Calibration of Underwater Magnetic Sensor Array Using Magnetic Field Difference

doi:10.12382/bgxb.2024.0030

Abstract

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

CLC Number:

U665.18

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

Figures/Tables 13

Fig.1 Schematic diagram of calibration system

Fig.2 Coordinate systems and positional relationships

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

Fig.4 Magnetic sensor array structures

Fig.5 3D schematic diagram of coil trajectory

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

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

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

Fig.8 Positions of magnetic sensors and coil trajectory

Fig.9 Error interval diagram of line-shaped array

Fig.10 Error interval diagram of cross-shaped array

Fig.11 Error interval diagram of tetrahedron-shaped array

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

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