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Tracking and positioning method of H-shaped scalar sensor array on magnetic target

A technology of sensor array and magnetic target, which is applied in the field of tracking and positioning of magnetic targets by H-type scalar sensor array, and can solve the problems of complex sensor installation

Active Publication Date: 2016-07-20
HARBIN ENG UNIV
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Problems solved by technology

In the process of using the vector sensor for measurement, the installation of the sensor is very complicated, and the attitude and orientation must be strictly corrected during installation

Method used

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  • Tracking and positioning method of H-shaped scalar sensor array on magnetic target
  • Tracking and positioning method of H-shaped scalar sensor array on magnetic target
  • Tracking and positioning method of H-shaped scalar sensor array on magnetic target

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Embodiment Construction

[0034] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0035] The object of the present invention is to track and locate magnetic targets with high precision. Using the total geomagnetic field data obtained by the sensor array composed of five scalar magnetometers, according to the far-field theory of the magnetic target magnetic dipole, through strict physical concept deduction, the spatial position information of the magnetic target is converted into the corresponding total geomagnetic field information In the process, the position coordinates of the magnetic target are calculated by the improved particle swarm algorithm to realize the precise positioning of the target.

[0036] The present invention is achieved through the following technical solutions:

[0037] The method for tracking and locating a magnetic target by an H-type scalar sensor array comprises the following steps:

[0038] Step 1: Use five mag...

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Abstract

The invention discloses a tracking and positioning method of an H-shaped scalar sensor array on a magnetic target.The method comprises the following steps that firstly, five magnetic sensors are used for structuring an H-shaped array on the water surface or underwater; secondly, the sensors in the H-shaped array are used for measuring the magnetic anomaly delta B generated by the magnetic target; thirdly, a magnetic dipole model is structured, and a magnetic field (the symbol is shown in the description) generated by the magnetic target at a measurement point is obtained; fourthly, the relation between the magnetic anomaly delta B and the position information (x, y, z) of the magnetic target is established; fifthly, magnetic anomaly data of the five magnetic sensors in the array is coupled; sixthly, the position information of the magnetic target is solved with a particle swarm algorithm, and tracking and positioning of the target are achieved.The detection method is easy to implement, high in positioning precision and long in positioning distance.

Description

technical field [0001] The invention belongs to the field of magnetic target positioning, and in particular relates to a tracking and positioning method for a magnetic target by an H-type scalar sensor array. Background technique [0002] The geomagnetic field is a natural physical field of the earth. It has various origins and is formed by the superposition of magnetic field components with different changing laws. According to the location of the field source, the geomagnetic field can be divided into internal source field and external source field. If the characteristics of the change of the geomagnetic field with time are considered, the geomagnetic field that changes rapidly with time becomes the changing magnetic field of the earth, and the geomagnetic field that changes slowly or basically remains unchanged with time becomes the stable magnetic field of the earth. At the same time, the geomagnetic field is one of the important physical quantities that reflect the evo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/08G01C21/20
CPCG01C21/08G01C21/20
Inventor 康崇樊黎明张晓峻王明郑权周健
Owner HARBIN ENG UNIV
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