Magnetometer planar array organization method and device

Abstract

The present invention provides a method and a device for organizing a planar array of magnetometers. The method includes: obtaining a plurality of planar sub-arrays of magnetometers, where the plurality of planar sub-arrays of magnetometers are located in the same plane, and the planar sub-arrays of magnetometers are triangular in shape and include uniaxial magnetometers respectively located at the vertices of the planar sub-arrays of magnetometers. The uniaxial magnetometers include a first uniaxial magnetometer, a second uniaxial magnetometer, and a third uniaxial magnetometer; based on the plurality of planar sub-arrays of magnetometers, constructing a planar array of magnetometers such that the uniaxial magnetometers in adjacent planar sub-arrays of magnetometers are different; determining a magnetic target and determining a first magnetic component of the magnetic target obtained by the first uniaxial magnetometer; based on a difference algorithm, obtaining a second magnetic component and a third magnetic component of the magnetic target; and based on the first magnetic component, the second magnetic component, and the third magnetic component, obtaining a magnetic imaging of the magnetic target. By means of the present invention, magnetic crosstalk is reduced, and the finally formed magnetic imaging has a uniform image.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic detection, and particularly to a method and device for organizing a planar array of magnetometers. Background Art

[0002] Magnetic detection technology measures the magnetic field distribution around a magnetic object, extracts the characteristic quantities of the magnetic signal therefrom, and uses a certain data processing method to obtain relevant information about the target. Compared with detection means such as light, sound, and electromagnetic waves, magnetic detection is a passive detection technology with advantages such as good concealment, strong penetrability, and being unaffected by weather conditions. This technology is currently widely used in fields such as airborne prospecting, magnetic navigation, magnetic positioning, and target search.

[0003] In order to image the magnetic field in a certain space, usually a single magnetometer can be used for scanning. The advantage of this is that the cost is very low, but the disadvantages are low reliability, poor stability, and very time-consuming. Another method is to use the Hanle principle to map the magnetic field strength on a large-sized atomic gas to the fluorescence intensity emitted by the atoms, and obtain a two-dimensional magnetic image through the imaging ability of an optical imaging array (such as a CCD or CMOS camera). Due to the limitations of the size of the atomic gas chamber and the intensity of the pump laser, the scale of the imaging array obtained by this method is limited. Moreover, in many cases, the magnetic target to be measured is far from the imaging area, and imaging needs to be performed in a large area to obtain observable magnetic field changes. Therefore, the foregoing imaging methods are not very suitable for this application scenario. In addition, magnetic imaging requires a vector magnetic field, but it is difficult to obtain a vector magnetic field. Three single-axis magnetometers or other methods are needed to convert the scalar magnetic field into a vector form. This requires converting the single-axis magnetometers into vector magnetometers and reducing the crosstalk caused by forming an array of magnetometers. Summary of the Invention

[0004] The present invention provides a method and device for organizing a planar array of magnetometers to solve the defects in the prior art that the magnetic imaging of a magnetic target is non-uniform and has a lot of crosstalk, and realizes reducing magnetic crosstalk during the process of obtaining the magnetic imaging of the magnetic target, and finally forming a uniform magnetic imaging image.

[0005] The present invention provides a method for organizing a planar array of magnetometers. The method includes: obtaining a plurality of planar sub-arrays of magnetometers, where the plurality of planar sub-arrays of magnetometers are located in the same plane, the planar sub-arrays of magnetometers are triangular in shape, and include uniaxial magnetometers respectively located at the vertices of the planar sub-arrays of magnetometers. The uniaxial magnetometers include a first uniaxial magnetometer, a second uniaxial magnetometer, and a third uniaxial magnetometer, and the orientations of the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer are orthogonal to each other; based on the plurality of planar sub-arrays of magnetometers, constructing a planar array of magnetometers so that the uniaxial magnetometers in adjacent planar sub-arrays of magnetometers are different; determining a magnetic target, and determining a first magnetic component of the magnetic target obtained by the first uniaxial magnetometer in the planar array of magnetometers; based on a difference algorithm, obtaining a second magnetic component and a third magnetic component of the magnetic target, where the first magnetic component, the second magnetic component, and the third magnetic component are orthogonal to each other; based on the first magnetic component, the second magnetic component, and the third magnetic component, obtaining a magnetic image of the magnetic target.

[0006] According to a method for organizing a planar array of magnetometers provided by the present invention, the step of obtaining the second magnetic component and the third magnetic component of the magnetic target based on the difference algorithm includes: obtaining a magnetic component of the magnetic target along the direction of the second magnetic component based on the second uniaxial magnetometer adjacent to the first uniaxial magnetometer, and obtaining a magnetic component of the magnetic target along the direction of the third magnetic component based on the third uniaxial magnetometer adjacent to the first uniaxial magnetometer; obtaining the second magnetic component based on the magnetic component along the direction of the second magnetic component, and obtaining the third magnetic component based on the magnetic component along the direction of the third magnetic component.

[0007] According to a method for organizing a planar array of magnetometers provided by the present invention, the step of obtaining the second magnetic component based on the magnetic component along the direction of the second magnetic component and obtaining the third magnetic component based on the magnetic component along the direction of the third magnetic component is realized by the following formula:

[0008]

[0009]

[0010] where and is the magnetic component of the magnetic target along the direction of the second magnetic component obtained by the second uniaxial magnetometer adjacent to the first uniaxial magnetometer; and is the magnetic component of the magnetic target along the direction of the third magnetic component obtained by the third uniaxial magnetometer adjacent to the first uniaxial magnetometer; as the second magnetic component; as the third magnetic component.

[0011] A method for organizing a planar array of magnetometers according to the present invention further includes: determining the magnitude of the magnetic dipole moment of the magnetic target and the orientation of the magnetic dipole moment; determining the position of the magnetic target based on the magnitude of the magnetic dipole moment, the orientation of the magnetic dipole moment, the first magnetic component, the second magnetic component, and the third magnetic component.

