手段と、を有し、前記補償手段は前記水中電界センサで実測した水中電界データから、前記電磁誘導雑音加算手段の加算により求めた電磁誘導雑音を減算することにより電磁誘導雑音を補償することを特徴とする。 Further, the underwater electric field measuring apparatus according to claim 2 is the underwater electric field measuring apparatus according to claim 1, wherein the electromagnetic induction noise calculating means includes three-axis acceleration data from the gyro and three-axis magnetic sensor from the three-axis magnetic sensor. A first electromagnetic induction noise calculating means for calculating electromagnetic induction noise generated by the movement of the electric wire at a speed v based on the axial magnetic data; three-axis angular velocity data from the gyro; Second electromagnetic induction noise calculation means for calculating electromagnetic induction noise generated by rotating the electric wire at an angular velocity ω based on the three-axis magnetic data; and electromagnetic induction noise calculated by the first electromagnetic induction noise calculation means And electromagnetic induction noise addition means for adding the electromagnetic induction noise calculated by the second electromagnetic induction noise calculation means, and the compensation means is an underwater measured by the underwater electric field sensor. From the field data, and for compensating the electromagnetic induction noise by subtracting the electromagnetic induction noise obtained by adding the electromagnetic induction noise adding means.
また、請求項３に係る水中電界測定方法は、水中電界センサと、加速度及び角速度を計測するジャイロと、３軸磁気センサとを備える水中電界測定装置を用いて水中電界を測定する方法であって、前記ジャイロからの３軸加速度データと前記３軸磁気センサからの３軸磁気データとにより、速度ｖで電線が運動することにより発生する電磁誘導雑音を計算する第１の電磁誘導雑音計算過程と、前記ジャイロからの３軸角速度データと、前記３軸磁気センサからの３軸磁気データとにより、角速度ωで電線が回転することにより発生する電磁誘導雑音を計算する第２の電磁誘導雑音計算過程と、前記第１の電磁誘導雑音計算過程で計算された電磁誘導雑音と、前記第２の電磁誘導雑音計算過程で計算された電磁誘導雑音を加算する電磁誘導雑音加算過程と、前記水中電界センサで実測した水中電界データから、前記加算により求めた電磁誘導雑音を減算することにより電磁誘導雑音を補償する補償過程と、を備えることを特徴とする。 An underwater electric field measurement method according to claim 3 is a method for measuring an underwater electric field using an underwater electric field sensor, a gyro for measuring acceleration and angular velocity, and a three-axis magnetic sensor. A first electromagnetic induction noise calculation process for calculating electromagnetic induction noise generated by movement of the electric wire at a speed v based on the three-axis acceleration data from the gyro and the three-axis magnetic data from the three-axis magnetic sensor; A second electromagnetic induction noise calculation process for calculating electromagnetic induction noise generated when the electric wire rotates at an angular velocity ω based on the triaxial angular velocity data from the gyro and the triaxial magnetic data from the triaxial magnetic sensor. And electromagnetic induction noise calculated in the first electromagnetic induction noise calculation process and electromagnetic induction noise calculated in the second electromagnetic induction noise calculation process And calculation process, from the underwater field water field data measured by the sensor, characterized by comprising a compensation step of compensating the electromagnetic induction noise, the by subtracting the electromagnetic induction noise obtained by the adder.
この発明によれば、加速度、角速度を計測するジャイロと、３軸磁気センサとを備え、このジャイロ及び３軸磁気センサの計測データを用いて、水中電界センサの電線に電磁誘導される電位を求め、つまり揺れにより発生する電磁誘導雑音を求め、実測水中電界データから電磁誘導雑音を減算することにより、電磁誘導雑音を補償できる。 According to the present invention, a gyro for measuring acceleration and angular velocity and a triaxial magnetic sensor are provided, and a potential electromagnetically induced in the electric wire of the underwater electric field sensor is obtained using measurement data of the gyro and the triaxial magnetic sensor. That is, the electromagnetic induction noise generated by the shaking is obtained, and the electromagnetic induction noise can be compensated by subtracting the electromagnetic induction noise from the measured underwater electric field data.
そのため、水中において装置が揺れている状態でも雑音補償が可能であり、揺れ状態の測定でのＳ／Ｎを向上させることができる。 Therefore, noise compensation is possible even when the device is shaking in water, and the S / N in the measurement of the shaking state can be improved.
