Magnetic target positioning method, device, electronic equipment and storage medium

Abstract

The present invention provides a method, device, electronic device and storage medium for locating a magnetic target. The method is applied to a magnetic detection array in a perpendicular direction to the magnetic target, the magnetic detection array includes a plurality of magnetic sensors arranged linearly, and the method includes: determining the magnetic field intensity about the magnetic target measured by each magnetic sensor in the magnetic detection array; based on the magnetic field intensity, determining the multi-order magnetic field intensity derivative about the magnetic target; based on the multi-order magnetic field intensity derivative, determining the magnetic site of the magnetic target in a first direction, and the magnetic distance of the magnetic target from the magnetic detection array in a second direction, wherein the first direction is perpendicular to the second direction; based on the magnetic site and the magnetic distance, locating the magnetic target. Through the present invention, it is possible to simply and quickly achieve accurate positioning of magnetic targets.

Description

Technical Field

[0001] The present invention relates to the field of magnetic detection technology, and in particular to a magnetic target positioning method, device, electronic equipment and storage medium. Background Art

[0002] In magnetic anomaly detection technology, the magnetic target resolution and positioning technology based on magnetic sensors is of great application value.

[0003] It is known from the related art that magnetic positioning methods can include magnetic gradient tensor positioning methods and single-component gradient measurement and total field gradient measurement methods. Among them, the magnetic gradient tensor positioning method is a single measurement point positioning method, which can solve the relative position of the target and the measurement system through the magnetic gradient tensor value and the target magnetic field value. It is characterized by fast positioning speed and high positioning accuracy, and can realize magnetic target positioning based on a single measurement point. However, in the magnetic gradient tensor positioning method, the magnetic gradient tensor measurement is difficult, the instruments used are complex, and it is difficult to put it into practical use in a short time. The single-component gradient measurement and total field gradient measurement methods are simple, and have the advantages of both magnetic field positioning methods and magnetic field tensor positioning methods, but they require multi-point fitting, planning a certain positioning path or using a magnetic detector array, and cannot be single-point positioned, which is difficult to implement. Summary of the invention

[0004] The present invention provides a magnetic target positioning method, device, electronic equipment and storage medium, which are used to solve the defects of large amount of calculation and complex operation in magnetic target positioning in the prior art, and realize simple and fast accurate positioning of magnetic targets.

[0005] The present invention provides a magnetic target positioning method, which is applied to a magnetic detection array in a perpendicular direction to the magnetic target, wherein the magnetic detection array includes a plurality of magnetic sensors arranged linearly, and the method includes: determining the magnetic field strength about the magnetic target measured by each of the magnetic sensors in the magnetic detection array; determining multi-order magnetic field strength derivatives about the magnetic target based on the magnetic field strength; determining a magnetic site of the magnetic target in a first direction and a magnetic distance of the magnetic target from the magnetic detection array in a second direction based on the multi-order magnetic field strength derivatives, wherein the first direction is perpendicular to the second direction; and positioning the magnetic target based on the magnetic site and the magnetic distance.

[0006] According to a magnetic target positioning method provided by the present invention, after positioning the magnetic target based on the magnetic position point and the magnetic distance, the method further includes: determining a first magnetic field strength about the magnetic target measured by a first magnetic sensor in the magnetic detection array, wherein the first magnetic sensor is the magnetic sensor in the magnetic detection array closest to the magnetic target; determining the magnetic moment of the magnetic target based on the first magnetic field strength and the magnetic distance; and classifying the magnetic target based on the magnetic moment.

[0007] According to a magnetic target positioning method provided by the present invention, the determination of the multi-order magnetic field intensity derivatives about the magnetic target based on the magnetic field intensity is achieved by the following formula:

[0008]

[0009] Among them, B n represents the nth-order magnetic field intensity derivative of the magnetic target, and B(n+1-p) represents the magnetic field intensity of the magnetic target measured by each magnetic sensor in the magnetic detection array.

[0010] According to a magnetic target positioning method provided by the present invention, the multi-order magnetic field intensity derivatives include third-order magnetic field intensity derivatives, the magnetic detection array includes at least four magnetic sensors, the magnetic detection array detects the magnetic target along a first direction, and the determining the magnetic position point of the magnetic target in the first direction based on the multi-order magnetic field intensity derivatives includes: respectively determining the magnetic field intensity of the magnetic target measured by each of the magnetic sensors in the magnetic detection array at multiple preset positions in the first direction; determining the third-order magnetic field intensity derivative corresponding to the magnetic target based on the magnetic field intensity of the magnetic target; constructing a derivative-position map based on the third-order magnetic field intensity derivative and the preset positions corresponding to the third-order magnetic field intensity derivative; determining the position corresponding to the derivative peak of the derivative-position map based on the derivative-position map, and using the position corresponding to the derivative peak as the magnetic position point.

[0011] According to a magnetic target positioning method provided by the present invention, the third-order magnetic field intensity derivative corresponding to the magnetic target is determined based on the magnetic field intensity of the magnetic target by the following formula:

[0012]

[0013] Among them, B 3represents the third-order magnetic field intensity derivative corresponding to the magnetic target; B(4) represents the magnetic field intensity measured by the magnetic sensor located at the fourth position in the magnetic detection array with the side close to the magnetic target as the starting point; B(3) represents the magnetic field intensity measured by the magnetic sensor located at the third position in the magnetic detection array with the side close to the magnetic target as the starting point; B(2) represents the magnetic field intensity measured by the magnetic sensor located at the second position in the magnetic detection array with the side close to the magnetic target as the starting point; B(1) represents the magnetic field intensity measured by the magnetic sensor located at the first position in the magnetic detection array with the side close to the magnetic target as the starting point; h represents the distance between adjacent magnetic sensors in the magnetic detection array.

