KR20170021664A - Orthogonality correction method for 3-axis magnetometer - Google Patents

Orthogonality correction method for 3-axis magnetometer Download PDF

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KR20170021664A
KR20170021664A KR1020150116311A KR20150116311A KR20170021664A KR 20170021664 A KR20170021664 A KR 20170021664A KR 1020150116311 A KR1020150116311 A KR 1020150116311A KR 20150116311 A KR20150116311 A KR 20150116311A KR 20170021664 A KR20170021664 A KR 20170021664A
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magnetic field
orthogonality
axis
correcting
magnetometer
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KR1020150116311A
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Korean (ko)
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손대락
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손대락
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass
    • G01R35/005—Calibrating; Standards or reference devices, e.g. voltage or resistance standards, "golden" references
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R17/00—Measuring arrangements involving comparison with a reference value, e.g. bridge
    • G01R17/02—Arrangements in which the value to be measured is automatically compared with a reference value
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
    • G01R33/0206—Three-component magnetometers

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Condensed Matter Physics & Semiconductors (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Measuring Magnetic Variables (AREA)

Abstract

The present invention relates to a method of correcting the orthogonality of a triaxial magnetometer, which can correct the orthogonality of a triaxial magnetometer, and it can be attached to a drone to detect underground objects, an underwater object, a geological structure,

Description

[0001] The present invention relates to an orthogonality correction method for a three-axis magnetometer,

The present invention relates to a technique for measuring a magnetic field size, and more particularly to a method for correcting orthogonality of a triaxial magnetometer.

Magnetic Anomaly Detection (MAD) technology is used for both military and geological purposes. Korean Patent Laid-Open Publication No. 10-2012-0133709 (December 12, 2012) proposes a magnetometer using a flux gate.

In the aircraft sector, if the sophisticated orthogonality is not achieved, the aircraft will be shaken, so a 3-axis fluxgate magnetometer is not used and a scalar magnetometer has been used. Recently, small size drone is replacing military aircraft.

The present inventor has studied a technique for correcting orthogonality of a three-axis magnetometer mounted on a small-sized drone used for underground objects, underwater objects, geological structure grasping, and geological exploration.

Korean Patent Laid-Open No. 10-2012-0133709 (December 12, 2012)

It is an object of the present invention to provide an orthogonality correction method of a triaxial magnetometer which can be mounted on a small sized drone used for underground buried objects, underwater objects, geological structure grasping, and geological exploration.

According to an aspect of the present invention, there is provided a method for correcting orthogonality of a three-axis magnetometer including three x, y, and z-axis magnetometers installed orthogonally to each other. A magnetic field intensity measuring step of measuring a magnetic field intensity from a voltage signal according to an external magnetic field output by each of the plurality of magnetic sensors; And correcting a magnetic field strength error due to orthogonality errors of three x, y, and z-axis magnetometers with respect to three magnetic field strengths measured by the magnetic field intensity measuring step, respectively; And the like.

According to a further aspect of the present invention, the orthogonal error correcting step calculates three orthogonality-corrected magnetic field strength values by matrix-computing three magnetic field strength values measured by the magnetic field strength measuring step with a matrix for orthogonality correction A magnetic field strength value correction step; A magnetic field size acquiring step of acquiring an orthogonally-corrected magnetic field magnitude by root-summing the sum of the three magnetic field intensity values orthogonally corrected by the magnetic field intensity value correcting step; .

According to a further aspect of the present invention, the matrix for orthogonality correction is obtained experimentally in a three-axis magnetic field ensuring orthogonality of the three x, y, z-axis magnetometers.

According to a further aspect of the present invention, there is provided a magnetic field magnitude transmission step in which the orthogonality correction method of the triaxial magnetometer transmits orthogonally corrected magnetic field magnitudes by the orthogonal error correcting step; And further comprising:

According to a further aspect of the present invention, the orthogonally-corrected magnetic field magnitude in the magnetic field magnitude transmission step is transmitted to the main body of the drones via the RS232C communication interface.

The present invention is capable of correcting the orthogonality of a three-axis fluxgate magnetometer for a drone, and is capable of grasping underground objects, an underwater object, a geological structure, and exploring geological features.