[0012] A method for organizing a planar array of magnetometers according to the present invention constructs the planar sub-array of magnetometers in the following manner: obtaining the angles formed by connecting the uniaxial magnetometers at the vertices of the planar sub-array of magnetometers; setting the angles to 60° to obtain the planar sub-array of magnetometers.

[0013] A method for organizing a planar array of magnetometers according to the present invention constructs the planar sub-array of magnetometers in the following manner: setting the distances between the uniaxial magnetometers at the vertices of the planar sub-array of magnetometers to be equal distances to obtain the planar sub-array of magnetometers.

[0014] The present invention also provides a planar array of magnetometers, which includes: a plurality of planar sub-arrays of magnetometers. The plurality of planar sub-arrays of magnetometers are located in the same plane. The planar sub-array of magnetometers is triangular and includes uniaxial magnetometers respectively located at the vertices of the planar sub-array of magnetometers. Among them, the uniaxial magnetometers include a first uniaxial magnetometer, a second uniaxial magnetometer, and a third uniaxial magnetometer. The orientations of the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer are orthogonal to each other, and the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer are arranged alternately so that the uniaxial magnetometers in adjacent planar sub-arrays of magnetometers are different.

[0015] The present invention also provides a planar array of magnetometers, and the angles formed by connecting the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer to each other are 60°.

[0016] The present invention also provides a planar array of magnetometers, and the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer are equidistant from each other.

[0017] The present invention also provides a magnetometer planar array organizing device, which includes: an acquisition module for acquiring a plurality of magnetometer planar sub-arrays, where the plurality of magnetometer planar sub-arrays are located in the same plane, the magnetometer planar sub-arrays are triangular in shape, and include uniaxial magnetometers respectively located at the vertices of the magnetometer planar sub-arrays. The uniaxial magnetometers include a first uniaxial magnetometer, a second uniaxial magnetometer, and a third uniaxial magnetometer, and the orientations of the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer are orthogonal to each other; a construction module for constructing a magnetometer planar array based on the plurality of magnetometer planar sub-arrays, so that the uniaxial magnetometers in adjacent magnetometer planar sub-arrays are different; a determination module for determining a magnetic target and determining a first magnetic component of the magnetic target obtained by the first uniaxial magnetometer in the magnetometer planar array; a processing module for obtaining a second magnetic component and a third magnetic component of the magnetic target based on a difference algorithm, where the first magnetic component, the second magnetic component, and the third magnetic component are orthogonal to each other, and obtaining a magnetic imaging of the magnetic target based on the first magnetic component, the second magnetic component, and the third magnetic component.

[0018] The magnetometer planar array organizing method and device provided by the present invention construct a magnetometer planar array through a plurality of magnetometer planar sub-arrays, and based on the first magnetic component of the magnetic target obtained by the first uniaxial magnetometer in the magnetometer planar array, and based on the difference algorithm, obtain a second magnetic component and a third magnetic component of the magnetic target, and obtain a magnetic imaging of the magnetic target based on the first magnetic component, the second magnetic component, and the third magnetic component. Based on the magnetometer planar array organizing method provided by the present invention, magnetic crosstalk can be reduced during the process of obtaining the magnetic imaging of the magnetic target, and a uniform magnetic imaging image can be formed, improving the detection effect of magnetic detection. Description of the Drawings

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 is one of the flow diagrams of the magnetometer planar array organizing method provided by the present invention;

[0021] Figure 2 is one of the flow diagrams of obtaining the second magnetic component and the third magnetic component of the magnetic target based on the difference algorithm provided by the present invention;

[0022] Figure 3It is a schematic diagram of an application scenario for obtaining the second magnetic component and the third magnetic component of a magnetic target based on the difference algorithm provided by the present invention;

[0023] Figure 4 It is the second schematic flowchart of the method for organizing a planar array of magnetometers provided by the present invention;

[0024] Figure 5 It is a schematic diagram of an application scenario for establishing a coordinate system for a magnetic target in magnetic array positioning;

[0025] Figure 6 It is a schematic diagram of the structure of a planar array of magnetometers provided by the present invention;

[0026] Figure 7 It is a schematic diagram of the structure of a device for organizing a planar array of magnetometers provided by the present invention;

[0027] Figure 8 It is a schematic diagram of the structure of an electronic device provided by the present invention.

[0028] Reference numerals:

[0029] 600: Planar sub-array of magnetometers; 610: Planar sub-array of magnetometers;

[0030] 6101: First uniaxial magnetometer; 6102: Second uniaxial magnetometer;

[0031] 6103: Third uniaxial magnetometer. Detailed implementation manners

[0032] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without making creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0033] Magnetic detection technology measures the magnetic field distribution around magnetic objects, extracts the characteristic quantities of magnetic signals from it, and uses certain data processing methods to obtain relevant information about the target. Currently, this technology is widely used in fields such as airborne prospecting, magnetic navigation, magnetic positioning, and target search. Since magnetic signals decay cubically with distance and magnetic targets are often buried below the ground and water surface, far from the detector, the signals are often very weak during detection. Usually, the magnetic signals of target objects are at the order of nanotesla, and the environmental magnetic noise is usually also at this level, so high requirements are placed on the suppression of geomagnetic noise and signal extraction. Planar magnetic sensor arrays are characterized by simple manufacturing and powerful functions, and have wide applications in the field of magnetic detection, such as for magnetic moment imaging, target positioning, target recognition, airborne magnetic exploration, etc. Due to the integration of numerous magnetic sensors, planar magnetic sensor arrays can measure magnetic physical quantities such as scalar, vector, and gradient tensor of the magnetic field, and the rich magnetic information provides the possibility to improve the measurement accuracy of signals and reduce noise.