以下、実施の形態により、この発明を更に詳細に説明する。図１は、この発明の一実施形態水中電界測定装置の概略構成を示す図、図２は回路構成を示すブロック図である。 Hereinafter, the present invention will be described in more detail with reference to embodiments. FIG. 1 is a diagram showing a schematic configuration of an underwater electric field measuring apparatus according to an embodiment of the present invention, and FIG. 2 is a block diagram showing a circuit configuration.
この実施形態水中電界測定装置は、ブイによって水中に吊り下げられるタイプのものであって、水中電界センサ１と、３軸磁気センサ２と、ジャイロ３と、信号記録器４と、信号処理器５とから構成されている。 The underwater electric field measuring apparatus of this embodiment is of a type suspended in water by a buoy, and is an underwater electric field sensor 1, a three-axis magnetic sensor 2, a gyro 3, a signal recorder 4, and a signal processor 5. It consists of and.
水中電界センサ１は、従来からよく知られるようにＸ軸用の電界センサ１ｘ、Ｙ軸用の磁気センサ１ｙ、Ｚ軸用の電界センサ１ｚからなる３軸電界センサである。Ｘ軸用の電界センサ１ｘは、電極６ｘ１、６ｘ２と、この電極６ｘ１、６ｘ２を信号処理器５に接続する電線７ｘ１，７ｘ２を備え、Ｙ軸用の電界センサ１ｙは、電極６ｙ１、６ｙ２と、この電極６ｙ１、６ｙ２を信号処理器５に接続する電線７ｙ１，７ｙ２を備え、Ｚ軸用の磁気センサ１ｚは、電極６ｚ１、６ｚ２と、この電極６ｚ１、６ｚ２を信号処理器５に接続する電線７ｚ１，７ｚ２を備えている。 As is well known, the underwater electric field sensor 1 is a three-axis electric field sensor including an X-axis electric field sensor 1x, a Y-axis magnetic sensor 1y, and a Z-axis electric field sensor 1z. The X-axis electric field sensor 1x includes electrodes 6x1 and 6x2 and electric wires 7x1 and 7x2 that connect the electrodes 6x1 and 6x2 to the signal processor 5, and the Y-axis electric field sensor 1y includes the electrodes 6y1 and 6y2. The electrodes 6y1 and 6y2 are provided with electric wires 7y1 and 7y2 for connecting to the signal processor 5, and the Z-axis magnetic sensor 1z includes the electrodes 6z1 and 6z2 and the electric wires 7z1 for connecting the electrodes 6z1 and 6z2 to the signal processor 5. , 7z2.
３軸磁気センサ２は、水中電界測定装置の設置位置における３軸磁気Ｈｘ，Ｈｙ、Ｈｚを検出する。ジャイロ３は、水中電界測定装置の揺れ（Ｐｉｔｃｈ、Ｒｏｌｌ、Ｙａｗ・３軸加速度・３軸角速度）を検出する。信号記録器４は、水中電界センサ１、３軸磁気センサ２，及びジャイロ３で検出された各検出値のデータ及び処理過程で得られるデータを記録（記憶）する。 The triaxial magnetic sensor 2 detects triaxial magnetic Hx, Hy, and Hz at the installation position of the underwater electric field measuring device. The gyro 3 detects shaking (Pitch, Roll, Yaw, triaxial acceleration, triaxial angular velocity) of the underwater electric field measuring device. The signal recorder 4 records (stores) data of each detection value detected by the underwater electric field sensor 1, the triaxial magnetic sensor 2, and the gyro 3 and data obtained in the process.
信号処理器５は、ＣＰＵ（コンピュータ）が使用され、水中電界センサ１，３軸磁気センサ２，及びジャイロ３で検出されるデータに基づき所定の処理を実行し、揺れにより発生する電磁誘導雑音を算出する機能、実測した電界データから電磁誘導雑音を減算し、雑音補償を行う機能を有する。 The signal processor 5 uses a CPU (computer), performs predetermined processing based on data detected by the underwater electric field sensor 1, the 3-axis magnetic sensor 2, and the gyro 3, and generates electromagnetic induction noise generated by shaking. A function to calculate and a function to perform noise compensation by subtracting electromagnetic induction noise from the measured electric field data.
