利用磁场差值的水下磁传感器阵列校准技术

doi:10.12382/bgxb.2024.0030

摘要/Abstract

摘要：

为了实现磁噪声环境中水下磁传感器阵列位置和姿态的高精度校准,提出一种利用动态磁源和阵列磁场差值的磁传感器阵列校准方法。构建校准设备、水下磁传感器阵列和磁噪声环境的数学模型,对一字型、十字型和四面体型的水下磁传感器阵列进行定位定姿校准的数值仿真验证实验,分别利用阵列磁场差值和直接使用磁场值的方法对水下磁传感器阵列的位置和姿态进行求解。实验结果表明:对于水下20m深度处的磁传感器阵列,利用磁场差值的方法可实现位置和姿态的高精度校准,在校准精度和稳定性方面都要优于直接使用磁场值的方法;对于不同类型的磁传感器阵列,十字型阵列的定位误差均值为0.13m,角度误差均值为0.51°;一字型阵列的定位误差均值为0.13m,角度误差均值为0.82°;四面体型阵列的定位误差均值为0.16m,角度误差均值为0.89°。新方法和技术不易受地磁场环境噪声干扰的影响,具有较高的应用潜力。

关键词: 磁传感器阵列, 磁场差值, 校准, 电磁线圈

Abstract:

In order to accurately calibrate the position and attitude of underwater magnetic sensor arrays in a magnetic noise environment, a calibration method of magnetic sensor array is proposed, which is based on the dynamic magnetic source and the magnetic field difference between magnetic sensors. The mathematical models of the calibration equipment, the underwater magnetic sensor arrays and the magnetic noise environment are constructed. The positioning and attitude calibration of the cross-shaped line-shaped and tetrahedral magnetic sensor arrays are numerically simulated and experimentally verified. The position and attitude of underwater magnetic sensor arrays are solved by using the magnetic field difference of the array and directly using the magnetic field value. The experimental results show that the method of magnetic field difference can be used to accurately calibrate the position and attitude of magnetic sensor arrays at a depth of 20m, which is better than the method of directly using magnetic field value in terms of calibration accuracy and stability. The mean positioning error of the cross-shaped magnetic sensor array is 0.13m, and the mean angle error is 0.51°; the mean positioning error of the line-shaped magnetic sensor array is 0.13m and the mean angle error is 0.82°: and the mean positioning error of the tetrahedron-shaped magnetic sensor array is 0.16m and the mean angle error is 0.89°. The proposed method and technique are not easily affected by geomagnetic environmental noise and have high application potential.

Key words: magnetic sensor array, magnetic field difference value, calibration, electromagnetic coil

中图分类号:

U665.18

郭成豹, 王文井, 台秭艳. 利用磁场差值的水下磁传感器阵列校准技术[J]. 兵工学报, 2024, 45(S1): 1-9.

GUO Chengbao, WANG Wenjing, TAI Ziyan. Calibration of Underwater Magnetic Sensor Array Using Magnetic Field Difference[J]. Acta Armamentarii, 2024, 45(S1): 1-9.

图/表 13

图1 校准系统示意图

Fig.1 Schematic diagram of calibration system

图2 坐标系定义和位置关系

Fig.2 Coordinate systems and positional relationships

图3 磁传感器阵列磁场差值处理示意图

Fig.3 Schematic diagram of magnetic field difference processing for magnetic sensor array

图4 磁传感器阵列结构

Fig.4 Magnetic sensor array structures

图5 线圈轨迹3D示意图

Fig.5 3D schematic diagram of coil trajectory

图6 直接法与差值法的定位误差均值对比

Fig.6 Comparison of the mean positioning errors of the direct method and the difference method

图7 直接法与差值法的角度误差均值对比

Fig.7 Comparison of the mean angle errors of the direct method and the difference method

表1 阵列中心的坐标

Table 1 Coordinates of array’s center

阵列中心	x_o/m	y_o/m	z_o/m
O₀	0	0	-20
O₁	-15	15	-20
O₂	0	15	-20
O₃	15	15	-20
O₄	15	0	-20
O₅	15	-15	-20
O₆	0	-15	-20
O₇	-15	-15	-20
O₈	-15	0	-20