[0014] According to a magnetic target positioning method provided by the present invention, the determination of the magnetic distance of the magnetic target from the magnetic detection array in the second direction based on the multi-order magnetic field intensity derivative is achieved by the following formula:

[0015]

[0016] Among them, B n represents the nth order magnetic field intensity derivative of the magnetic target; B n-1 represents the n-1 order magnetic field intensity derivative of the magnetic target; r represents the magnetic distance.

[0017] According to a magnetic target positioning method provided by the present invention, the determination of the magnetic moment of the magnetic target based on the first magnetic field strength and the magnetic distance is achieved by the following formula:

[0018]

[0019] Among them, B 0 represents the first magnetic field strength; r represents the magnetic distance; M represents the magnetic moment of the magnetic target.

[0020] The present invention also provides a magnetic target positioning device, which is applied to a magnetic detection array in a perpendicular direction to the magnetic target, and the magnetic detection array includes a plurality of magnetic sensors arranged linearly. The device includes: a determination module, which is used to determine the magnetic field strength of the magnetic target measured by each of the magnetic sensors in the magnetic detection array; a processing module, which is used to determine multi-order magnetic field strength derivatives about the magnetic target based on the magnetic field strength, and determine the magnetic site of the magnetic target in a first direction and the magnetic distance of the magnetic target from the magnetic detection array in a second direction based on the multi-order magnetic field strength derivatives, wherein the first direction is perpendicular to the second direction; and a positioning module, which is used to locate the magnetic target based on the magnetic site and the magnetic distance.

[0021] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any of the above-mentioned magnetic target positioning methods are implemented.

[0022] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the magnetic target positioning methods described above are implemented.

[0023] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of any of the above-mentioned magnetic target positioning methods are implemented.

[0024] The magnetic target positioning method, device, electronic device and storage medium provided by the present invention are applied to a magnetic detection array in a perpendicular direction to the magnetic target. The magnetic field strength about the magnetic target measured by each magnetic sensor in the magnetic detection array can be used to obtain multi-order magnetic field strength derivatives; based on the multi-order magnetic field strength derivatives, the magnetic position of the magnetic target in the first direction and the magnetic distance of the magnetic target from the magnetic detection array in the second direction can be determined; and based on the magnetic position and magnetic distance, the magnetic target can be quickly positioned. Through the present invention, the defects of large amount of calculation and complex operation in the process of magnetic target positioning are avoided, and simple and fast precise positioning of the magnetic target is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 It is a structural schematic diagram of a magnetic detection array using the magnetic target positioning method provided by the present invention;

[0027] Figure 2 This is one of the flow charts of the magnetic target positioning method provided by the present invention;

[0028] Figure 3 It is a schematic diagram of an application scenario of the magnetic target positioning method provided by the present invention;

[0029] Figure 4 This is the second flow chart of the magnetic target positioning method provided by the present invention;

[0030] Figure 5It is a measurement effect diagram of determining the magnetic position of a magnetic target in a first direction based on multiple different-order magnetic field intensity derivatives provided by the present invention;

[0031] Figure 6 It is one of the flow charts of determining the magnetic position of a magnetic target in a first direction based on multi-order magnetic field intensity derivatives provided by the present invention;

[0032] Figure 7 This is one of the measurement effect diagrams of positioning a magnetic target using the magnetic target positioning method provided by the present invention;

[0033] Figure 8 This is the second measurement effect diagram of positioning a magnetic target using the magnetic target positioning method provided by the present invention;

[0034] Fig. 9 It is a structural schematic diagram of the magnetic target positioning device provided by the present invention;

[0035] Fig.10 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] The magnetic field is a widely existing physical field, including a very strong geomagnetic field (about 50,000 nT) around the earth. Because of the existence of the geomagnetic field, some easily magnetized materials will produce an induced magnetic field, making many materials that are not magnetic in themselves exhibit magnetic characteristics. There are always many ferromagnetic materials in nature. During the geological process, they contain a certain amount of remanence and generate a certain magnetic field for various reasons. In addition, artificially manufactured ferromagnetic materials can generate very strong magnetic fields. These magnetic fields will be superimposed on the geomagnetic field, causing rich distortion of the geomagnetic field. This phenomenon is called magnetic anomaly. Based on the analysis of magnetic anomaly signals, magnetic anomaly detection technology has emerged.

[0038] Magnetic anomaly detection technology refers to the technology of locating, identifying and classifying targets by observing magnetic signals, analyzing and extracting magnetic anomalies caused by magnetic differences of magnetic targets themselves. Compared with other detection technologies, magnetic anomaly detection technology has high military applications and civilian value due to its advantages of fast speed, high sensitivity, high efficiency, high feasibility, low cost, good concealment performance and strong anti-interference.