次に、この実施形態水中電界測定装置における、雑音補償を含む水中電界測定処理動作を図３，図４、図５に示すフロー図を参照して説明する。 Next, the underwater electric field measurement processing operation including noise compensation in the underwater electric field measurement apparatus of this embodiment will be described with reference to the flowcharts shown in FIGS.
信号処理器５における処理動作は、図３に示すように、大きく分けて、ステップＳＴ１とステップＳＴ２における処理が実行される。第１の処理として、ステップＳＴ１において、電磁誘導雑音を計算する。次にステップＳＴ２へ移行し、第２の処理として、水中電界センサ１で測定した電界データからステップＳＴ１で求めた電磁誘導雑音を引き（減算し）、雑音補償を行う。 The processing operation in the signal processor 5 is roughly divided as shown in FIG. 3, and the processing in step ST1 and step ST2 is executed. As a first process, electromagnetic induction noise is calculated in step ST1. Next, the process proceeds to step ST2, and as a second process, the electromagnetic induction noise obtained in step ST1 is subtracted (subtracted) from the electric field data measured by the underwater electric field sensor 1 to perform noise compensation.
以下に、上記第１の処理及び第２の処理の詳細を説明する。先ず図４のフロー図により、第１の処理の具体例を説明する。 Details of the first process and the second process will be described below. First, a specific example of the first process will be described with reference to the flowchart of FIG.
処理開始で、ステップＳＴ１１において、３軸磁気センサ２で検出した３軸磁気データＨｘ，ＨＹ，Ｈｚを取得する。次にステップＳＴ１２へ移行する。 At the start of processing, in step ST11, the triaxial magnetic data Hx, HY, Hz detected by the triaxial magnetic sensor 2 are acquired. Next, the process proceeds to step ST12.
ステップＳＴ１２において、ジャイロ３の出力である３軸加速度データＡｘ，Ａｙ，Ａｚを取得する。続いてステップＳＴ１３へ移行する。 In step ST12, triaxial acceleration data Ax, Ay, Az, which are outputs of the gyro 3, are acquired. Subsequently, the process proceeds to step ST13.
ステップＳＴ１３において、ジャイロ３の出力である３軸角速度データＷｘ，Ｗｙ、Ｗｚを取得する。次にステップＳＴ１４へ移行する。 In step ST13, triaxial angular velocity data Wx, Wy, and Wz that are outputs of the gyro 3 are acquired. Next, the process proceeds to step ST14.
ステップＳＴ１４においては、ジャイロ３の出力である角度データＰｉｔｃｈ、Ｒｏｌｌ、Ｙａｗを取得する。次に、ステップＳＴ１５へ移行する。 In step ST14, angle data Pitch, Roll, and Yaw, which are outputs of the gyro 3, are acquired. Next, the process proceeds to step ST15.
ステップＳＴ１５においては、速度ｖで電線７ｘ１〜７ｚ２が運動することにより発生する電磁誘導雑音Ｅｖｘ、Ｅｖｙ、Ｅｖｚを、ステップＳＴ１１で取得した３軸磁気データＨｘ，ＨＹ，Ｈｚと、ステップＳＴ１２で取得した３軸加速度データＡｘ，Ａｙ，Ａｚを基に、式１で計算する。なお、電線の長さをｌとする。続いてステップＳＴ１６へ移行する。
ステップＳＴ１６においては、角速度ωで電線７ｘ１〜７ｚ２が回転することにより発生する電磁誘導雑音Ｅωｘ、Ｅωｙ、Ｅωｚを、ステップＳＴ１１で取得した３軸磁気データＨｘ，ＨＹ，Ｈｚと、ステップＳＴ１３で取得した角速度データＷｘ、Ｗｙ，Ｗｚを基に、式２で計算する。ここでも、電線の長さをｌとする。計算後、ステップＳＴ１７へ移行する。
In step ST16, the electromagnetic induction noises Eωx, Eωy, Eωz generated by the rotation of the electric wires 7x1 to 7z2 at the angular velocity ω were acquired in step ST13 and the triaxial magnetic data Hx, HY, Hz acquired in step ST11. Based on the angular velocity data Wx, Wy, and Wz, calculation is performed using Equation 2. Again, the length of the wire is assumed to be l. After the calculation, the process proceeds to step ST17.
