High-precision cesium optical pump dynamic magnetic measurement system for ship-borne hard links in shallow waters

Abstract

The invention provides a high-precision cesium optical pump dynamic magnetic measurement system for shipboard hard links in shallow waters. The system is characterized by comprising a shipboard quick-release connection structure, a cesium optical pump acquisition system, an RTK positioning structure, an IMU inertial navigation system, a watertight probe cover, and a power supply system. The shipboard quick-release connection structure is installed on the lower side of the cesium optical pump acquisition system. The cesium optical pump acquisition system and the shipboard quick-release connection structure are connected to the ship through quick-release screws. The RTK positioning structure, the IMU inertial navigation system and the watertight probe cover are installed on the upper side of the cesium optical pump acquisition system. The power supply system is respectively connected to the cesium optical pump acquisition system, the RTK positioning structure, and the IMU inertial navigation system. The shipboard cesium optical pump system is modified in the invention, and an angle measurer, a carbon fiber telescopic tube, a sealed and waterproof probe cover, and an IMU inertial navigation system are provided. The whole set of the device can be used independently without limiting the loading shipboard model, and the connection device can be changed according to different ships.

Description

Technical Field

[0001] The invention relates to the technical field of geophysical exploration, and in particular to a high-precision cesium optical pump dynamic magnetic measurement system for shipboard hard links applied to shallow waters. Background Art

[0002] The magnetic field around the earth is called the geomagnetic field. The measurement of the ocean geomagnetic field is usually carried out by carrying a magnetometer on a ship sailing at sea. At present, most ocean magnetic field measurements can only be carried out by towing. The magnetic probe is towed in the seawater behind the survey ship, and the length of the towing cable is more than 3 times the length of the ship. This operation method is easily restricted in some sea areas, such as offshore aquaculture areas, polar floating ice areas, etc., which will cause damage or even loss of the magnetic probe. In order to solve this problem, the patent No. 201520274872.7 proposes a ship-borne magnetic detection device, which is installed on the hull of the survey ship instead of towing it at the stern. While realizing data measurement, it avoids damage to the magnetometer. However, because the patent is completely installed on the ship, the material of the ship will affect the measurement results obtained by the measuring instrument. Different ships have different materials and produce different magnetic interference. The results produced by the magnetometer completely installed on the ship are not accurate. Summary of the invention

[0003] According to the above technical problems, the present invention provides a high-precision cesium optical pump dynamic magnetic measurement system for ship-borne hard links in shallow waters, which is characterized by comprising a ship-borne quick-release connection structure, a cesium optical pump acquisition system, an RTK positioning structure, an IMU inertial navigation system, a watertight sealed probe cover, and a power supply system. The ship-borne quick-release connection structure is installed on the lower side of the cesium optical pump acquisition system, and the cesium optical pump acquisition system and the ship-borne quick-release connection structure are connected to the ship through quick-release screws. The RTK positioning structure, the IMU inertial navigation system and the watertight sealed probe cover are installed on the upper side of the cesium optical pump acquisition system, and the power supply system is respectively connected to the cesium optical pump acquisition system, the RTK positioning structure, and the IMU inertial navigation system;

[0004] The ship-borne quick-release connection structure consists of a mounting plate, a mounting bracket, and a mounting hole. The mounting plate is fixed to the lower side of the cesium light pump acquisition system. The mounting bracket is threadedly connected to the lower side of the mounting plate. The mounting bracket has a mounting hole on the lower side. The mounting bracket and the mounting support on the ship are connected by quick-release screws.

[0005] The cesium optical pump acquisition system consists of a shell, a magnetometer collector, an angle measurer, a three-component magnetic probe, a carbon fiber telescopic tube, and a cesium optical pump probe. The magnetometer collector is fixed inside the shell, an RTK positioning structure is fixed on the upper side of the shell, a carbon fiber telescopic tube is installed on the rear side of the shell, an angle measurer is installed between the carbon fiber telescopic tube and the shell, a limiting device is installed between the shell and the carbon fiber telescopic tube, a three-component magnetic probe and an IMU inertial navigation system are installed on the upper side of the carbon fiber telescopic tube by bolts, a cesium optical pump probe is installed on the tail end of the carbon fiber telescopic tube, and a watertight probe cover is wrapped on the upper side of the cesium optical pump probe.