[0039] With the development of technology, magnetic sensor technology has made great progress, and its sensitivity has been improved to the quantum limit. Among the existing magnetic detection technologies, commercially available magnetometers include three-axis magnetometers, fluxgate sensors, magnetoresistive detectors, optically pumped magnetometers, and superconducting quantum interference magnetometers. They each have their own characteristics, such as extremely low volume and energy consumption of magnetoresistive detectors, the highest sensitivity of superconducting quantum interference instruments, high technical maturity of fluxgate sensors, and good platform adaptability of optically pumped magnetometers. Compared with other types of electronic sensors, magnetic sensor detection equipment has many unique physical properties. Magnetic sensors have more sensitivity and a wider operating temperature and voltage. They have excellent resistance to mechanical shock and strong vibration resistance. They also have the characteristics of high repeatability. These many excellent properties indicate that magnetic sensing equipment can be used in a variety of occasions to replace other sensors.

[0040] In the field of magnetic anomaly detection technology, the magnetic target resolution and positioning technology based on magnetic sensors is of great application value. The general magnetic positioning method can be roughly divided into two types according to the difference in positioning methods: one is to determine the target position based on signal strength comparison and combined with track planning, and the other is to estimate parameters through multi-point measurement, that is, by establishing a set of equations, determining the objective function, and thus solving the optimal solution that minimizes the objective function. According to the different magnetic sensors used for positioning, the magnetic target detection and positioning methods include the total magnetic field positioning method, the magnetic field component positioning method, and the magnetic field gradient tensor positioning method.

[0041] The positioning method based on the total field and components of the magnetic field was developed earlier, but it requires multi-point fitting, planning a certain positioning path or using a magnetometer array, and cannot be positioned at a single point. The magnetic gradient tensor measurement method is a newly developed positioning method. Compared with other traditional magnetic measurement methods, the magnetic gradient tensor measurement has outstanding advantages. The magnetic gradient tensor positioning method is a single measurement point positioning method. The relative position of the target and the measurement system is calculated by the magnetic gradient tensor value and the target magnetic field value. It is characterized by fast positioning speed and high positioning accuracy, and can achieve magnetic target positioning based on a single measurement point. However, the magnetic gradient tensor measurement is difficult, the instruments used are complex, and it is difficult to put it into practical use in a short period of time. The single-component gradient measurement and total field gradient measurement methods are simple, and have the advantages of both the magnetic field positioning method and the magnetic field tensor positioning method, but they are difficult to implement.

[0042] The present invention proposes a method for positioning based on magnetic field component gradients, which realizes the positioning and classification of magnetic targets by selecting a suitable path direction and combining high-order magnetic field component derivatives. The positioning method provided by the present invention avoids the defects of large amount of calculation and complex operation in the process of magnetic target positioning, and can realize accurate positioning of magnetic targets simply and quickly.

[0043] The present invention will illustrate the process of the magnetic target positioning method provided by the present invention in conjunction with the following embodiments.

[0044] In an exemplary embodiment of the present invention, the magnetic target positioning method can be applied to a magnetic detection array that is perpendicular to the magnetic target. Figure 1 It can be seen that the magnetic detection array may include a plurality of magnetic sensors arranged linearly. The plurality of magnetic sensors are represented by 1, 2, 3, 4, etc. in the figure. In one example, the magnetic sensor may be a single-axis magnetometer. The axis orientations of the single-axis magnetometers in the magnetic detection array are the same, and the interval between each two adjacent single-axis magnetometers is h. They are numbered sequentially from left to right, and the number of single-axis magnetometers is not limited.

[0045] Figure 2 It is one of the flow charts of the magnetic target positioning method provided by the present invention.

[0046] In an exemplary embodiment of the present invention, Figure 2 As shown, the magnetic target positioning method may include steps 210 to 240, and each step will be introduced below.

[0047] In step 210, the magnetic field strength about the magnetic target measured by each magnetic sensor in the magnetic detection array is determined.

[0048] In one embodiment, the magnetic field strength of the magnetic target measured by each magnetic sensor in the magnetic detection array can be determined. Figure 1 For illustration, the magnetic field strength measured by magnetic sensor 1 can be represented as B(1), the magnetic field strength measured by magnetic sensor 2 can be represented as B(2), the magnetic field strength measured by magnetic sensor 3 can be represented as B(3), and the magnetic field strength measured by magnetic sensor 4 can be represented as B(4).

[0049] In step 220, based on the magnetic field strength, multiple order magnetic field strength derivatives with respect to the magnetic target are determined.

[0050] In one embodiment, based on the magnetic field strength, determining the multi-order magnetic field strength derivatives about the magnetic target can be achieved by the following formula:

[0051]

[0052] Among them, B n represents the nth-order derivative of the magnetic field intensity of the magnetic target, and B(n+1-p) represents the magnetic field intensity of the magnetic target measured by each magnetic sensor in the magnetic detection array, that is, B(1), B(2)...B(n+1-p).

[0053] In step 230, based on multi-order magnetic field intensity derivatives, the magnetic position of the magnetic target in a first direction and the magnetic distance of the magnetic target from the magnetic detection array in a second direction are determined, wherein the first direction is perpendicular to the second direction.