[0034] To image the magnetic field in a certain space, usually a single magnetometer can be used for scanning. The advantage of this method is low cost, while the disadvantages are low reliability, poor stability, and high time consumption. Another method is to utilize the Hanle principle, mapping the magnetic field intensity on a large-sized atomic gas to the fluorescence intensity emitted by the atoms, and obtaining a two-dimensional magnetic image through the imaging ability of an optical imaging array (such as a CCD or CMOS camera). Due to the limitations of the size of the atomic gas chamber and the intensity of the pump laser, the imaging array obtained by this method has a limited scale. Moreover, in many cases, the magnetic target to be measured is far from the imaging area, and imaging in a larger area is required to obtain observable magnetic field changes. The two imaging methods introduced above are not very suitable for this application scenario. In addition, magnetic imaging requires the use of vector magnetic fields, but it is difficult to obtain vector magnetic fields. Three single-axis magnetometers or other methods are needed to convert the scalar magnetic field into a vector form, which requires converting the single-axis magnetometer into the form of a vector magnetometer and reducing the crosstalk caused by the magnetometers forming an array.

[0035] Another use of planar magnetic arrays is for single-shot magnetic positioning technology. According to the different physical quantities used, magnetic target detection and positioning methods include the total magnetic field positioning method, magnetic field component positioning method, magnetic field gradient tensor positioning method, etc. The positioning methods based on the total magnetic field and components have been developed earlier and require multi-point fitting. The planar magnetic detection array can be used to achieve single-shot measurement and positioning. The magnetic gradient tensor positioning method calculates the relative position between the target and the measurement system through the magnetic gradient tensor value and the target vector magnetic field value. Its characteristics are fast positioning speed and high positioning accuracy. The planar magnetic detection array can measure the magnetic gradient tensor and magnetic vector simultaneously, so it can also be used for magnetic target positioning by the tensor method.

[0036] The present invention provides a method for organizing a planar array of magnetometers, which can arrange triaxial magnetic field sensors in a two-dimensional close-packed form, and thus can visualize the magnetic field distribution in a two-dimensional space. Further, during the magnetic imaging process of obtaining a magnetic target, magnetic crosstalk is reduced, and a uniform magnetic imaging image is formed, improving the detection effect of magnetic detection.

[0037] Figure 1 It is one of the schematic flowcharts of the method for organizing a planar array of magnetometers provided by the present invention.

[0038] In an exemplary embodiment of the present invention, as Figure 1 shown, the method for organizing a planar array of magnetometers may include steps 110 to 150, and each step will be introduced separately below.

[0039] In step 110, a plurality of planar sub-arrays of magnetometers are obtained. Among them, the plurality of planar sub-arrays of magnetometers are located in the same plane, and the planar sub-arrays of magnetometers are triangular, and may include uniaxial magnetometers respectively located at the vertices of the planar sub-arrays of magnetometers. Among them, the uniaxial magnetometer may include a first uniaxial magnetometer, a second uniaxial magnetometer, and a third uniaxial magnetometer, and the orientations of the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer are orthogonal to each other.

[0040] In one embodiment, a plurality of planar sub-arrays of magnetometers may be obtained, and among them, the plurality of planar sub-arrays of magnetometers are located in the same plane. It can be understood that the planar array of magnetometers composed of a plurality of planar sub-arrays of magnetometers is an array with a two-dimensional close-packed structure.

[0041] The planar sub-arrays of magnetometers may be triangular, and uniaxial magnetometers are provided at the vertices of the triangular planar sub-arrays of magnetometers. The uniaxial magnetometers at each vertex are respectively uniaxial magnetometers with three orthogonal orientations, and the three uniaxial magnetometers with orthogonal orientations may be a first uniaxial magnetometer, a second uniaxial magnetometer, and a third uniaxial magnetometer respectively. In one example, the uniaxial magnetometer may be a uniaxial magnetic sensor. In this embodiment, the orientation directions of the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer are not specifically limited, as long as the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer have orthogonal orientations. In one example, the orientations of two uniaxial magnetometers may be in the plane of the array, and the orientations of the magnetometer axes remain orthogonal, and the orientation of the third uniaxial magnetometer may be perpendicular to the plane of the array.

[0042] In step 120, based on the plurality of planar sub-arrays of magnetometers, a planar array of magnetometers is constructed so that the uniaxial magnetometers in adjacent planar sub-arrays of magnetometers are different.

[0043] In one embodiment, a magnetometer planar array can be constructed based on multiple magnetometer planar sub-arrays. The magnetometer planar array can be arranged in a two-dimensional hexagonal pattern and is a two-dimensional close-packed structure. Among them, in the constructed magnetometer planar array, the uniaxial magnetometers in adjacent magnetometer planar sub-arrays are different. In one example, the first uniaxial magnetometer can be adjacent to the second uniaxial magnetometer and the third uniaxial magnetometer, but not adjacent to the first uniaxial magnetometer itself. The second uniaxial magnetometer can be adjacent to the first uniaxial magnetometer and the third uniaxial magnetometer, but not adjacent to the second uniaxial magnetometer itself. The third uniaxial magnetometer can be adjacent to the first uniaxial magnetometer and the second uniaxial magnetometer, but not adjacent to the third uniaxial magnetometer itself.

[0044] It can be understood that in the magnetometer planar array, the nearest neighbor uniaxial magnetometers around each uniaxial magnetometer are orthogonal to its own component, ensuring the minimum magnetic component crosstalk between each type of uniaxial magnetometer and laying a foundation for providing a uniform and clear magnetic imaging image of the magnetic target.

[0045] In step 130, determine the magnetic target and determine the first magnetic component of the magnetic target obtained by the first uniaxial magnetometer in the magnetometer planar array.

[0046] In one embodiment, the magnetic target can be determined. Among them, the magnetic target can be a magnetic target far from the imaging area. Further, the first magnetic component of the magnetic target obtained by the first uniaxial magnetometer in the magnetometer planar array can also be determined. In one example, the first uniaxial magnetometer can measure the magnetic component of the magnetic target in the x direction.

[0047] In step 140, based on the difference algorithm, obtain the second magnetic component and the third magnetic component of the magnetic target, where the first magnetic component, the second magnetic component, and the third magnetic component are orthogonal to each other.

[0048] In step 150, obtain the magnetic imaging of the magnetic target based on the first magnetic component, the second magnetic component, and the third magnetic component.