[0006] The carbon fiber telescopic tube and the cesium light pump probe are connected by a buckle, and the buckle consists of a mounting tube, an insertion tube, and a fixing bolt. The mounting tube and the insertion tube are provided with fixing holes, the insertion tube is inserted into the mounting tube, and the fixing bolt is inserted into the fixing holes of the mounting tube and the insertion tube. A fixing nut is installed at one end of the fixing bolt. The mounting tube and the carbon fiber telescopic tube are welded and connected, and the insertion tube and the cesium light pump probe are welded and connected.

[0007] The carbon fiber telescopic tube is fixed on the outer shell through a movable rotating shaft.

[0008] A fixing hole is provided on the shell at the rear side of the angle measuring device, a fixing hole is provided at the front end of the carbon fiber telescopic tube, a fixing bolt is fixed through the fixing hole on the carbon fiber telescopic tube and a fixing hole on the shell, and a fixing nut is fixed on the rear side of the fixing bolt.

[0009] The cesium optical pump acquisition system has a high-frequency sampling function and uses frequencies of 1 / 3 Hz, 10 Hz, 20 Hz, and 100 Hz.

[0010] The RTK positioning uses the RTK system to accurately position the aircraft to obtain accurate measurement points.

[0011] The IMU inertial navigation system can provide the system with high-precision probe attitude information.

[0012] The cesium optical pump acquisition system also includes data preprocessing software, which has the functions of format conversion, merging magnetic survey data and navigation data, data filtering, attitude correction, diurnal change correction, rarefaction, data deletion, and survey line division.

[0013] The carbon fiber telescopic tube connects the cesium optical pump probe and the magnetometer collector through a carbon fiber tube with adjustable telescopic length, and the length is adjusted according to the compensation requirements of different ships.

[0014] The watertight packaged probe cover is made of ABS material and is packaged with a sealing ring and titanium alloy screws to ensure the safety of the cesium light pump probe.

[0015] The cesium optical pump acquisition system also includes a platform magnetic compensation system. The platform magnetic compensation system performs relevant compensation flights. The solved compensation coefficient should consider the minimum error after compensation in all directions of the aircraft. Finally, in the actual ship-borne magnetic test, the compensation accuracy can reach within 2NT. Commonly used methods include Gaussian elimination method for column principal element selection, iterative approximation of singular value decomposition, partial least squares calculation method, stepwise regression algorithm, etc. Some algorithms have advantages in dealing with certain types of problems, but they all have corresponding defects. In addition, the model coefficients will change with the magnetic inclination and latitude. Using fixed coefficient compensation may not achieve the ideal effect. The adaptive algorithm can be sampled to improve the compensation accuracy.

[0016] The action requirements of the magnetic compensation of the platform magnetic compensation system are as follows: the ship equipped with a magnetic detector performs maneuverable magnetic compensation movement within a certain range. When the ship moves, the ship's heading is required to face the four typical directions of east, west, south and north, that is, the geomagnetic heading; each direction performs a heading maneuver; each maneuver lasts for no less than 3 times, and the maneuvering angle remains repeatable; each action of the compensation flight does not require absolute satisfaction of the angle requirements, as long as the movement is uniform and avoids large and small maneuvers, it is most beneficial to solve the magnetic compensation coefficient. In extreme cases, the magnetic compensation coefficient calculation may fail due to the poor quality of the compensation action, the failure to complete the specified number of times or the extremely uneven amplitude of the action, then another compensation action may be required, but only twice at most. During the adjustment test phase, in order to obtain as much sample data as possible, two quadrilateral compensation movements are performed for each ship-borne voyage.

[0017] The beneficial effects of the present invention are as follows: the present invention has carried out relevant modifications on the shipborne cesium optical pump system, and is equipped with an angle measuring device, a carbon fiber telescopic tube, a sealed and waterproof probe cover, and an IMU inertial navigation system. The whole set of equipment can be used independently without limiting the loading ship model, and the connection device can be changed according to different ships.