[0054] In one embodiment, the multi-order magnetic field intensity derivatives about the magnetic target can be determined based on the magnetic field intensity about the magnetic target measured by each magnetic sensor. Further, the magnetic position of the magnetic target in the first direction and the magnetic distance of the magnetic target from the magnetic detection array in the second direction can be determined based on the multi-order magnetic field intensity derivatives. In one example, the first direction can be a horizontal direction (which can be represented by the X direction). Based on the multi-order magnetic field intensity derivatives, the position x of the magnetic target in the horizontal direction can be determined. In another example, the second direction can be a vertical direction (which can be represented by the Y direction). Based on the multi-order magnetic field intensity derivatives, the magnetic distance r of the magnetic target from the magnetic detection array in the vertical direction can be determined, and then the position of the magnetic target in the vertical direction can be determined. It can be understood that based on the position of the magnetic target in the X direction and the position in the Y direction, the position of the magnetic target can be accurately located.

[0055] In step 240 , the magnetic target is located based on the magnetic position and the magnetic distance.

[0056] In one embodiment, the position of the magnetic target in the X direction can be determined based on the magnetic locus x, and the position of the magnetic target in the Y direction can be determined based on the magnetic distance r. Further, based on the position of the magnetic target in the X direction and the position of the magnetic target in the Y direction, the position of the magnetic target can be accurately located. In this embodiment, by determining the multi-order magnetic field intensity derivatives about the magnetic target, the position of the magnetic target in the X direction and the position of the magnetic target in the Y direction can be determined, thereby achieving simple, convenient and accurate location of the position information of the magnetic target.

[0057] In order to further introduce the magnetic target positioning method provided by the present invention, it will be described in conjunction with the following embodiments.

[0058] Figure 3 It is a schematic diagram of an application scenario of the magnetic target positioning method provided by the present invention.

[0059] In one embodiment, in combination Figure 3 In the application process, the magnetic detection array can be installed in the vertical direction, wherein the right side of the magnetic detection array (corresponding to Figure 3 The arrow side, and the corresponding Figure 1 It should be noted that the installation method of the magnetic detection array, the distribution of magnetic targets and the setting of the magnetic detection path are as follows: Figure 3As shown. Among them, the magnetic targets are distributed below the ground plane, and the magnetic detection array can move along the horizontal detection path and cannot exceed the ground plane. During the application process, the magnetic field strength of the magnetic target at each preset position of the detection path can be measured by each magnetic sensor in the magnetic detection array. Further, based on the magnetic field strength, the multi-order magnetic field intensity derivatives about the magnetic target can be determined, and based on the multi-order magnetic field intensity derivatives, the position of the magnetic target in the X direction and the position of the magnetic target in the Y direction can be determined. Furthermore, based on the position of the magnetic target in the X direction and the position of the magnetic target in the Y direction, the position of the magnetic target can be accurately located.

[0060] The magnetic target positioning method provided by the present invention is applied to a magnetic detection array in a perpendicular direction to the magnetic target. The magnetic field strength about the magnetic target measured by each magnetic sensor in the magnetic detection array can be used to obtain a multi-order magnetic field strength derivative; based on the multi-order magnetic field strength derivative, the magnetic position of the magnetic target in the first direction and the magnetic distance of the magnetic target from the magnetic detection array in the second direction can be determined; and based on the magnetic position and the magnetic distance, the magnetic target can be quickly positioned. Through the present invention, the defects of large amount of calculation and complex operation in the process of magnetic target positioning are avoided, and simple and fast precise positioning of the magnetic target is achieved.

[0061] The present invention will illustrate the process of another magnetic target positioning method in conjunction with the following embodiments.

[0062] Figure 4 This is the second flow chart of the magnetic target positioning method provided by the present invention.

[0063] In an exemplary embodiment of the present invention, Figure 4 As shown, the magnetic target positioning method may include steps 410 to 470, wherein steps 410 to 440 are the same or similar to steps 210 to 240 described above. For specific implementation methods and beneficial effects, please refer to the above description, which will not be repeated in this embodiment. Steps 450 to 470 will be introduced below.

[0064] In step 450, a first magnetic field strength about the magnetic target measured by a first magnetic sensor in the magnetic detection array is determined, wherein the first magnetic sensor is the magnetic sensor in the magnetic detection array that is closest to the magnetic target.

[0065] In one embodiment, continue with Figure 1 The magnetic detection array is used as an example. The first magnetic field strength about the magnetic target measured by the first magnetic sensor in the magnetic detection array can be determined. The first magnetic sensor can correspond to Figure 1 The first magnetic field strength measured by the magnetic sensor 1 can be expressed as B(1).

[0066] In step 460, a magnetic moment of the magnetic target is determined based on the first magnetic field strength and the magnetic distance;

[0067] In step 470, the magnetic targets are classified based on the magnetic moments.

[0068] In one embodiment, the magnetic moment M of the magnetic target can be determined based on the first magnetic field strength B(1) and the magnetic distance r. Furthermore, based on the magnetic moment M of the magnetic target and the magnetic target database, the properties of the magnetic target can be determined, thereby achieving classification of the magnetic target.