1 is a flowchart showing a configuration of an embodiment of a method for correcting orthogonality of a triaxial magnetometer according to the present invention.
2 is a block diagram showing the configuration of one embodiment of a three-axis fluxgate magnetometer for drone.
3 is a circuit diagram showing a configuration of one embodiment of a measuring circuit portion of a three-axis fluxgate magnetometer for drone.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

The terms used throughout the specification of the present invention have been defined in consideration of the functions of the embodiments of the present invention and can be sufficiently modified according to the intentions and customs of the user or operator. It should be based on the contents of.

1 is a flowchart showing a configuration of an embodiment of a method for correcting orthogonality of a triaxial magnetometer according to the present invention. The orthogonality correction method of a triaxial magnetometer according to the present invention performs orthogonality correction of a triaxial magnetometer including three x, y, z magnetometers installed perpendicular to each other. At this time, the three x, y, z axis magnetometers may be fluxgates.

As shown in FIG. 1, in a magnetic field strength measuring step 10, a three-axis magnetometer measures magnetic field strength from voltage signals according to an external magnetic field output by each of the three x, y, and z axis magnetometers.

Next, in the orthogonality error correcting step 20, the three-axis magnetometer calculates the magnetic field strength error due to the orthogonality errors of the three x, y, and z axes with respect to the three magnetic field intensities measured by the magnetic field strength measuring step 10 . For example, the orthogonality error correction step 20 may include a magnetic field strength value correction step 21 and a magnetic field size acquisition step 22.

In the magnetic field intensity value correction step 21, the triaxial magnetometer computes the three magnetic field strength values measured by the magnetic field size measurement step 10 in matrix with the matrix for orthogonality correction, I ask.

Then, in the magnetic field strength acquiring step 22, the triaxial magnetometer calculates the orthogonally-corrected magnetic field size by root-summing the sum of the three magnetic field intensity values orthogonally corrected by the magnetic field intensity value correcting step 21, .

If the magnetic field intensities measured by the magnetic field strength measuring step 10 respectively by the three x, y and z magnetometers of the three-axis magnetometer are B mx , B my and B mz, then three x, y, z When the axis magnetometer is orthogonal, the magnitude of the magnetic field B mt is constant regardless of the rotation of the magnetometer.

However, if the three x, y, and z-axis magnetometers are not orthogonal, the magnitude of the total magnetic field B mt will be different with the rotation of the magnetometer.

Figure pat00001

In the orthogonality error correction step 20, the three-axis magnetometer corrects the magnetic field intensity error due to the orthogonality errors of the three x, y, and z-axis magnetometers through a matrix operation.

First, the three-axis magnetometer computes the three magnetic field intensity values orthogonally corrected by performing a matrix operation of the three magnetic field intensity values measured by the magnetic field intensity measuring step 10 with a matrix for orthogonality correction.

Figure pat00002

The above equation, B cx, B cy, B cz is orthogonality correction x, y, and z-axis magnetic field intensity values, T 11 to T 33 are in the matrix of factors for orthogonality correction, the three x, y, z These are the values that can be obtained experimentally with the axial fluxgate being orthogonal. That is, the matrix for orthogonality correction can be experimentally obtained in a three-axis magnetic field in which orthogonality of the three x, y, and z-axis magnetometers is ensured.

Next, the triaxial magnetometer acquires the orthogonally-corrected magnetic field magnitude by root-summing the values obtained by squaring each of the three magnetic field strength values orthogonally corrected.

Figure pat00003

The orthogonality corrected magnetic field strength B ct is constant regardless of the orthogonality error of the three x, y, z magnetometers. According to the present invention, the orthogonality of the triaxial magnetometer can be corrected, and it becomes possible to grasp underground objects, an underwater object, a geological structure, a geological survey, and the like.

According to a further aspect of the present invention, the orthogonality correcting method of the triaxial magnetometer may further include a magnetic field size transmitting step (30). In the magnetic field magnitude transmission step 30, the triaxial magnetometer transmits the orthogonally-corrected magnetic field magnitude by the orthogonality error correction step 20.

For example, the orthogonally-corrected magnetic field magnitude in the magnetic field magnitude transmission step 30 may be implemented to be transmitted to the main body of the drones (not shown) through the RS232C communication interface.

