Single-point positioning method for magnetic target based on total magnetic field gradient and magnetic tensor modulus gradient

A modulus gradient, single-point positioning technology, applied in measurement devices, navigation, instruments, etc., can solve the problems of unstable attitude of the measurement platform, magnetic targets and measurement platforms, and achieve the effect of improving positioning accuracy and solving the inherent error of the system.

Active Publication Date: 2018-12-04
NANJING UNIV OF SCI & TECH
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Problems solved by technology

Based on the rotation invariance of the gradient tensor modulus, the STAR method solves the problem of unstable attitude of the measurement platform and th

Method used

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  • Single-point positioning method for magnetic target based on total magnetic field gradient and magnetic tensor modulus gradient
  • Single-point positioning method for magnetic target based on total magnetic field gradient and magnetic tensor modulus gradient
  • Single-point positioning method for magnetic target based on total magnetic field gradient and magnetic tensor modulus gradient

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Embodiment Construction

[0022] combine figure 1 , a magnetic target single-point positioning analysis method based on the total magnetic field gradient and the magnetic tensor modulus gradient, using a three-axis vector magnetometer to construct a cubic magnetic detector for magnetic target positioning, including the following steps:

[0023] Step 1, select the regular cube configuration of the magnetic detector, obtain the three-axis magnetic components of each magnetometer, and use B nx , B ny , B nz express.

[0024] Step 2, using the three-axis magnetic component B of the magnetometer nx , B ny , B nz , to obtain the modulus of the magnetic field measured by each magnetometer:

[0025]

[0026] Step 3. For the regular cube configuration of the magnetic detector, obtain the gradient of the magnetic field modulus at the center of the magnetic detector. The expression of the modulus gradient is: G≈iG x +jG y +kG z ;

[0027] Using the modulus of each magnetometer to approximate the modu...

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Abstract

The invention discloses a single-point positioning method for a magnetic target based on total magnetic field gradient and magnetic tensor modulus gradient. According to the method, the modulus of thetotal magnetic field gradient and the modulus of the magnetic tensor modulus gradient are acquired through a cubic magnetic detector, and then the analytical solutions of the orientation of the magnetic target and the size of a magnetic moment are gained through simultaneous equations. The magnetic target single-point positioning method provided by the invention can effectively avoid the problemof inaccurate positioning caused by relative rotation and relative motion of the magnetic target and the magnetic detector on the basis of rotation invariance of the total magnetic field gradient andthe magnetic tensor modulus gradient, and has important practical significance in application to positioning of a magnetic anomaly target in a specific scene.

Description

technical field [0001] The invention relates to a magnetic dipole positioning technology, in particular to a magnetic target single-point positioning method based on a total magnetic field gradient and a magnetic tensor modulus gradient. Background technique [0002] A long-distance magnetic target can often be thought of as a magnetic dipole. Based on the magnetic anomaly equations of magnetic dipoles, at least six equations need to be solved for target positioning and magnetic moment parameter estimation. Therefore, multiple magnetic sensors are usually used to measure the target for parameter estimation. The positioning method based on the total field or component of the target anomaly field needs to solve the nonlinear equation, and it is difficult to obtain the analytical solution of the parameters. The nonlinear method and particle algorithm based on multi-measurement point data have been studied, but there are disadvantages such as complex positioning algorithm, larg...

Claims

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Application Information

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IPC IPC(8): G01C21/00
CPCG01C21/00
Inventor 庄志洪金煌煌王宏波王容川付梦印
Owner NANJING UNIV OF SCI & TECH
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