[0069] It should be noted that the magnetic field generated by a magnetic target with a magnetic moment of M at a distance of 5 times its characteristic size can be approximately expressed using the magnetic dipole formula. In spherical coordinates, the magnetic field intensity generated by a magnetic moment of M can be expressed by the following formula:

[0070]

[0071] Among them, the magnetic moment M is located at the origin, r is the distance between the magnetic moment and the target point, and φ is the angle between the magnetic moment and the target position vector. Although the magnetic field strength varies with the distance in cubic form, the magnetic field strength is a quantity that varies with the angle, and the magnitude of the magnetic field at different angles is different. On a certain measurement path, the magnetic field change is not a single-peak function, which brings difficulties to positioning. Under certain conditions, such as when the track is located above the magnetic target, the magnetic field strength can be simplified to a single-peak function, which can be conveniently used for magnetic positioning. In this case, the magnetic field strength generated by the magnetic target can be proportional to the magnitude of the magnetic moment and inversely proportional to the cube of the distance, and can be expressed by the following formula:

[0072]

[0073] Among them, B 0 represents the 0th order magnetic field intensity derivative about the magnetic target, and the 0th order magnetic field intensity derivative is the magnetic field intensity. The magnetic field intensity may be the first magnetic field intensity about the magnetic target measured by the first magnetic sensor.

[0074] In another embodiment, based on the first magnetic field strength and the magnetic distance, determining the magnetic moment of the magnetic target can be achieved by formula (3). In formula (3), B 0 represents the first magnetic field strength; r represents the magnetic distance; M represents the magnetic moment of the magnetic target.

[0075] According to formula (3), the n-order magnetic field intensity derivative with respect to the magnetic target can be determined and can be expressed by the following formula:

[0076]

[0077] Where ! represents the factorial. To represent unity, the magnetic field strength is the 0th-order derivative. From formula (4), we can see that the nth-order derivative of the magnetic field changes faster with the independent variable r than the n-1th-order derivative, which can achieve more accurate magnetic target positioning.

[0078] Figure 5 It is a measurement effect diagram of determining the magnetic position of a magnetic target in a first direction based on multiple different-order magnetic field intensity derivatives provided by the present invention.

[0079] Combination Figure 5 It can be seen that the 0th, 1st, 3rd, and 6th order derivatives of the magnetic dipole at 400m on the detection path are given. It can be seen that as the order of the derivative increases, the function width becomes narrower, which can more accurately determine the position of the magnetic target.

[0080] Using the differential method, the magnetic field measured by the magnetic detection array can be used to obtain the n-th order derivative of the magnetic field. A magnetic detector array composed of n magnetic sensors can obtain a magnetic field derivative of the highest order n-1. In addition, since the n-th order magnetic field derivative has a better half-width, it is more accurate in positioning than direct magnetic field positioning. The differential calculation formula for the 1st to 4th order magnetic field derivatives is as follows:

[0081] First-order magnetic field intensity derivative:

[0082]

[0083] Second-order magnetic field intensity derivative:

[0084]

[0085] The third-order magnetic field intensity derivative:

[0086]

[0087] The fourth-order magnetic field intensity derivative:

[0088]

[0089] Among them, B(1)-B(5) correspond to Figure 1 The magnetic field strength measured by each magnetic sensor shown in FIG. Figure 1 The distance between every two adjacent magnetic sensors.

[0090] It should be noted that the higher the derivative order, the greater the noise it generates. Therefore, the magnetic locus of the magnetic target in the first direction can be determined based on the third-order magnetic field intensity derivative. It can be understood that determining the magnetic locus of the magnetic target in the first direction based on the third-order magnetic field intensity derivative can reduce noise interference and ensure that the magnetic field derivative has a better half-height width, thereby locating the magnetic target more accurately.

[0091] The present invention will illustrate the process of determining the magnetic position of a magnetic target in a first direction based on multi-order magnetic field intensity derivatives in conjunction with the following embodiments.

[0092] Figure 6 It is one of the flow charts of determining the magnetic position of a magnetic target in a first direction based on multi-order magnetic field intensity derivatives provided by the present invention.

[0093] In an exemplary embodiment of the present invention, the multi-order magnetic field intensity derivative may include a third-order magnetic field intensity derivative, and the magnetic detection array may include at least four magnetic sensors. In the application process, the magnetic detection array may detect the magnetic target along a first direction (for example, an X direction). Figure 6 As shown, determining the magnetic position of the magnetic target in the first direction based on the multi-order magnetic field intensity derivatives may include steps 610 to 640, and each step will be described below.

[0094] In step 610, the magnetic field strengths of the magnetic target measured by each magnetic sensor in the magnetic detection array at a plurality of preset positions in the first direction are determined respectively.

[0095] In one embodiment, continue with Figure 1 For example, the magnetic field strength (e.g., B(1), B(2), etc.) of the magnetic target measured by each magnetic sensor (e.g., magnetic sensor 1, magnetic sensor 2, etc.) in the magnetic detection array at multiple preset locations along the detection path can be determined separately.

[0096] In step 620 , based on the magnetic field strength of the magnetic target, a third-order magnetic field strength derivative corresponding to the magnetic target is determined.

[0097] In one embodiment, the third-order magnetic field intensity derivative corresponding to the magnetic target can be determined based on formula (7). In formula (7), B 3 represents the third-order magnetic field intensity derivative corresponding to the magnetic target. B(4) represents the magnetic sensor located at the fourth position in the magnetic detection array (corresponding to Figure 1 B(3) represents the magnetic sensor located at the third position in the magnetic detection array (corresponding to Figure 1 B(2) represents the magnetic sensor located at the second position in the magnetic detection array (corresponding to Figure 1 B(1) represents the magnetic sensor located at the first position in the magnetic detection array (corresponding to Figure 1The magnetic field strength measured by the magnetic sensor 1 in the magnetic detection array. h represents the distance between adjacent magnetic sensors in the magnetic detection array.