[0049] In one embodiment, the second magnetic component and the third magnetic component of the magnetic target can be obtained based on the difference algorithm, where the first magnetic component, the second magnetic component, and the third magnetic component are orthogonal to each other. Further, based on the first magnetic component, the second magnetic component, and the third magnetic component, obtain the magnetic imaging of the magnetic target. During the application process, each uniaxial magnetometer in the magnetometer planar array measures one magnetic component (for example, the first uniaxial magnetometer measures the first magnetic component), and the other two magnetic components are obtained by interpolation. Among them, the interpolation method can make the magnetic imaging image of the magnetic target clearer and the imaging richer.

[0050] The magnetic sensor planar array organization method provided by the present invention constructs a magnetic sensor planar array through multiple magnetic sensor planar sub-arrays, and based on the first magnetic component of the magnetic target obtained by the first uniaxial magnetic sensor in the magnetic sensor planar array, and based on the difference algorithm, obtains the second magnetic component and the third magnetic component of the magnetic target, and obtains the magnetic imaging of the magnetic target based on the first magnetic component, the second magnetic component and the third magnetic component. Based on the magnetic sensor planar array organization method provided by the present invention, magnetic crosstalk can be reduced during the process of obtaining the magnetic imaging of the magnetic target, and a uniform magnetic imaging image is formed, improving the detection effect of magnetic detection.

[0051] The present invention will describe the process of obtaining the second magnetic component and the third magnetic component of the magnetic target based on the difference algorithm in conjunction with the following embodiments.

[0052] Figure 2 FIG. is one of the schematic flowcharts of obtaining the second magnetic component and the third magnetic component of the magnetic target based on the difference algorithm provided by the present invention.

[0053] In an exemplary embodiment of the present invention, as Figure 2 shown, obtaining the second magnetic component and the third magnetic component of the magnetic target based on the difference algorithm may include steps 210 to 240, and each step will be introduced separately below.

[0054] In step 210, a magnetic component along the second magnetic component direction of the magnetic target is obtained based on the second uniaxial magnetic sensor adjacent to the first uniaxial magnetic sensor.

[0055] In step 220, a magnetic component along the third magnetic component direction of the magnetic target is obtained based on the third uniaxial magnetic sensor adjacent to the first uniaxial magnetic sensor.

[0056] In step 230, the second magnetic component is obtained based on the magnetic component along the second magnetic component direction.

[0057] In step 240, the third magnetic component is obtained based on the magnetic component along the third magnetic component direction.

[0058] In one embodiment, during the process of magnetic imaging processing of the magnetic target, each uniaxial magnetic sensor in the magnetic sensor planar array measures the magnetic field signal of one magnetic component. In order to increase the image resolution of the magnetic imaging image when measuring the magnetic vector, at the position of the uniaxial magnetic sensor, the magnetic field signals of the magnetic components in the other two orientations can be obtained by using the linear difference algorithm.

[0059] The following will be combined with Figure 3 to describe the process of obtaining the second magnetic component and the third magnetic component of the magnetic target based on the difference algorithm.

[0060] In one embodiment, as Figure 3 shown, It can represent the first magnetic component of a magnetic target obtained by the first uniaxial magnetometer in a planar array of magnetometers. The first magnetic component can be the magnetic component of the magnetic target in the x-axis direction. Further, based on the second uniaxial magnetometer adjacent to the first uniaxial magnetometer (the uniaxial magnetometer corresponding to and ), the magnetic component of the magnetic target along the direction of the second magnetic component can be obtained. Based on the third uniaxial magnetometer adjacent to the first uniaxial magnetometer (the uniaxial magnetometer corresponding to and ), the magnetic component of the magnetic target along the direction of the third magnetic component can be obtained.

[0061] In one example, based on the magnetic component along the direction of the second magnetic component, obtaining the second magnetic component can be achieved through the following formula:

[0062]

[0063] where represents the second magnetic component, and the second magnetic component can be the magnetic component of the magnetic target in the y-axis direction; and represent the magnetic component of the magnetic target along the direction of the second magnetic component obtained by the second uniaxial magnetometer adjacent to the first uniaxial magnetometer.

[0064] In one example, based on the magnetic component along the direction of the third magnetic component, obtaining the third magnetic component can be achieved through the following formula:

[0065]

[0066] where represents the third magnetic component, and the third magnetic component can be the magnetic component of the magnetic target in the z-axis direction; and represent the magnetic component of the magnetic target along the direction of the third magnetic component obtained by the third uniaxial magnetometer adjacent to the first uniaxial magnetometer.

[0067] During the application process, based on the first magnetic component the second magnetic component and the third magnetic component the magnetic imaging of the magnetic target can be obtained. Each uniaxial magnetometer in the planar array of magnetometers measures one magnetic component (for example, the first uniaxial magnetometer measures the first magnetic component), and the other two magnetic components are obtained by interpolation. In this embodiment, the interpolation method can make the magnetic imaging image of the magnetic target clearer and the imaging richer.

[0068] To further introduce the method for organizing the planar array of magnetometers provided by the present invention, the following will be described in conjunction with the following embodiments.

[0069] Figure 4 It is the second flowchart diagram of the method for organizing the planar array of magnetometers provided by the present invention.

[0070] In an exemplary embodiment of the present invention, as Figure 4 shown, the method for organizing the planar array of magnetometers may include steps 410 to 470. Among them, steps 410 to 450 are the same as or similar to steps 110 to 150 described above. For their specific implementation manners and beneficial effects, please refer to the previous description and will not be elaborated herein. Below, steps 460 and 470 will be introduced.

[0071] In step 460, determine the magnitude of the magnetic dipole moment of the magnetic target and the orientation of the magnetic dipole moment.

[0072] In step 470, based on the magnitude of the magnetic dipole moment, the orientation of the magnetic dipole moment, the first magnetic component, the second magnetic component, and the third magnetic component, determine the position of the magnetic target.