A three-axis fluxgate magnetometer for a drone that performs the orthogonality correction method of the triaxial magnetometer shown in FIG. 1 will be described with reference to FIG. 2 is a block diagram showing the configuration of one embodiment of a three-axis fluxgate magnetometer for drone.

2, the orthogonally corrected three-axis fluxgate magnetometer for drone includes three x, y, and z-axis fluxgates 110, three measurement circuitry 120, and a control unit 130 .

The three x, y, and z-axis fluxgates 110 are installed perpendicular to each other. The three x, y, z-axis fluxgates 110 include a first winding 111 and a second winding 112. For example, three x, y, z-axis fluxgates 110 may be implemented with solenoids that generate a uniform magnetic field.

When an external magnetic field generated by a magnetic source is applied to the first and second windings 111 and 112 of the three x, y, and z-axis fluxgates 110, And is output from three x, y, and z-axis fluxgates 110.

The three measurement circuit units 120 respectively measure magnetic field strengths from voltage signals according to external magnetic fields output by the three x, y, and z-axis fluxgates 110, respectively.

The controller 130 corrects the magnetic field size error due to the orthogonality errors of the three x, y, and z-axis fluxgates 110 with respect to the three magnetic field intensities measured by the three measurement circuit units 120, respectively.

For example, when three x, y, and z-axis fluxgates 110 are implemented as Helmholtz coils, when the orthogonality between the Helmholtz coils is greater than 0.1 degrees, the controller 130 drives the three x, y, To correct the magnetic field intensity error due to the orthogonality error of the magnetic field.

At this time, the controller 130 corrects the magnetic field intensity error due to the orthogonality errors of the three x, y, and z-axis fluxgates 110 through a matrix operation. The matrix for orthogonality correction can be experimentally obtained with the three x, y, and z-axis fluxgates being orthogonal.

First, the controller 130 calculates three orthogonality-corrected magnetic field intensity values by performing a matrix operation of the three magnetic field intensity values measured by the three measurement circuit units 120 with a matrix for orthogonality correction.

Then, the controller 130 calculates a sum of squares of the three magnetic field intensity values orthogonally-corrected, and obtains the orthogonality-corrected magnetic field magnitude by root-summing. The orthogonality-corrected magnetic field intensity is a constant value regardless of the orthogonality errors of the three x, y, and z-axis fluxgates 110. At this time, the three-axis magnetic field sizes B cx , B cy , B cz or the magnetic field magnitude B ct , which are orthogonally corrected, can be transmitted to the main control unit (not shown) of the drone through a communication interface such as RS232C.

3 is a circuit diagram showing a configuration of one embodiment of a measuring circuit portion of a three-axis fluxgate magnetometer for drone. 3, the measurement circuit section 120 includes an oscillator 121, an amplifier 122, a compensation winding 123, a demodulator 124, a low-pass filter 125, a feedback amplifier 126 And an A / D converter 127, as shown in FIG.

The oscillator 121 outputs a specific frequency signal.

The amplifier 122 amplifies the specific frequency signal output by the oscillator 121 and applies the amplified specific frequency signal to the first winding 111 of the flux gate 110.

When an external magnetic field by a magnetic source is applied to the first and second windings 111 and 112 of the three x, y and z axis fluxgates 110, A compensating magnetic field is generated by the current induced by the second winding 112 of the gate 110 to output a voltage signal according to the external magnetic field.

At this time, the compensation winding 123 induces a current by the second winding 112 so that the compensation winding 123 generates a compensation magnetic field and is applied to the flux gate 110, As shown in Fig. Therefore, the characteristics of the triaxial fluxgate magnetometer can be prevented from being destroyed, and the operational reliability of the sensor can be ensured.

The demodulator 124 receives a specific frequency signal from the oscillator 121, modulates the electromotive force generated by the compensating magnetic field generated by the compensating winding 123 into a carrier frequency signal, and outputs the carrier frequency signal.

The low-pass filter 125 low-pass filters and outputs the carrier frequency signal output by the demodulator 124.

The feedback amplifier 126 compares the low-pass filtered signal by the low-pass filter 125 with a reference signal and outputs the result.

The AD converter 127 converts the analog frequency signal output from the feedback amplifier 126 into a digital signal and outputs the digital signal.