[0098] In step 630, a derivative-site map is constructed based on the third-order magnetic field intensity derivative and the preset sites corresponding to the third-order magnetic field intensity derivative.

[0099] In one embodiment, multiple preset locations may be determined in the detection path, wherein the preset locations may be adjusted according to actual conditions and are not specifically limited in this embodiment. Figure 5 For illustration, the 100, 200, ... 800 positions on the x-axis can be understood as preset positions. In the application process, the third-order magnetic field intensity derivative with respect to the magnetic target can be measured at the preset position. Then, based on the third-order magnetic field intensity derivative and the preset position corresponding to the third-order magnetic field intensity derivative, a derivative-position map can be constructed. Among them, the derivative-position map can be as follows Figure 5 shown.

[0100] In step 640, based on the derivative-site map, the site corresponding to the derivative peak of the derivative-site map is determined, and the site corresponding to the derivative peak is used as the magnetic site.

[0101] In one embodiment, the site corresponding to the derivative peak can be determined in the derivative-site map, and the site corresponding to the derivative peak is used as the magnetic site. Figure 5 For illustration, 1 on the y-axis is the derivative peak, and the site 400 corresponding to the derivative peak can be used as the magnetic site.

[0102] It can be understood that based on formula (4), the relationship between the (n-1)-order derivative and the n-order derivative can be obtained and can be expressed as the following formula:

[0103]

[0104] Among them, B n represents the nth order magnetic field intensity derivative of the magnetic target; B n-1 represents the n-1 order magnetic field intensity derivative of the magnetic target; r represents the magnetic distance.

[0105] According to formula (9), the magnetic distance r of the magnetic target from the magnetic detection array in the second direction can be determined based on the multi-order magnetic field intensity derivatives. Furthermore, the position of the magnetic target can be accurately located based on the magnetic position x of the magnetic target in the first direction and the magnetic distance r of the magnetic target from the magnetic detection array in the second direction.

[0106] In one embodiment, the magnetic moment M of the magnetic target can be determined based on the first magnetic field strength and the magnetic distance according to formula (3). In the application process, the vertical magnetic target positioning can be achieved according to the magnetic distance r, and the magnetic target can be classified according to the magnetic moment size M.

[0107] Combination Figure 7 and Figure 8 It can be seen that the horizontal magnetic target is located at point 0, and the position of the magnetic target (r measured = 106m) and the magnitude of the magnetic moment (M measured = 0.043) are calculated using the 0th and 1st order derivatives of the magnetic field. Compared with the true value (r actual = 110m, M actual = 0.048), the measured value and the true value are consistent in the horizontal position, indicating that the magnetic target positioning method provided by the present invention has good positioning and classification effects.

[0108] According to the above description, the magnetic target positioning method provided by the present invention is applied to a magnetic detection array in a perpendicular direction to the magnetic target. The magnetic field strength about the magnetic target measured by each magnetic sensor in the magnetic detection array can be used to obtain multi-order magnetic field strength derivatives; based on the multi-order magnetic field strength derivatives, the magnetic position of the magnetic target in the first direction and the magnetic distance of the magnetic target from the magnetic detection array in the second direction can be determined; and based on the magnetic position and magnetic distance, the magnetic target can be quickly positioned. Through the present invention, the defects of large amount of calculation and complex operation in the process of magnetic target positioning are avoided, and simple and fast precise positioning of magnetic targets is achieved.

[0109] Based on the same concept, the present invention also provides a magnetic target positioning device.

[0110] The magnetic target positioning device provided by the present invention is described below. The device described below and the magnetic target positioning method described above can be referenced to each other.

[0111] Fig. 9 It is a structural schematic diagram of the magnetic target positioning device provided by the present invention.

[0112] In an exemplary embodiment of the present invention, the magnetic target positioning device may be applied to a magnetic detection array in a perpendicular direction to the magnetic target, wherein the magnetic detection array may include a plurality of magnetic sensors arranged linearly. Fig. 9 As shown, the magnetic target positioning device may include a determination module 910, a processing module 920 and a positioning module 930, and each module will be introduced below.

[0113] The determination module 910 may be configured to determine the magnetic field strength about the magnetic target measured by each magnetic sensor in the magnetic detection array.

[0114] The processing module 920 can be configured to determine multi-order magnetic field intensity derivatives about the magnetic target based on the magnetic field intensity, and determine the magnetic position of the magnetic target in a first direction and the magnetic distance of the magnetic target from the magnetic detection array in a second direction based on the multi-order magnetic field intensity derivatives, wherein the first direction is perpendicular to the second direction.

[0115] The positioning module 930 may be configured to locate the magnetic target based on the magnetic position and the magnetic distance.

[0116] In an exemplary embodiment of the present invention, the determination module 910 may also be configured to determine a first magnetic field strength about a magnetic target measured by a first magnetic sensor in a magnetic detection array, wherein the first magnetic sensor is a magnetic sensor in the magnetic detection array that is closest to the magnetic target. The magnetic target positioning device may also include a classification module, wherein the classification module may be configured to determine a magnetic moment of a magnetic target based on the first magnetic field strength and a magnetic distance, and to classify the magnetic target based on the magnetic moment.