[0073] In one embodiment, in the positioning application of the magnetic target, a fitting positioning method can be used to determine the position of the magnetic target. Combining Figure 5 it can be known that the magnitude of the magnetic dipole moment of the magnetic target can be expressed as M. The orientation of the magnetic dipole moment can be represented by the direction vector (m, p, q). The position coordinates of the magnetic target can be represented as (a, b, c). The coordinates of the spatial magnetic field observation point P can be represented as (x, y, z). The direction vector from the magnetic bar to the observation point can be represented as r = (x - a, y - b, z - c). The magnetic field of the magnetic target parameters can be approximated by a magnetic dipole, and then the magnetic field components of the magnetic target along the x, y, and z directions measured by each uniaxial magnetometer can be obtained. Among them, the magnetic field components in the x, y, and z directions can be determined by the following formulas:

[0074]

[0075]

[0076]

[0077] Among them, B x 、B y and B z can be determined by measuring the magnetic components of the magnetic target in the x-axis, y-axis, and z-axis directions (corresponding to the first magnetic component, the second magnetic component, and the third magnetic component respectively) by the uniaxial magnetometer located at the observation point P. μ0 represents the magnetic permeability of vacuum. Through calculation, the position coordinates (a, b, c) of the magnetic target can be obtained.

[0078] It should be noted that data regarding a magnetic target can be measured using the method for organizing a planar array of magnetometers, and the position, magnitude, and orientation of the magnetic moment of the magnetic target can be obtained through a fitting method. In this embodiment, no limitation is imposed on the algorithm used for fitting.

[0079] The present invention will describe the process of constructing a planar sub-array of magnetometers in conjunction with the following embodiments.

[0080] In an exemplary embodiment of the present invention, the angles formed by connecting the uniaxial magnetometers at the respective vertices of the planar sub-array of magnetometers can be obtained; and the angles can be set to 60° to obtain the planar sub-array of magnetometers.

[0081] In one embodiment, the angles formed by connecting the uniaxial magnetometers at the respective vertices of the planar sub-array of magnetometers can be set to 60°, thereby obtaining the planar sub-array of magnetometers, and then the planar array of magnetometers can be obtained based on the planar sub-array of magnetometers. Through this embodiment, it can be ensured that the magnetic imaging image of the magnetic target obtained based on the method for organizing the planar array of magnetometers is more uniform, and magnetic component crosstalk during the acquisition of the magnetic imaging is reduced.

[0082] The present invention will describe the process of constructing a planar sub-array of magnetometers in conjunction with the following embodiments.

[0083] In an exemplary embodiment of the present invention, the distances between the uniaxial magnetometers at the respective vertices of the planar sub-array of magnetometers can be set to equal distances to obtain the planar sub-array of magnetometers.

[0084] In one embodiment, the distances between the uniaxial magnetometers at the respective vertices of the planar sub-array of magnetometers can be set to equal distances, thereby obtaining the planar sub-array of magnetometers, and then the planar array of magnetometers can be obtained based on the planar sub-array of magnetometers. Through this embodiment, it can be ensured that the magnetic imaging image of the magnetic target obtained based on the method for organizing the planar array of magnetometers is more uniform.

[0085] It should be noted that the foregoing embodiments can be implemented independently or in combination.

[0086] According to the above description, the method for organizing a planar array of magnetometers provided by the present invention constructs a planar array of magnetometers through multiple planar sub-arrays of magnetometers, and based on the first magnetic component of the magnetic target obtained from the first uniaxial magnetometer in the planar array of magnetometers, and based on the difference algorithm, the second magnetic component and the third magnetic component of the magnetic target are obtained, and a magnetic imaging of the magnetic target is obtained based on the first magnetic component, the second magnetic component, and the third magnetic component. Based on the method for organizing a planar array of magnetometers provided by the present invention, magnetic crosstalk can be reduced during the acquisition of the magnetic imaging of the magnetic target, and a uniform magnetic imaging image is formed, improving the detection effect of magnetic detection.

[0087] Based on the same concept, the present invention also provides a planar array of magnetometers.

[0088] The planar array of magnetometers provided by the present invention will be described below. The planar array of magnetometers described below can be correspondingly referred to the method for organizing the planar array of magnetometers described above.

[0089] Figure 6 It is a schematic structural diagram of the planar array of magnetometers provided by the present invention.

[0090] In an exemplary embodiment of the present invention, as Figure 6 shown, the planar array of magnetometers 600 can be a planar structure formed by arranging three orthogonally oriented uniaxial magnetometers (for example, a first uniaxial magnetometer 6101, a second uniaxial magnetometer 6102, and a third uniaxial magnetometer 6103). Among them, the planar array of magnetometers 600 can be arranged in a two-dimensional hexagonal pattern, forming an overall two-dimensional close-packed structure.

[0091] In one example, the planar array of magnetometers 600 can include a plurality of planar sub-arrays of magnetometers 610. The plurality of planar sub-arrays of magnetometers 610 are located in the same plane, and the planar sub-arrays of magnetometers 610 are triangular. Among them, the triangular planar sub-arrays of magnetometers 610 can include uniaxial magnetometers respectively located at the vertices of the planar sub-arrays of magnetometers 610. The uniaxial magnetometers can include a first uniaxial magnetometer 6101, a second uniaxial magnetometer 6102, and a third uniaxial magnetometer 6103. The orientations of the first uniaxial magnetometer 6101, the second uniaxial magnetometer 6102, and the third uniaxial magnetometer 6103 are orthogonal to each other, and the first uniaxial magnetometer 6101, the second uniaxial magnetometer 6102, and the third uniaxial magnetometer 6103 are arranged alternately so that the uniaxial magnetometers in adjacent planar sub-arrays of magnetometers 610 are different.

[0092] In this embodiment, the orientation directions of the first uniaxial magnetometer 6101, the second uniaxial magnetometer 6102, and the third uniaxial magnetometer 6103 are not specifically limited, as long as the first uniaxial magnetometer 6101, the second uniaxial magnetometer 6102, and the third uniaxial magnetometer 6103 have orthogonal orientations. In one example, the orientations of two uniaxial magnetometers can be in the plane of the array, and the orientations of the magnetometer axes remain orthogonal, and the orientation of the third uniaxial magnetometer can be perpendicular to the plane of the array.