The digital signal output by the AD converter 127 is the three magnetic field intensities measured by the three measurement circuit units 120 and the control unit 130 measures the three magnetic field intensities measured by the three measurement circuit units 120 The magnetic field intensity error due to the orthogonality error of the x, y, z-axis fluxgate 110 is corrected by the above-described method using three magnetic field intensities.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. .

INDUSTRIAL APPLICABILITY The present invention is industrially applicable in the field of magnetic field measurement technology and its application field, and this correction method is also applicable to a three-axis magnetometer using the principle of magnetoresistance effect, magnetic impedance effect, and the like.

100: Gate magnetometer
110: Flux gate
111: 1st winding
112: Secondary winding
120: Measurement circuit section
121: Oscillator
122: amplifier
123: compensation winding
124: Demodulator
125: Low-pass filter
126: Feedback Amplifier
127: AD converter
130:

Claims (5)

A method for correcting orthogonality of a three-axis magnetometer including three x, y and z magnetometers installed perpendicularly to each other,
A magnetic field intensity measuring step of measuring a magnetic field intensity from a voltage signal according to an external magnetic field output by each of the three x, y and z axis magnetometers;
And correcting a magnetic field strength error due to orthogonality errors of three x, y, and z-axis magnetometers with respect to three magnetic field strengths measured by the magnetic field intensity measuring step, respectively;
And correcting the orthogonality of the triaxial magnetometer. The method according to claim 1,
Wherein the orthogonal error correction step comprises:
A magnetic field intensity value correcting step of obtaining three orthogonally corrected magnetic field strength values by performing matrix calculation of the three magnetic field strength values measured by the magnetic field intensity measuring step with a matrix for orthogonality correction;
A magnetic field size acquiring step of acquiring an orthogonally-corrected magnetic field magnitude by root-summing the sum of the three magnetic field intensity values orthogonally corrected by the magnetic field intensity value correcting step;
Wherein the orthogonality correcting method comprises: 3. The method of claim 2,
Wherein the matrix for orthogonality correction comprises:
Wherein the three orthogonality of the three-axis magnetometer is experimentally obtained in a three-axis magnetic field ensuring orthogonality of the three x, y and z axis magnetometers. 4. The method according to any one of claims 1 to 3,
Wherein the orthogonality correction method of the triaxial magnetometer comprises:
A magnetic field size transmission step of transmitting the orthogonally-corrected magnetic field size by the orthogonal error correction step;
And correcting the orthogonality of the triaxial magnetometer. 5. The method of claim 4,
In the magnetic field size transmission step:
Wherein the orthogonality-corrected magnetic field size is transmitted to the main controller of the drone via the RS232C communication interface.
KR1020150116311A 2015-08-18 2015-08-18 Orthogonality correction method for 3-axis magnetometer KR20170021664A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108508390A (en) * 2018-05-28 2018-09-07 哈尔滨工业大学 The scaling method of vector Magnetic Sensor and its easy scaling method
KR102220157B1 (en) * 2019-09-05 2021-02-25 주식회사 센서피아 Information acquisition apparatus for magnetic materials laying underground or underwater installed on a moving vehicle and information obtaining method thereof
KR20210124708A (en) * 2020-04-07 2021-10-15 주식회사 센서피아 Measuring apparatus for magnetic field distribution installed on a moving vehicle

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20120133709A (en) 2011-05-31 2012-12-11 손대락 Flux-gate sensor and sensing method using the same

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20120133709A (en) 2011-05-31 2012-12-11 손대락 Flux-gate sensor and sensing method using the same

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108508390A (en) * 2018-05-28 2018-09-07 哈尔滨工业大学 The scaling method of vector Magnetic Sensor and its easy scaling method
CN108508390B (en) * 2018-05-28 2020-05-08 哈尔滨工业大学 Calibration method of vector magnetic sensor and simple calibration method thereof
KR102220157B1 (en) * 2019-09-05 2021-02-25 주식회사 센서피아 Information acquisition apparatus for magnetic materials laying underground or underwater installed on a moving vehicle and information obtaining method thereof
KR20210124708A (en) * 2020-04-07 2021-10-15 주식회사 센서피아 Measuring apparatus for magnetic field distribution installed on a moving vehicle

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