[0117] In an exemplary embodiment of the present invention, the processing module 920 may determine the multi-order magnetic field intensity derivatives about the magnetic target based on the magnetic field intensity in the following manner:

[0118]

[0119] Among them, B n represents the nth-order magnetic field intensity derivative of the magnetic target, and B(n+1-p) represents the magnetic field intensity of the magnetic target measured by each magnetic sensor in the magnetic detection array.

[0120] In an exemplary embodiment of the present invention, the multi-order magnetic field intensity derivative may include a third-order magnetic field intensity derivative, the magnetic detection array may include at least four magnetic sensors, the magnetic detection array detects the magnetic target along the first direction, and the processing module 920 may determine the magnetic position of the magnetic target in the first direction based on the multi-order magnetic field intensity derivative in the following manner:

[0121] The magnetic field strength of the magnetic target measured by each magnetic sensor in the magnetic detection array at multiple preset positions in the first direction is determined respectively; based on the magnetic field strength of the magnetic target, the third-order magnetic field strength derivative corresponding to the magnetic target is determined; based on the third-order magnetic field strength derivative and the preset positions corresponding to the third-order magnetic field strength derivative, a derivative-position map is constructed; based on the derivative-position map, the position corresponding to the derivative peak of the derivative-position map is determined, and the position corresponding to the derivative peak is used as the magnetic position point.

[0122] In an exemplary embodiment of the present invention, the processing module 920 may determine the third-order magnetic field intensity derivative corresponding to the magnetic target based on the magnetic field intensity of the magnetic target in the following manner:

[0123]

[0124] Among them, B 3 represents the third-order magnetic field intensity derivative corresponding to the magnetic target; B(4) represents the magnetic field intensity measured by the magnetic sensor located at the fourth position in the magnetic detection array with the side close to the magnetic target as the starting point; B(3) represents the magnetic field intensity measured by the magnetic sensor located at the third position in the magnetic detection array with the side close to the magnetic target as the starting point; B(2) represents the magnetic field intensity measured by the magnetic sensor located at the second position in the magnetic detection array with the side close to the magnetic target as the starting point; B(1) represents the magnetic field intensity measured by the magnetic sensor located at the first position in the magnetic detection array with the side close to the magnetic target as the starting point; h represents the distance between adjacent magnetic sensors in the magnetic detection array.

[0125] In an exemplary embodiment of the present invention, the processing module 920 may determine the magnetic distance of the magnetic target from the magnetic detection array in the second direction based on the multi-order magnetic field intensity derivatives in the following manner:

[0126]

[0127] Among them, B n represents the nth order magnetic field intensity derivative of the magnetic target; B n-1 represents the n-1 order magnetic field intensity derivative of the magnetic target; r represents the magnetic distance.

[0128] In an exemplary embodiment of the present invention, the classification module may determine the magnetic moment of the magnetic target based on the first magnetic field strength and the magnetic distance in the following manner:

[0129]

[0130] Among them, B 0 represents the first magnetic field strength; r represents the magnetic distance; M represents the magnetic moment of the magnetic target.

[0131] Fig.10 An example of a physical structure diagram of an electronic device is shown in FIG. Fig.10As shown, the electronic device may include: a processor 1010, a communication interface 1020, a memory 1030 and a communication bus 1040, wherein the processor 1010, the communication interface 1020 and the memory 1030 communicate with each other through the communication bus 1040. The processor 1010 may call the logic instructions in the memory 1030 to execute a magnetic target positioning method, wherein the method is applied to a magnetic detection array in a perpendicular direction to the magnetic target, wherein the magnetic detection array includes a plurality of magnetic sensors arranged linearly, and the method includes: determining the magnetic field intensity of the magnetic target measured by each of the magnetic sensors in the magnetic detection array; determining multi-order magnetic field intensity derivatives of the magnetic target based on the magnetic field intensity; determining the magnetic site of the magnetic target in a first direction and the magnetic distance of the magnetic target from the magnetic detection array in a second direction based on the multi-order magnetic field intensity derivatives, wherein the first direction is perpendicular to the second direction; and positioning the magnetic target based on the magnetic site and the magnetic distance.

[0132] In addition, the logic instructions in the above-mentioned memory 1030 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk.

[0133] 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 magnetic target positioning method provided by the above-mentioned methods. The method is applied to a magnetic detection array in a perpendicular direction to the magnetic target, and the magnetic detection array includes a plurality of magnetic sensors arranged linearly. The method includes: determining the magnetic field strength of the magnetic target measured by each magnetic sensor in the magnetic detection array; based on the magnetic field strength, determining multi-order magnetic field strength derivatives about the magnetic target; based on the multi-order magnetic field strength derivatives, determining the magnetic site of the magnetic target in a first direction and the magnetic distance of the magnetic target from the magnetic detection array in a second direction, wherein the first direction is perpendicular to the second direction; and locating the magnetic target based on the magnetic site and the magnetic distance.

[0134] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the magnetic target positioning method provided by the above-mentioned methods, wherein the method is applied to a magnetic detection array in a perpendicular direction to the magnetic target, and the magnetic detection array includes a plurality of magnetic sensors arranged linearly, and the method includes: determining the magnetic field strength about the magnetic target measured by each magnetic sensor in the magnetic detection array; based on the magnetic field strength, determining multi-order magnetic field strength derivatives about the magnetic target; based on the multi-order magnetic field strength derivatives, determining the magnetic site of the magnetic target in a first direction, and the magnetic distance of the magnetic target from the magnetic detection array in a second direction, wherein the first direction is perpendicular to the second direction; and positioning the magnetic target based on the magnetic site and the magnetic distance.