[0018] The present invention is mainly installed on a vessel through a ship-borne quick-release connection structure, and is applicable to various loading vessels. It only requires a simple replacement of the connecting parts. The present invention can be fixedly connected through a mounting bracket and a pillar on the vessel, or the mounting bracket can be removed, and the mounting plate and the vessel can be directly bolted and connected. The mounting bracket can be transversely bolted, and the mounting plate can be longitudinally bolted, which meets the safety requirements of different vessels and different situations. The present invention adds an angle measurer that can accurately calculate the inclination angle of the carbon fiber telescopic tube, facilitating the smooth measurement. A stable buckle limit setting is adopted between the cesium optical pump probe and the carbon fiber telescopic tube of the present invention, so that the sensor is installed in the same direction each time, so that the optical pump probe can provide stable magnetic field information, and greatly improves the data consistency between different aircraft.

[0019] The present invention also adds an RTK system, which can provide high-precision GPS position information for magnetic measurement;

[0020] The present invention sets a high-precision IMU inertial navigation system near the cesium optical pump probe, which can provide high-precision attitude information for the system. A high-precision three-component fluxgate sensor is installed near the collector for magnetic measurement compensation. In addition to providing the total magnetic field strength, the whole set also provides stable component field measurements, which is more beneficial for geological interpretation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention.

[0022] Figure 2 It is a cross-sectional schematic diagram of the buckle structure of the present invention.

[0023] Figure 3 It is a schematic diagram of the shipborne quick-release connection structure of the present invention.

[0024] Figure 4 This is a schematic diagram of the installation of the angle measuring device and the housing of the present invention.

[0025] Figure 5 This is a schematic diagram of the principle of the cesium light pump acquisition system of the present invention.

[0026] Figure 6 This is a schematic diagram of the data processing principle of the present invention.

[0027] As shown in the figure: shipborne quick-release connection structure 1, cesium optical pump acquisition system 2, RTK positioning structure 3, IMU inertial navigation system 4, watertight package probe cover 5, mounting plate 1-1, mounting bracket 1-2, housing 2-1, magnetometer collector 2-2, angle measurer 2-3, three-component magnetic probe 2-4, carbon fiber telescopic tube 2-5, cesium optical pump probe 2-6, buckle 2-7. DETAILED DESCRIPTION

[0028] The present application is further described according to the accompanying drawings and embodiments:

[0029] Example 1

[0030] The present invention provides a high-precision cesium optical pump dynamic magnetic measurement system for shipboard hard links in shallow waters, comprising a shipboard quick-release connection structure 1, a cesium optical pump acquisition system 2, an RTK positioning structure 3, an IMU inertial navigation system 4, a watertight mounting probe cover 5, and a power supply system. The shipboard quick-release connection structure 1 is installed on the lower side of the cesium optical pump acquisition system 2, the cesium optical pump acquisition system 2 and the shipboard quick-release connection structure 1 are connected to the ship through quick-release screws, the RTK positioning structure 3, the IMU inertial navigation system 4 and the watertight mounting probe cover 5 are installed on the upper side of the cesium optical pump acquisition system 2, and the power supply system is respectively connected to the cesium optical pump acquisition system 2, the RTK positioning structure 3, and the IMU inertial navigation system 4; the shipboard quick-release connection structure 1 consists of a mounting plate 1-1, a mounting bracket 1-2, and a mounting hole, the mounting plate 1-1 is fixed on the lower side of the cesium optical pump acquisition system 2, the mounting bracket 1-2 is threadedly connected to the lower side of the mounting plate 1-1, and the mounting bracket 1-2 A mounting hole is provided on the lower side, and the mounting bracket 1-2 is connected to the mounting support on the ship by quick-release screws; the cesium optical pump acquisition system 2 consists of a shell 2-1, a magnetometer collector 2-2, an angle measurer 2-3, a three-component magnetic probe 2-4, a carbon fiber telescopic tube 2-5, and a cesium optical pump probe 2-6. The magnetometer collector 2-2 is fixed inside the shell 2-1, and the RTK positioning structure 3 is fixed on the upper side of the shell 2-1. The carbon fiber telescopic tube 2-5 is installed on the rear side of the shell 2-1, and the angle measurer 2-3 is installed between the carbon fiber telescopic tube 2-5 and the shell 2-1. A limiting device is installed between the shell 2-1 and the carbon fiber telescopic tube 2-5. The three-component magnetic probe 2-4 and the IMU inertial navigation system 4 are installed on the upper side of the carbon fiber telescopic tube 2-5 by bolts. The cesium optical pump probe 2-6 is installed at the tail end of the carbon fiber telescopic tube 2-5, and the upper side of the cesium optical pump probe 2-6 is wrapped with a watertight packaging probe cover 5. The carbon fiber telescopic tube 2-5 and the cesium light pump probe 2-6 are connected by a buckle. The buckle consists of a mounting tube, an insertion tube, and a fixing bolt. The mounting tube and the insertion tube are provided with fixing holes. The insertion tube is inserted into the mounting tube. The fixing bolt is inserted into the fixing holes of the mounting tube and the insertion tube. A fixing nut is installed at one end of the fixing bolt. A fixing hole is provided on the outer shell 2-1 at the rear side of the angle measuring device 2-3. A fixing hole is provided at the front end of the carbon fiber telescopic tube 2-5. The fixing bolt is fixed through the fixing hole on the carbon fiber telescopic tube 2-5 and a fixing hole on the outer shell 2-1. A fixing nut is fixed on the rear side of the fixing bolt. The cesium light pump acquisition system 2 has a high-frequency sampling function and adopts a frequency of