[0093] It can be understood that in the constructed planar array 600 of magnetometers, the uniaxial magnetometers in adjacent planar sub-arrays 610 of magnetometers are different. In one example, the first uniaxial magnetometer 6101 can be adjacent to the second uniaxial magnetometer 6102 and the third uniaxial magnetometer 6103, but not adjacent to the first uniaxial magnetometer 6101. The second uniaxial magnetometer 6102 can be adjacent to the first uniaxial magnetometer 6101 and the third uniaxial magnetometer 6103, but not adjacent to the second uniaxial magnetometer 6102. The third uniaxial magnetometer 6103 can be adjacent to the first uniaxial magnetometer 6101 and the second uniaxial magnetometer 6102, but not adjacent to the third uniaxial magnetometer 6103.

[0094] In the planar array 600 of magnetometers provided by the present invention, since the nearest uniaxial magnetometers around each uniaxial magnetometer are orthogonal to its own magnetic components, it can ensure that the magnetic crosstalk between the magnetic components measured by each uniaxial magnetometer is minimized, laying a foundation for obtaining more accurate magnetic information about the magnetic target based on the planar array 600 of magnetometers.

[0095] In an exemplary embodiment of the present invention, the included angles formed by connecting the first uniaxial magnetometer 6101, the second uniaxial magnetometer 6102, and the third uniaxial magnetometer 6103 with each other are 60°. Through this embodiment, it can be ensured that the magnetic imaging image of the magnetic target measured based on the planar array 600 of magnetometers is more uniform, and the magnetic component crosstalk in the process of obtaining the magnetic imaging is reduced.

[0096] In an exemplary embodiment of the present invention, the first uniaxial magnetometer 6101, the second uniaxial magnetometer 6102, and the third uniaxial magnetometer 6103 are equidistant from each other. Through this embodiment, there are three other uniaxial magnetometers with equal spacing around each uniaxial magnetometer of each orientation, which can ensure the consistency of the environment around each uniaxial magnetometer and ensure that the magnetic imaging image of the magnetic target measured based on the planar array 600 of magnetometers is more uniform.

[0097] In an embodiment of the present invention, magnetic information measurement about the magnetic target can also be performed based on the planar array 600 of magnetometers. In one example, the magnetic target can be determined, and the first magnetic component about the magnetic target obtained by the first uniaxial magnetometer 6101 in the planar array 600 of magnetometers can be determined. Based on the difference algorithm, the second magnetic component and the third magnetic component about the magnetic target are obtained, wherein the first magnetic component, the second magnetic component, and the third magnetic component are orthogonal to each other. Based on the first magnetic component, the second magnetic component, and the third magnetic component, the magnetic imaging about the magnetic target is obtained.

[0098] During the application process, each uniaxial magnetometer in the magnetometer planar array 600 measures one magnetic component (for example, the first uniaxial magnetometer measures the first magnetic component), and the other two magnetic components are obtained by interpolation. The interpolation method can make the magnetic imaging image of the magnetic target clearer and the imaging more abundant.

[0099] In another exemplary embodiment of the present invention, for the purpose of illustration by continuing with the foregoing embodiment, it is also possible to determine the magnitude of the magnetic dipole moment of the magnetic target and the orientation of the magnetic dipole moment. Based on the magnitude of the magnetic dipole moment, the orientation of the magnetic dipole moment, the first magnetic component, the second magnetic component, and the third magnetic component, the position of the magnetic target is determined. Through this embodiment, position information about the magnetic target can be obtained from the magnetometer planar array 600.

[0100] Based on the same concept, the present invention also provides a magnetometer planar array organizing device.

[0101] The magnetometer planar array organizing device provided by the present invention will be described below. The magnetometer planar array organizing device described below can be correspondingly referred to the magnetometer planar array organizing method described above.

[0102] Figure 7 It is a schematic structural diagram of the magnetometer planar array organizing device provided by the present invention.

[0103] In an exemplary embodiment of the present invention, as Figure 7 shown, the magnetometer planar array organizing device may include an acquisition module 710, a construction module 720, a determination module 730, and a processing module 740. Each module will be introduced separately below.

[0104] The acquisition module 710 may be configured to acquire a plurality of magnetometer planar sub-arrays. Among them, the plurality of magnetometer planar sub-arrays are located in the same plane. The magnetometer planar sub-arrays are triangular and may include uniaxial magnetometers respectively located at the vertices of the magnetometer planar sub-arrays. The uniaxial magnetometers may include a first uniaxial magnetometer, a second uniaxial magnetometer, and a third uniaxial magnetometer. The orientations of the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer are orthogonal to each other.

[0105] The construction module 720 may be configured to construct a magnetometer planar array based on the plurality of magnetometer planar sub-arrays, so that the uniaxial magnetometers in adjacent magnetometer planar sub-arrays are different.

[0106] The determination module 730 may be configured to determine a magnetic target and determine the first magnetic component of the magnetic target obtained by the first uniaxial magnetometer in the magnetometer planar array.

[0107] The processing module 740 can be configured to obtain a second magnetic component and a third magnetic component of the magnetic target based on a difference algorithm, where the first magnetic component, the second magnetic component, and the third magnetic component are orthogonal to each other, and obtain a magnetic imaging of the magnetic target based on the first magnetic component, the second magnetic component, and the third magnetic component.

[0108] In an exemplary embodiment of the present invention, the processing module 740 can obtain the second magnetic component and the third magnetic component of the magnetic target based on the difference algorithm in the following manner: obtain the magnetic component of the magnetic target along the direction of the second magnetic component based on the second uniaxial magnetometer adjacent to the first uniaxial magnetometer, and obtain the magnetic component of the magnetic target along the direction of the third magnetic component based on the third uniaxial magnetometer adjacent to the first uniaxial magnetometer; obtain the second magnetic component based on the magnetic component along the direction of the second magnetic component, and obtain the third magnetic component based on the magnetic component along the direction of the third magnetic component.

