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Underwater magnetic field measurement attitude noise removal method and device

A magnetic field measurement and noise technology, which is applied in the direction of measuring devices, magnetic variable measurement, geophysical measurement, etc., can solve the problems of inability to remove motion noise, inapplicability, and inability to completely remove underwater magnetic field measurement noise, etc., to achieve removal and Correction of geometric effects and effect of ensuring reliability

Inactive Publication Date: 2020-04-28
THE THIRD RES INST OF CHINA ELECTRONICS TECH GRP CORP
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

The underwater magnetic field measurement for anomaly detection is a passive source method, so the attitude noise removal method in the field of airborne electromagnetic method exploration is not suitable for the field of underwater magnetic field measurement
Moreover, the high-pass filtering method mainly used in the field of airborne electromagnetic exploration cannot completely remove motion noise, and cannot meet the requirements for completely removing underwater magnetic field measurement noise.

Method used

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  • Underwater magnetic field measurement attitude noise removal method and device
  • Underwater magnetic field measurement attitude noise removal method and device
  • Underwater magnetic field measurement attitude noise removal method and device

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Effect test

Embodiment 1

[0057] Attitude Noise Removal Method for Underwater Magnetic Field Measurement

[0058] Such as figure 2 As shown, a method for removing attitude noise in underwater magnetic field measurement includes the following steps:

[0059] Step 1: Filter the measurement signal output by the measurement sensor to remove motion noise.

[0060] First, use a high-pass filter to filter the measurement signal output by the measurement sensor. Such as figure 1 As shown, let the original data be x(t), because the motion noise decays rapidly with the increase of frequency, so the original data x(t) can be removed through a high-pass filter, and most of the motion noise can be removed, and the preliminary Data X(t) after removing motion noise. Since motion noise is mainly concentrated in the frequency range below 500Hz, the cutoff frequency of the high-pass filter is determined to be 500Hz accordingly.

[0061] After the measurement signal output by the measurement sensor is filtered by a...

Embodiment 2

[0092] Attitude noise removal device for underwater magnetic field measurement

[0093] Includes measurement sensor for measuring underwater magnetic fields. During implementation, an induction coil magnetic field sensor (magnetic bar, etc.) is used.

[0094] The nine-axis attitude measurement device is rigidly connected with the measurement sensor, and is used to obtain the real-time yaw angle α, pitch angle β, and yaw angle γ of the measurement sensor. During implementation, the nine-axis attitude measuring device is composed of a three-axis gyroscope, a three-axis magnetometer, and a three-axis accelerometer.

[0095] The attitude noise removal module is used to implement the above method, and removes the attitude noise from the measurement signal output by the measurement sensor.

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Abstract

The invention relates to an underwater magnetic field measurement attitude noise removal method and device. The method comprises the steps: filtering a measurement signal outputted by a measurement sensor, and removing a motion noise; constructing a rotation matrix according to a real-time heading angle alpha, a pitch angle beta and a yaw angle gamma of the measurement sensor relative to an inertial coordinate system; and carrying out coordinate conversion on the measurement signal subjected to motion noise removal by using a rotation matrix to realize attitude correction of the measurement signal. Attitude noise of the underwater magnetic field sensor can be effectively removed.

Description

technical field [0001] The invention relates to a method and device for removing attitude noise in underwater magnetic field measurement. Background technique [0002] Due to the magnetization effect of the geomagnetic field, underwater anomalous bodies such as shipwrecks and hidden reefs will generate abnormal magnetic fields around them. This abnormal magnetic field can travel a long distance underwater and is the main signal source of underwater anomalous bodies. Using the underwater magnetic field sensor to measure the abnormal magnetic field can effectively detect the underwater abnormal body. There are many types of magnetic field sensors, such as induction coil sensors, fluxgate sensors, Hall effect sensors, etc. Among them, the induction coil magnetic field sensor is a classic magnetic field sensor. The most important part of the induction coil magnetic field sensor is the induction coil. When the external magnetic field changes, the magnetic flux in the induction c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01R33/00G01V3/40
CPCG01R33/0029G01V3/40
Inventor 钟华森李光修春晓周瑜
Owner THE THIRD RES INST OF CHINA ELECTRONICS TECH GRP CORP
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