[0031] 1 / 3hz, 10hz, 20hz, 100hz. RTK positioning, using RTK system to accurately locate the aircraft, to obtain accurate measurement points. IMU inertial navigation system 4, can provide high-precision probe attitude information for the system. Cesium optical pump acquisition system 2 also includes data preprocessing software, which has functions such as format conversion, merging of magnetic measurement data and navigation data, data filtering, attitude correction, daily change correction, thinning, data deletion, and dividing survey lines. Carbon fiber telescopic tube 2-5 connects cesium optical pump probe 2-6 with magnetometer collector 2-2 through a carbon fiber tube with adjustable telescopic length, and adjusts the length according to the compensation needs of different ships. Watertight package probe cover 5 is made of ABS material and is packaged with sealing ring and titanium alloy screws to ensure the safety of cesium optical pump probe 2-6.

[0032] Example 2

[0033] When in use, the present invention is installed on the rear side of the ship through the ship-borne quick-release connection structure 1. Depending on the situation of the ship, the present invention can be fixedly connected by the mounting bracket and the pillar on the ship, or the mounting bracket can be removed, and the mounting plate and the ship can be directly bolted and fixed. The mounting bracket can be fixed with horizontal bolts, and the mounting plate can be fixed with longitudinal bolts, which meets the safety requirements of different situations of different ships. After installation, the carbon fiber telescopic tube 2-5 is hung to the lower side of the ship, and the carbon fiber telescopic tube 2-5 is pulled open to make the cesium optical pump probe 2-6 contact the lower seawater. Then, according to the conditions of the hull, sea area, etc., the angle of the carbon fiber telescopic tube 2-5 and the shell 2-1 is adjusted, and the angle is determined by the angle measuring device 2-3. Then, the carbon fiber telescopic tube 2-5 is fixed by the fixing bolt through the fixing hole on the carbon fiber telescopic tube 2-5 and the shell 2-1, which is simple and convenient. The RTK system accurately locates the present invention to obtain an accurate measurement point and transmits it to the magnetometer collector 2-2. The IMU inertial navigation system 4 provides high-precision probe attitude information for the magnetometer collector 2-2. The cesium optical pump probe 2-6 transmits the collected information to the magnetometer collector 2-2. The magnetometer collector 2-2 saves and processes the collected information to facilitate the staff to understand the situation in the sea area. The steps of magnetic compensation flight are:

[0034] 1) The vessel moves into the compensation area and enters the compensation motion.

[0035] 2) Keep sailing straight in the north-south, east-west and north-south routes, and make a round trip on the same route. The ship keeps sailing straight in the east-west direction, and makes a round trip on the same route.

[0036] 3) According to the planned route, complete the magnetic compensation flight in the magnetic compensation area. The magnetic compensation route is two quadrilateral routes centered on the reference point. The headings of one quadrilateral include four headings (magnetic headings) of east, south, west and north, and the headings of the other quadrilateral are southeast, northeast, northwest and southwest. The aircraft completes three round trips of yaw in sequence, and the ship's attitude amplitude is fixed.