ステップＳＴ１７においては、ステップＳＴ１５において求めた各電磁誘導雑音Ｅｖｘ、Ｅｖｙ、Ｅｖｚと、ステップＳＴ１６において求めた各電磁誘導雑音Ｅωｘ、Ｅωｙ、Ｅωｚを、式３により加算処理する。これにより電線７ｘ１〜７ｚ２の揺れにより生じた電磁誘導雑音Ｅｘ、Ｅｙ，Ｅｚが得られる。
次に、図５のフロー図を参照して、第２の処理の具体例を説明する。処理開始で、ステップＳＴ２１において、水中電界センサ１により測定した水中電界測定値Ｖｘ，Ｖｙ、Ｖｚを取得する。続いてステップＳＴ２２へ移行する。 Next, a specific example of the second process will be described with reference to the flowchart of FIG. At the start of processing, underwater electric field measurement values Vx, Vy, and Vz measured by the underwater electric field sensor 1 are acquired in step ST21. Subsequently, the process proceeds to step ST22.
ステップＳＴ２２において、前記第１の処理のステップで求めた電磁誘導雑音Ｅｘ、Ｅｙ，Ｅｚを取得する。続いてステップＳＴ２３へ移行する。 In step ST22, electromagnetic induction noise Ex, Ey, Ez obtained in the first processing step is acquired. Subsequently, the process proceeds to step ST23.
ステップＳＴ２３においては、次の式４により、水中電界計測データＶｘ，Ｖｙ、Ｖｚより電磁誘導雑音Ｅｘ、Ｅｙ，Ｅｚを引くことにより、雑音補償された計測データＶ‘ｘ，Ｖ’ｙ、Ｖ‘ｚが得られる。
以上のように、この実施形態によれば、水中電界センサが揺れ、速度ｖで電線が運動により発生する電磁誘導雑音を計算するとともに、角速度ωで電線が回転することにより発生する電磁誘導雑音を計算し、さらに、これら計算された両電磁誘導雑音を加算して揺れに起因する電磁誘導雑音を求め、実測した水中電界計測値から揺れによる、計算で求めた電磁誘導雑音を減算して電磁誘導雑音を補償している。これにより、電線等の揺れにより発生する電磁誘導雑音も完全に補償することができ、精度良く水中電界測定を行うことが出来る。 As described above, according to this embodiment, the electromagnetic field noise generated by the underwater electric field sensor shaking and the electric wire moving at the speed v is calculated, and the electromagnetic induction noise generated when the electric wire rotates at the angular velocity ω is calculated. Calculate the electromagnetic induction noise caused by shaking by adding both of these calculated electromagnetic induction noises, and subtract the electromagnetic induction noise calculated by subtraction from the measured underwater electric field measurement value. Compensates for noise. Thereby, the electromagnetic induction noise generated by the shaking of the electric wire or the like can be completely compensated, and the underwater electric field measurement can be performed with high accuracy.
１ｘ、１ｙ、１ｚ 水中電界センサ
２ ３軸磁気センサ
３ ジャイロ
４ 信号記録器
５ 信号処理器
６ｘ１、６ｘ２、６ｙ１、
６ｙ２，６ｚ１、６ｚ２ 電極
７x１，７ｘ２，７ｙ１，
７ｙ２，７ｚ１、７ｚ２ 電線
1x, 1y, 1z Underwater electric field sensor 2 3-axis magnetic sensor 3 Gyro 4 Signal recorder 5 Signal processor 6x1, 6x2, 6y1,
6y2, 6z1, 6z2 electrodes 7x1, 7x2, 7y1,
7y2, 7z1, 7z2 electric wire
Claims (4)
前記水中電界センサの出力に重畳した前記水中電界センサが揺動することに起因する電磁誘導雑音を、前記ジャイロ及び前記３軸磁気センサの出力に基づいて補正する補正手段を有することを特徴とする水中電界測定装置。 An underwater electric field measuring device comprising: an underwater electric field sensor; a gyro for measuring acceleration and angular velocity of oscillation of the underwater electric field sensor; and a three-axis magnetic sensor,
It has a correction means which corrects electromagnetic induction noise resulting from rocking of the underwater electric field sensor superimposed on the output of the underwater electric field sensor based on the output of the gyroscope and the three-axis magnetic sensor. Underwater electric field measuring device.
