A high-precision magnetic detection system for extremely shallow water targets
A high-precision, targeted technology, applied in the field of magnetic detection, can solve the problems of low measurement accuracy of fluxgate sensors, stable structures that cannot be applied to unmanned surface ships, etc., and achieve the effect of reducing measurement errors and improving measurement accuracy
Active Publication Date: 2022-05-17
中船海洋探测技术研究院有限公司
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However, the quality and volume of the unmanned surveying ship working in an extremely shallow water environment are subject to strong constraints, and the load capacity is much smaller than the quality of the gyro-stabilized pan / tilt, so it does not have the conditions to install the pan / tilt. The structure cannot be applied to unmanned surface ships equipped with fluxgate sensors, which leads to low measurement accuracy of fluxgate sensors in this scenario
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[0038] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
[0039]This application discloses a high-precision magnetic detection system for extremely shallow water targets. On the basis that the unmanned survey ship cannot install the pan / tilt, the actual measurement value of the fluxgate sensor is analyzed by comprehensively installing various sensors on the unmanned survey ship. Data correction, first of all, this application introduces the correction principle adopted as follows:
[0040] The fluxgate sensor measures the components of the magnetic field vector in the direction of the three mutually perpendicular measurement axes of the fluxgate sensor. The three measurement axes of the fluxgate sensor form a measurement coordinate system, and the three-axis output of the fluxgate sensor is actually The decomposition result of the magnetic field vector in the above measurement coordinate system. W...
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The invention discloses a high-precision magnetic detection system for extremely shallow water targets, and relates to the technical field of magnetic detection. In the system, a fluxgate sensor, an inertial attitude measurement device, a GNSS receiver and a vibration sensor are arranged on an unmanned measurement ship. The vibration data of the unmanned ship obtained by the sensor determines the first mapping matrix, and the attitude data of the unmanned ship obtained by the inertial attitude measurement device determines the second mapping matrix. After time synchronization based on the timing signal obtained by the GNSS receiver, the two Two mapping matrices are used to obtain their corresponding correction matrices. Using two correction matrices to calibrate the actual value of the three-axis output obtained by the fluxgate sensor to obtain the target magnetic detection result can reduce the measurement error caused by the movement of the unmanned ship and the vibration of the engine. Improve the measurement accuracy of underwater ferromagnetic target detection results.
Description
technical field [0001] The invention relates to the technical field of magnetic detection, in particular to a high-precision magnetic detection system for extremely shallow water targets. Background technique [0002] The extremely shallow water environment generally refers to natural waters with a water depth less than 5m. An unmanned surface vessel can be used to carry a fluxgate sensor to detect underwater ferromagnetic targets in an extremely shallow water environment. The fluxgate sensor can provide high-precision measurement information of the three-axis magnetic field. Accordingly, the position of the underwater ferromagnetic target can be further judged. When the fluxgate sensor is working, it needs to maintain a static state relative to the ground, so as to keep the orientation of the three measurement axes stable, otherwise, measurement errors caused by motion will occur. [0003] However, due to the influence of waves and other factors, the unmanned survey ship m...
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IPC IPC(8): G01V3/08G01R33/02G01H17/00G01C21/16
CPCG01V3/081G01R33/02G01H17/00G01C21/16Y02A90/30
Inventor 孙广发荣英佼李梦蕾郑洪浩
Owner 中船海洋探测技术研究院有限公司