[0135] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0136] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method 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 is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for 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.

[0137] 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 it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A magnetic target positioning method, characterized in that: The method is applied to a magnetic detection array in a perpendicular direction to a magnetic target, wherein the magnetic detection array comprises a plurality of magnetic sensors arranged linearly, and the method comprises: Determining the magnetic field strength about the magnetic target measured by each of the magnetic sensors in the magnetic detection array; Based on the magnetic field strength, determining multiple-order magnetic field strength derivatives with respect to the magnetic target; Based on the multi-order magnetic field intensity derivatives, determining the magnetic position site of the magnetic target in a first direction and the magnetic distance of the magnetic target from the magnetic detection array in a second direction, wherein the first direction is perpendicular to the second direction, wherein the multi-order magnetic field intensity derivatives include a third-order magnetic field intensity derivative, the magnetic detection array includes at least four magnetic sensors, and the magnetic detection array detects the magnetic target along the first direction, and determining the magnetic position site of the magnetic target in the first direction based on the multi-order magnetic field intensity derivatives includes: Respectively determining the magnetic field strength of the magnetic target measured by each of the magnetic sensors in the magnetic detection array at a plurality of preset positions in the first direction; Based on the magnetic field strength of the magnetic target, determining a third-order magnetic field strength derivative corresponding to the magnetic target; Based on the third-order magnetic field intensity derivative and the preset site corresponding to the third-order magnetic field intensity derivative, construct a derivative-site map; Based on the derivative-site map, determining a site corresponding to a derivative peak of the derivative-site map, and using the site corresponding to the derivative peak as the magnetic site, and The determination of the magnetic distance of the magnetic target from the magnetic detection array in the second direction based on the multi-order magnetic field intensity derivative is achieved by the following formula: Among them, B n represents the nth order magnetic field intensity derivative of the magnetic target; B n-1 represents the n-1 order magnetic field intensity derivative of the magnetic target; r represents the magnetic distance; The magnetic target is located based on the magnetic position and the magnetic distance.

2. The magnetic target positioning method according to claim 1, characterized in that: After positioning the magnetic target based on the magnetic position and the magnetic distance, the method further includes: Determine a first magnetic field strength about the magnetic target measured by a first magnetic sensor in the magnetic detection array, wherein the first magnetic sensor is the magnetic sensor in the magnetic detection array that is closest to the magnetic target; determining a magnetic moment of the magnetic target based on the first magnetic field strength and the magnetic distance; Based on the magnetic moment, the magnetic target is classified.

3. The magnetic target positioning method according to claim 1, characterized in that: The determination of the multi-order magnetic field intensity derivatives about the magnetic target based on the magnetic field intensity is implemented by the following formula: Among them, B n represents the nth-order magnetic field intensity derivative of the magnetic target, and B(n+1-p) represents the magnetic field intensity of the magnetic target measured by each magnetic sensor in the magnetic detection array.

4. The magnetic target positioning method according to claim 1, characterized in that: The third-order magnetic field intensity derivative corresponding to the magnetic target is determined based on the magnetic field intensity of the magnetic target by the following formula: Among them, B 3 represents the third-order magnetic field intensity derivative corresponding to the magnetic target; B(4) represents the magnetic field intensity measured by the magnetic sensor located at the fourth position in the magnetic detection array with the side close to the magnetic target as the starting point; B(3) represents the magnetic field intensity measured by the magnetic sensor located at the third position in the magnetic detection array with the side close to the magnetic target as the starting point; B(2) represents the magnetic field intensity measured by the magnetic sensor located at the second position in the magnetic detection array with the side close to the magnetic target as the starting point; B(1) represents the magnetic field intensity measured by the magnetic sensor located at the first position in the magnetic detection array with the side close to the magnetic target as the starting point; h represents the distance between adjacent magnetic sensors in the magnetic detection array.

5. The magnetic target positioning method according to claim 2, characterized in that: The determination of the magnetic moment of the magnetic target based on the first magnetic field strength and the magnetic distance is achieved by the following formula: Among them, B 0 represents the first magnetic field strength; r represents the magnetic distance; M represents the magnetic moment of the magnetic target.

6. A magnetic target positioning device, characterized in that: The device is applied to a magnetic detection array in a perpendicular direction to the magnetic target, the magnetic detection array includes a plurality of magnetic sensors arranged linearly, the device is used to implement the magnetic target positioning method according to any one of claims 1 to 5, and the device includes: A determination module, used to determine the magnetic field strength of the magnetic target measured by each of the magnetic sensors in the magnetic detection array; A processing module, configured to determine, based on the magnetic field intensity, multi-order magnetic field intensity derivatives about the magnetic target, and determine, based on the multi-order magnetic field intensity derivatives, a magnetic position of the magnetic target in a first direction and a magnetic distance of the magnetic target from the magnetic detection array in a second direction, wherein the first direction is perpendicular to the second direction; A positioning module is used to locate the magnetic target based on the magnetic position point and the magnetic distance.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the magnetic target positioning method according to any one of claims 1 to 5 are implemented.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the magnetic target positioning method according to any one of claims 1 to 5 are implemented.

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