[0109] In an exemplary embodiment of the present invention, the processing module 740 can obtain the second magnetic component based on the magnetic component along the direction of the second magnetic component and obtain the third magnetic component based on the magnetic component along the direction of the third magnetic component in the following manner:

[0110]

[0111]

[0112] where and is the magnetic component of the magnetic target along the direction of the second magnetic component obtained by the second uniaxial magnetometer adjacent to the first uniaxial magnetometer; and is the magnetic component of the magnetic target along the direction of the third magnetic component obtained by the third uniaxial magnetometer adjacent to the first uniaxial magnetometer; is the second magnetic component; is the third magnetic component.

[0113] In an exemplary embodiment of the present invention, the determination module 730 can also be configured to determine the magnitude of the magnetic dipole moment of the magnetic target and the orientation of the magnetic dipole moment, and the processing module 740 can also be configured to determine the position of the magnetic target based on the magnitude of the magnetic dipole moment, the orientation of the magnetic dipole moment, the first magnetic component, the second magnetic component, and the third magnetic component.

[0114] In an exemplary embodiment of the present invention, the acquisition module 710 can construct a magnetic sensor plane sub-array in the following manner: obtain the angles formed by connecting the uniaxial magnetometers at the vertices of the magnetic sensor plane sub-array; set the angles to 60° to obtain the magnetic sensor plane sub-array.

[0115] In an exemplary embodiment of the present invention, the obtaining module 710 may construct a planar sub-array of magnetometers in the following manner: set the distances between the uniaxial magnetometers at the vertices of the planar sub-array of magnetometers to be equal distances, so as to obtain the planar sub-array of magnetometers.

[0116] Figure 8 An exemplary structural diagram of an electronic device is shown, such as Figure 8 As shown, the electronic device may include: a processor 810, a communications interface 820, a memory 830, and a communication bus 840. Among them, the processor 810, the communications interface 820, and the memory 830 complete mutual communication through the communication bus 840. The processor 810 may call the logical instructions in the memory 830 to execute a method for organizing a planar array of magnetometers. The method includes: obtaining a plurality of planar sub-arrays of magnetometers, where the plurality of planar sub-arrays of magnetometers are located in the same plane, the planar sub-array of magnetometers is triangular, and includes uniaxial magnetometers respectively located at the vertices of the planar sub-array of magnetometers. The uniaxial magnetometers include a first uniaxial magnetometer, a second uniaxial magnetometer, and a third uniaxial magnetometer, and the orientations of the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer are orthogonal to each other; based on the plurality of planar sub-arrays of magnetometers, construct a planar array of magnetometers so that the uniaxial magnetometers in adjacent planar sub-arrays of magnetometers are different; determine a magnetic target, and determine a first magnetic component of the magnetic target obtained by the first uniaxial magnetometer in the planar array of magnetometers; based on a difference algorithm, obtain a second magnetic component and a third magnetic component of the magnetic target, where the first magnetic component, the second magnetic component, and the third magnetic component are orthogonal to each other; based on the first magnetic component, the second magnetic component, and the third magnetic component, obtain a magnetic imaging of the magnetic target.

[0117] In addition, when the logical instructions in the above-mentioned memory 830 are implemented in the form of a software functional unit and sold or used as an independent product, they may be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, may be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc that can store program codes.

[0118] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the magnetometer planar array organization method provided by each of the above methods. The method includes: obtaining a plurality of magnetometer planar sub-arrays, wherein the plurality of magnetometer planar sub-arrays are located in the same plane, the magnetometer planar sub-arrays are triangular, and include uniaxial magnetometers respectively located at the vertices of the magnetometer planar sub-arrays. The uniaxial magnetometers include a first uniaxial magnetometer, a second uniaxial magnetometer, and a third uniaxial magnetometer. The orientations of the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer are orthogonal to each other; based on the plurality of magnetometer planar sub-arrays, constructing a magnetometer planar array so that the uniaxial magnetometers in adjacent magnetometer planar sub-arrays are different; determining a magnetic target, and determining a first magnetic component of the magnetic target obtained by the first uniaxial magnetometer in the magnetometer planar array; based on a difference algorithm, obtaining a second magnetic component and a third magnetic component of the magnetic target, wherein the first magnetic component, the second magnetic component, and the third magnetic component are orthogonal to each other; based on the first magnetic component, the second magnetic component, and the third magnetic component, obtaining a magnetic imaging of the magnetic target.

[0119] On another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the magnetometer planar array organization method provided by each of the above methods. The method includes: obtaining a plurality of magnetometer planar sub-arrays, wherein the plurality of magnetometer planar sub-arrays are located in the same plane, the magnetometer planar sub-arrays are triangular, and include uniaxial magnetometers respectively located at the vertices of the magnetometer planar sub-arrays. The uniaxial magnetometers include a first uniaxial magnetometer, a second uniaxial magnetometer, and a third uniaxial magnetometer. The orientations of the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer are orthogonal to each other; based on the plurality of magnetometer planar sub-arrays, constructing a magnetometer planar array so that the uniaxial magnetometers in adjacent magnetometer planar sub-arrays are different; determining a magnetic target, and determining a first magnetic component of the magnetic target obtained by the first uniaxial magnetometer in the magnetometer planar array; based on a difference algorithm, obtaining a second magnetic component and a third magnetic component of the magnetic target, wherein the first magnetic component, the second magnetic component, and the third magnetic component are orthogonal to each other; based on the first magnetic component, the second magnetic component, and the third magnetic component, obtaining a magnetic imaging of the magnetic target.

[0120] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative work.