[0037] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. The various components mentioned in the present invention are common technologies in the existing field. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only to illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A high-precision cesium optical pump dynamic magnetic measurement system for ship-borne hard links in shallow waters, characterized in that It includes a ship-borne quick-release connection structure, a cesium optical pump acquisition system, an RTK positioning structure, an IMU inertial navigation system, a watertight probe cover, and a power supply system. The ship-borne quick-release connection structure is installed on the lower side of the cesium optical pump acquisition system. The cesium optical pump acquisition system and the ship-borne quick-release connection structure are connected to the ship through quick-release screws. The RTK positioning structure, the IMU inertial navigation system and the watertight probe cover are installed on the upper side of the cesium optical pump acquisition system. The power supply system is connected to the cesium optical pump acquisition system, the RTK positioning structure, and the IMU inertial navigation system respectively. The ship-borne quick-release connection structure consists of a mounting plate, a mounting bracket, and a mounting hole. The mounting plate is fixed to the lower side of the cesium light pump acquisition system. The mounting bracket is threadedly connected to the lower side of the mounting plate. The mounting bracket has a mounting hole on the lower side. The mounting bracket and the mounting support on the ship are connected by quick-release screws. The cesium optical pump acquisition system consists of a shell, a magnetometer collector, an angle measurer, a three-component magnetic probe, a carbon fiber telescopic tube, and a cesium optical pump probe. The magnetometer collector is fixed inside the shell, an RTK positioning structure is fixed on the upper side of the shell, a carbon fiber telescopic tube is installed on the rear side of the shell, an angle measurer is installed between the carbon fiber telescopic tube and the shell, a limiting device is installed between the shell and the carbon fiber telescopic tube, a three-component magnetic probe and an IMU inertial navigation system are installed on the upper side of the carbon fiber telescopic tube by bolts, a cesium optical pump probe is installed on the tail end of the carbon fiber telescopic tube, and a watertight probe cover is wrapped on the upper side of the cesium optical pump probe.

2. A high-precision cesium optical pump dynamic magnetic measurement system for shipboard hard links in shallow waters according to claim 1, characterized in that The carbon fiber telescopic tube and the cesium light pump probe are connected by a buckle, and the buckle consists of a mounting tube, an insertion tube, and a fixing bolt. The mounting tube and the insertion tube are provided with fixing holes, the insertion tube is inserted into the mounting tube, the fixing bolt is inserted into the fixing holes of the mounting tube and the insertion tube, and a fixing nut is installed at one end of the fixing bolt.

3. A high-precision cesium optical pump dynamic magnetic measurement system for shipboard hard links in shallow waters according to claim 1, characterized in that A fixing hole is provided on the shell at the rear side of the angle measuring device, a fixing hole is provided at the front end of the carbon fiber telescopic tube, a fixing bolt is fixed through the fixing hole on the carbon fiber telescopic tube and a fixing hole on the shell, and a fixing nut is fixed on the rear side of the fixing bolt.

4. A high-precision cesium optical pump dynamic magnetic measurement system for shipboard hard links in shallow waters according to claim 1, characterized in that The cesium light pump acquisition system has a high-frequency sampling function and uses frequencies of 1 / 3 Hz, 10 Hz, 20 Hz, and 100 Hz.

5. A high-precision cesium optical pump dynamic magnetic measurement system for shipboard hard links in shallow waters according to claim 1, characterized in that The RTK positioning uses the RTK system to accurately position the aircraft to obtain accurate measurement points.

6. A high-precision cesium optical pump dynamic magnetic measurement system for shipboard hard links in shallow waters according to claim 1, characterized in that The cesium optical pump acquisition system also includes data preprocessing software, which has the functions of format conversion, merging magnetic survey data and navigation data, data filtering, attitude correction, diurnal change correction, rarefaction, data deletion, and survey line division.

7. A high-precision cesium optical pump dynamic magnetic measurement system for shipboard hard links in shallow waters according to claim 1, characterized in that The carbon fiber telescopic tube connects the cesium optical pump probe with the magnetometer collector through a carbon fiber tube with adjustable telescopic length.

8. A high-precision cesium optical pump dynamic magnetic measurement system for shipboard hard links in shallow waters according to claim 1, characterized in that The watertight packaged probe cover is made of ABS material and is packaged with a sealing ring and titanium alloy screws.

9. A high-precision cesium optical pump dynamic magnetic measurement system for shipboard hard links in shallow waters according to claim 1, characterized in that The carbon fiber telescopic tube is fixed on the shell through a movable rotating shaft.

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