图8 磁传感器与线圈轨迹位置

Fig.8 Positions of magnetic sensors and coil trajectory

图9 一字型阵列误差区间图

Fig.9 Error interval diagram of line-shaped array

图10 十字型阵列误差区间图

Fig.10 Error interval diagram of cross-shaped array

图11 四面体型阵列误差区间图

Fig.11 Error interval diagram of tetrahedron-shaped array

表2 3种阵列结构的误差均值

Table 2 Mean errors of three arrays

阵列位置及均值	一字型		十字型		四面体型
阵列位置及均值	e_s/m	e_o/(°)	e_s/m	e_o/(°)	e_s/m	e_o/(°)
O₀	0.12	0.84	0.10	0.47	0.13	0.85
O₁	0.10	0.77	0.13	0.49	0.16	0.85
O₂	0.12	0.82	0.11	0.44	0.14	0.80
O₃	0.11	0.69	0.12	0.50	0.11	0.69
O₄	0.10	0.65	0.12	0.61	0.16	0.98
O₅	0.16	0.71	0.20	0.40	0.20	0.97
O₆	0.14	0.85	0.12	0.59	0.19	1.02
O₇	0.21	1.12	0.14	0.57	0.23	1.02
O₈	0.14	0.97	0.12	0.48	0.13	0.80
均值	0.13	0.82	0.13	0.51	0.16	0.89
标准差	0.04	0.15	0.03	0.07	0.04	0.12