[0121] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0122] It can be further understood that although the operations are described in a specific order in the drawings in the embodiments of the present invention, it should not be understood as requiring the operations to be executed in the specific order shown or in a serial order, or requiring all the operations shown to obtain the desired result. In a specific environment, multitasking and parallel processing may be beneficial.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for organizing a planar array of magnetometers, characterized in that, The method includes: Obtaining a plurality of magnetometer plane sub-arrays, where the plurality of magnetometer plane sub-arrays are located in the same plane, the magnetometer plane sub-arrays are equilateral triangle-shaped, and include uniaxial magnetometers respectively located at the vertices of the magnetometer plane sub-arrays. The uniaxial magnetometers at the respective vertices are a first uniaxial magnetometer, a second uniaxial magnetometer, and a third uniaxial magnetometer, and the orientations of the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer are orthogonal to each other; Based on the plurality of magnetometer plane sub-arrays, constructing a magnetometer plane array such that the uniaxial magnetometers in adjacent magnetometer plane sub-arrays are different; Determine a magnetic target, and determine a first magnetic component of the magnetic target obtained by the first uniaxial magnetometer in the planar array of magnetometers, where the first magnetic component is the magnetic component of the magnetic target in the x-axis direction ; Based on an interpolation algorithm, obtaining a second magnetic component and a third magnetic component of the magnetic target, where the first magnetic component, the second magnetic component, and the third magnetic component are orthogonal to each other. Among them, the second magnetic component is the magnetic component of the magnetic target in the y-axis direction; the third magnetic component is the magnetic component of the magnetic target in the z-axis direction; Based on the first magnetic component, the second magnetic component, and the third magnetic component, obtaining a magnetic imaging of the magnetic target, where the obtaining of the second magnetic component and the third magnetic component of the magnetic target based on the interpolation algorithm includes: Obtaining the magnetic component of the magnetic target along the direction of the second magnetic component based on the second uniaxial magnetometer adjacent to the first uniaxial magnetometer, and Obtaining the magnetic component of the magnetic target along the direction of the third magnetic component based on the third uniaxial magnetometer adjacent to the first uniaxial magnetometer; Based on the magnetic component along the direction of the second magnetic component, obtaining the second magnetic component, and Based on the magnetic component along the direction of the third magnetic component, obtaining the third magnetic component; where The obtaining of the second magnetic component based on the magnetic component along the direction of the second magnetic component and the obtaining of the third magnetic component based on the magnetic component along the direction of the third magnetic component are implemented by the following formula: ； Wherein, and are three second uniaxial magnetometers adjacent to the first uniaxial magnetometer to obtain the magnetic component of the magnetic target along the direction of the second magnetic component; and are three third uniaxial magnetometers adjacent to the first uniaxial magnetometer to obtain the magnetic component of the magnetic target along the direction of the third magnetic component; is the second magnetic component; is the third magnetic component.

2. The method for organizing a planar array of magnetometers according to claim 1, wherein The method further includes: Determining the magnitude of the magnetic dipole moment of the magnetic target and the orientation of the magnetic dipole moment; Based on the magnitude of the magnetic dipole moment, the orientation of the magnetic dipole moment, the first magnetic component, the second magnetic component, and the third magnetic component, determining the position of the magnetic target.

3. The method for organizing a planar array of magnetometers according to claim 1, characterized in that, The magnetometer plane sub-array is constructed in the following manner: Obtaining the included angle formed by connecting the uniaxial magnetometers at the vertices of the magnetometer plane sub-array; Setting the included angle to 60° to obtain the magnetometer plane sub-array.

4. The method for organizing a planar array of magnetometers according to claim 1, characterized in that, The magnetometer plane sub-array is constructed in the following manner: Setting the distances between the uniaxial magnetometers at the vertices of the magnetometer plane sub-array to be equal distances to obtain the magnetometer plane sub-array.

5. A planar array of magnetometers, characterized in that, The magnetometer plane array is constructed by using the magnetometer plane array organization method described in any one of claims 1 to 4. The magnetometer plane array includes: A plurality of magnetometer plane sub-arrays, where the plurality of magnetometer plane sub-arrays are located in the same plane, the magnetometer plane sub-arrays are triangle-shaped, and include uniaxial magnetometers respectively located at the vertices of the magnetometer plane sub-arrays, where The uniaxial magnetometer includes a first uniaxial magnetometer, a second uniaxial magnetometer, and a third uniaxial magnetometer. The orientations of the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer are orthogonal to each other, and the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer are arranged alternately so that the uniaxial magnetometers in adjacent magnetometer plane sub-arrays are different.

6. The planar array of magnetometers according to claim 5, wherein The included angles formed by connecting the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer to each other are 60°.

7. The planar array of magnetometers according to claim 5, wherein The first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer are equidistant from each other.

8. A magnetic instrument planar array organizing device, characterized in that, The device is used to implement the magnetometer plane array organization method described in any one of claims 1 to 4. The device includes: An acquisition module, configured to acquire a plurality of magnetometer plane sub-arrays. Among them, the plurality of magnetometer plane sub-arrays are located in the same plane. The magnetometer plane sub-arrays are in an equilateral triangle shape and include uniaxial magnetometers respectively located at the vertices of the magnetometer plane sub-arrays. The uniaxial magnetometers at the respective vertices are a first uniaxial magnetometer, a second uniaxial magnetometer, and a third uniaxial magnetometer. The orientations of the first uniaxial magnetometer, the second uniaxial magnetometer, and the third uniaxial magnetometer are orthogonal to each other. A construction module, configured to construct a magnetometer plane array based on the plurality of magnetometer plane sub-arrays so that the uniaxial magnetometers in adjacent magnetometer plane sub-arrays are different. A determination module, configured to determine a magnetic target and determine a first magnetic component of the magnetic target obtained by the first uniaxial magnetometer in the planar array of magnetometers, where the first magnetic component is the magnetic component of the magnetic target in the x-axis direction ; A processing module, configured to obtain a second magnetic component and a third magnetic component of the magnetic target based on an interpolation algorithm, where the first magnetic component, the second magnetic component, and the third magnetic component are orthogonal to each other, and obtain a magnetic imaging of the magnetic target based on the first magnetic component, the second magnetic component, and the third magnetic component. The second magnetic component is the magnetic component of the magnetic target in the y-axis direction; the third magnetic component is the magnetic component of the magnetic target in the z-axis direction.

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