前記補正手段は、前記ジャイロ及び前記３軸磁気センサからの計測データを用いて前記電位を計算する電磁誘導雑音計算手段と、前記水中電界センサで実測した水中電界データから、前記計算により求めた電磁誘導雑音を減算することにより電磁誘導雑音を補償する補償手段と、
を有することを特徴とする請求項１記載の水中電界測定装置。 The electromagnetic induction noise is a potential electromagnetically induced in the electric wire of the underwater electric field sensor,
The correction means includes electromagnetic induction noise calculation means for calculating the potential using measurement data from the gyroscope and the three-axis magnetic sensor, and electromagnetic waves obtained by the calculation from underwater electric field data measured by the underwater electric field sensor. Compensation means for compensating for electromagnetic induction noise by subtracting induction noise;
The underwater electric field measuring device according to claim 1, wherein
前記ジャイロからの３軸加速度データと前記３軸磁気センサからの３軸磁気データとにより、電線が平行移動することにより発生する電磁誘導雑音を計算する第１の電磁誘導雑音計算手段と、
前記ジャイロからの３軸角速度データと、前記３軸磁気センサからの３軸磁気データとにより、電線が回転することにより発生する電磁誘導雑音を計算する第２の電磁誘導雑音計算手段と、
前記第１の電磁誘導雑音計算手段で計算された電磁誘導雑音と、前記第２の電磁誘導雑音計算手段で計算された電磁誘導雑音を加算する電磁誘導雑音加算手段と、
を有することを特徴とする請求項２記載の水中電界測定装置。 The electromagnetic induction noise calculating means includes
First electromagnetic induction noise calculating means for calculating electromagnetic induction noise generated by the parallel movement of the electric wire based on the three-axis acceleration data from the gyro and the three-axis magnetic data from the three-axis magnetic sensor;
Second electromagnetic induction noise calculation means for calculating electromagnetic induction noise generated by the rotation of the electric wire from the triaxial angular velocity data from the gyro and the triaxial magnetic data from the triaxial magnetic sensor;
Electromagnetic induction noise addition means for adding the electromagnetic induction noise calculated by the first electromagnetic induction noise calculation means and the electromagnetic induction noise calculated by the second electromagnetic induction noise calculation means;
The underwater electric field measuring apparatus according to claim 2, wherein
前記ジャイロからの３軸加速度データと前記３軸磁気センサからの３軸磁気データとにより、電線が平行移動することにより発生する電磁誘導雑音を計算する第１の電磁誘導雑音計算過程と、前記ジャイロからの３軸角速度データと、前記３軸磁気センサからの３軸磁気データとにより、電線が回転することにより発生する電磁誘導雑音を計算する第２の電磁誘導雑音計算過程と、前記第１の電磁誘導雑音計算過程で計算された電磁誘導雑音と、前記第２の電磁誘導雑音計算過程で計算された電磁誘導雑音を加算する電磁誘導雑音加算過程と、前記水中電界センサで実測した水中電界データから、前記加算により求めた電磁誘導雑音を減算することにより電磁誘導雑音を補償する補償過程と、
を有することを特徴とする水中電界測定方法。
A method for measuring an underwater electric field using an underwater electric field sensor, an underwater electric field measuring device comprising a gyro for measuring acceleration and angular velocity, and a three-axis magnetic sensor,
A first electromagnetic induction noise calculation process for calculating electromagnetic induction noise generated by a parallel movement of an electric wire based on three-axis acceleration data from the gyro and three-axis magnetic data from the three-axis magnetic sensor; and the gyro A second electromagnetic induction noise calculation process for calculating electromagnetic induction noise generated by the rotation of the wire based on the three-axis angular velocity data from the three-axis magnetic sensor and the three-axis magnetic data from the three-axis magnetic sensor; An electromagnetic induction noise addition process for adding the electromagnetic induction noise calculated in the electromagnetic induction noise calculation process and the electromagnetic induction noise calculated in the second electromagnetic induction noise calculation process; and underwater electric field data measured by the underwater electric field sensor. From the compensation process to compensate the electromagnetic induction noise by subtracting the electromagnetic induction noise obtained by the addition,
An underwater electric field measurement method comprising:
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