参考文献 20

[1]	HOLMES J J. Modeling a ship’s ferromagnetic signatures[M]. San Rafael, CA, US: Morgan & Claypool Publishers, 2007: 1-3.
[2]	TARNAWSKI J, RUTKOWSKI T A, WOLOSZYN M, et al. Magnetic signature description of ellipsoid-shape vessel using 3D multi-dipole model fitted on cardinal directions[J]. IEEE Access, 2022, 10: 16906-16930.
[3]	VIJN A. Development of a closed-loop degaussing system: towards magnetic unobservable[D]. Delft, the Netherlands: Delft University of Technology, 2021.
[4]	吕俊军, 陈凯, 苏建业, 等. 海洋中的电磁场及其应用[M]. 上海: 上海科学技术出版社, 2020: 296-300.
	LÜ J J, CHEN K, SU J Y, et al. Electromagnetic fields in ocean and their applications[M]. Shanghai: Shanghai Scientific & Technical Publishers, 2020: 296-300. (in Chinese)
[5]	陶威. 基于磁通门阵列的水下磁性目标定位系统研究[D]. 太原: 中北大学, 2021.
	TAO W. The research of positioning system for underwater magnetic target based on array of magnetometer[D]. Taiyuan: North University of China, 2021. (in Chinese)
[6]	李青竹, 李志宁, 张英堂, 等. 平面十字磁梯度张量系统的两步线性校正[J]. 仪器仪表学报, 2017, 38(9): 2232-2241.
	LI Q Z, LI Z N, ZHANG Y T, et al. Two-step linear calibration of planar cross magnetic gradient tensor system[J]. Chinese Journal of Scientific Instrument, 2017, 38(9): 2232-2241. (in Chinese)
[7]	郑小林, 李金, 侯文生, 等. 应用磁传感器阵列定位跟踪消化道诊疗胶囊[J]. 光学精密工程, 2009, 17(3):576-582.
	ZHENG X L, LI J, HOU W S, et al. Localizing and tracking of medical capsule in human by magnetic sensor array[J]. Optics and Precision Engineering, 2009, 17(3):576-582. (in Chinese)
[8]	姜天杰, 刘建强, 党熠蒲, 等. 基于磁通门阵列的被动式救援井探测定位系统研究[J]. 石化技术, 2021, 28(1): 65-67.
	JIANG T J, LIU J Q, DANG Y P, et al. Research on passive rescue well detection and positioning system based on array of magnetometers[J]. Petrochemical Industry Technology, 2021, 28(1): 65-67. (in Chinese)
[9]	张琪, 张英堂, 李志宁, 等. 基于一字形传感器阵列的磁性目标定位方法[J]. 装甲兵工程学院学报, 2018, 32(4):74-79.
	ZHANG Q, ZHANG Y T, LI Z N, et al. Localization of a magnetic target based on a monolithic sensor array[J]. Journal of Academy of Armored Force Engineering, 2018, 32(4):74-79. (in Chinese)
[10]	李青竹, 李志宁, 张英堂, 等. 磁梯度张量系统传感器阵列的快速旋转校准[J]. 光学精密工程, 16(7):1813-1826.
	LI Q Z, LI Z N, ZHANG Y T, et al. Fast rotation calibration of sensor array in magnetic gradient tensor system[J]. Optics and Precision Engineering, 16(7):1813-1826. (in Chinese)
[11]	郭成豹, 刘大明, 肖昌汉, 等. 一种磁传感器定位方法: 中国, 201210227393.0 [P]. 2015-07-22.
	GUO C B, LIU D M, XIAO C H, et al. A positioning method of magnetic senor: China, 201210227393.0[P]. 2015-07-22. (in Chinese)
[12]	郭成豹, 王文井, 台秭艳. 水下磁传感器定位定姿数值验证实验研究[J]. 中国舰船研究. 2023, 18(6): 238-246.
	GUO C B, WANG W J, TAI Z Y. Numerical verification test of positioning and attitude determination of underwater magnetic sensor[J]. Chinese Journal of Ship Research. 2023, 18(6): 238-246. (in Chinese)
[13]	郭成豹, 王文井, 台秭艳. 水下磁传感器校准装置场地试验样机研究与实验[J]. 舰船科学技术, 2023, 45(22):160-168.
	GUO C B, WANG W J, TAI Z Y. Research and experiment of field test prototype of underwater magnetic sensor calibration device[J]. Ship Science and Technology, 2023, 45(22): 160-168. (in Chinese)
[14]	ALIMI R, FISHER E, NAHIR K. In situ underwater localization of magnetic sensors using natural computing algorithms[J]. Sensors, 2023, 23: 1797.
[15]	郭成豹, 胡松, 王文井, 等. 利用磁传感器阵列磁场差值的舰船磁场反演建模方法[J]. 兵工学报, 2022, 43(1): 111-119. doi: 10.3969/j.issn.1000-1093.2022.01.012
	GUO C B, HU S, WANG W J, et al. Ship magnetic field inversion modeling method utilizing the magnetic field difference between magnetic sensors[J]. Acta Armamentarii, 2022, 43(1): 111-119. (in Chinese) doi: 10.3969/j.issn.1000-1093.2022.01.012
[16]	YU X Q, WANG Y F, XIAO C J, et al. A practicable method for calibrating a magnetic sensor array[J]. IEEE Transactions on Instrumentation and Measurement, 2021, 70: 1007106.
[17]	ADACHI Y, OYAMA D, TERAZONO Y. Calibration of room temperature magnetic sensor array for biomagnetic measurement[J]. IEEE Transactions on Magnetics, 2019, 55(7): 5000506.
[18]	严恭敏, 翁浚. 捷联惯导算法与组合导航原理[M]. 西安: 西北工业大学出版社, 2019: 244-245.
	YAN G M, WENG J. Strapdown inertial navigation algorithm & Principles of integrated navigation[M]. Xi’an: Northwestern Polytechnical University Press, 2019: 244-245. (in Chinese)
[19]	赵鹤达, 林春生, 张宏欣, 等. 多个三轴传感器非对准误差校正方法[J]. 仪器仪表学报, 2018, 39(12): 144-151.
	ZHAO H D, LIN C S, ZHANG H X, et al. Misalignment calibration method on multiple three-axis sensors[J]. Chinese Journal of Scientific Instrument, 2018, 39(12): 144-151. (in Chinese)
[20]	LOWRIE W. The earth’s magnetic field[M]. New York, NY, US: Oxford University Press, 2023: 148-149.