A spatial three-dimensional electric field measurement sensor and a measurement method thereof

Abstract

The present disclosure provides a spatial three-dimensional electric field measurement sensor, including: an external induction electrode unit, which is arranged on a support unit and is used to sense an external electric field signal; there is at least a pair of external induction electrodes in the external induction electrode unit, and the external induction electrode unit includes at least 4 external induction electrodes; an electric field sensitive unit is arranged in the support unit, which is used to obtain an external electric field signal and perform signal conditioning, and output an electric field detection signal; the electric field sensitive unit includes at least 4 electric field sensitive sub-units, and at least 4 electric field sensitive sub-units are electrically connected to at least 4 external induction electrodes in a one-to-one correspondence; a structure self-charge detection unit is arranged in the support unit, which is used to detect the surface charge of the support unit; a signal processing unit is arranged in the support unit, which is used to perform differential processing or operation processing on the surface charge and the electric field detection signal to obtain a three-dimensional electric field signal. The present disclosure also provides a spatial three-dimensional electric field measurement method.

Description

Technical Field

[0001] The present disclosure relates to the field of sensor technology, and in particular to a spatial three-dimensional electric field measurement sensor and a measurement method thereof. Background Art

[0002] Electric charges are everywhere in space, ranging from small objects adsorbed by friction to bright white curves left by lightning and thunder. Any electric charge will generate an electric field in the space around it, and the electric interaction between charges is transmitted through the medium of the electric field. Space electric field detection plays a vital role in aerospace, meteorological research, lightning warning and other fields. However, the existing space electric field measurement methods and devices have the following problems: 1) The space electric field is a three-dimensional vector field, but the existing measurement device only realizes the measurement of a certain direction in space; 2) The supporting structure unit of the measurement device may accumulate electric charges, affecting the accuracy of the measured electric field; 3) It is impossible to accurately observe the electric field component information of the three-dimensional electric field in the air to the ground, which is not conducive to the inversion of meteorological models such as thunderstorm clouds. Summary of the invention

[0003] In order to solve the above problems in the prior art, the present disclosure provides a spatial three-dimensional electric field measurement sensor and a measurement method thereof, aiming to improve the accuracy of the sensor in observing the components of the three-dimensional electric field in the air in an inertial coordinate system.

[0004] The first aspect of the present disclosure provides a spatial three-dimensional electric field measurement sensor, comprising: an external induction electrode unit, arranged on a support unit, for sensing an external electric field signal; wherein at least one pair of external induction electrodes is differentially arranged in the external induction electrode unit, and the external induction electrode unit comprises at least four external induction electrodes; an electric field sensitive unit, arranged in the support unit, for acquiring an external electric field signal and performing signal conditioning, and outputting an electric field detection signal; wherein the electric field sensitive unit comprises at least four electric field sensitive sub-units, and at least four electric field sensitive sub-units are electrically connected to at least four external induction electrodes in a one-to-one correspondence; a structure self-charge detection unit, arranged in the support unit, for detecting a surface charge of the support unit; and a signal processing unit, arranged in the support unit, for performing differential processing or calculation processing on the surface charge and the electric field detection signal to obtain a three-dimensional electric field signal.

[0005] Furthermore, each electric field sensitive subunit includes: an electric field sensitive device for acquiring an external electric field signal induced by an external sensing electrode connected thereto; and a signal conditioning circuit connected to the electric field sensitive device for conditioning an output signal of the electric field sensitive device and outputting an electric field detection signal.

[0006] Furthermore, the signal processing unit includes: a main control unit, a posture detection unit electrically connected to the main control unit, and a signal sending module; wherein the posture detection unit is used to obtain the posture information of the sensor and output it to the main control unit; the main control unit is electrically connected to the electric field sensitive unit, the structure's own charge detection unit, the posture detection unit, and the signal sending module, and is used to perform differential processing or calculation processing on the surface charge and the electric field detection signal to obtain a three-dimensional electric field signal in the carrier coordinate system; and obtain the three-dimensional electric field information in the inertial coordinate system based on the three-dimensional electric field signal and the posture information in the carrier coordinate system; the signal sending module is used to output the three-dimensional electric field information in the inertial coordinate system to an external device.

[0007] Furthermore, each external sensing electrode is one or more of a circular electrode, a square electrode, a curved electrode and a diamond electrode.

[0008] Furthermore, the spatial three-dimensional electric field measurement sensor also includes: a sensor power supply unit, which is arranged in the supporting unit and is used to provide electrical energy to the sensor.

[0009] Furthermore, the support unit includes: a shell with a hollow interior, a plurality of insulating supports and a support structure; wherein the plurality of insulating supports are arranged on the shell and correspond one-to-one to at least four external sensing electrodes; the support structure is arranged in the shell and is detachably connected to the shell; wherein the electric field sensitive unit, the structure's own charged detection unit and the signal processing unit are arranged on the support structure.

[0010] Furthermore, each external sensing electrode is made of a conductor material, a semiconductor material or a composite material with a conductive layer plated on the surface.

[0011] Furthermore, the structure formed by the shell and the outer sensing electrode unit is spherical, hexahedral or cylindrical.

[0012] The second aspect of the present disclosure provides a spatial three-dimensional electric field measurement method, which is implemented based on the spatial three-dimensional electric field measurement sensor provided by the first aspect of the present disclosure, including: placing the spatial three-dimensional electric field measurement sensor provided by the first aspect of the present disclosure in an external electric field environment; the external sensing electrode unit senses external electric field signals of different dimensions, and outputs them correspondingly to the electric field sensitive sub-units connected in a one-to-one correspondence; wherein there is at least a pair of external sensing electrodes differentially set in the external sensing electrode unit; the electric field sensitive unit senses the external electric field signal and performs signal conditioning, and outputs the electric field detection signal to the signal processing unit; the structure's own charged detection unit is used to detect the surface charge of the supporting unit; the signal processing unit performs differential processing or calculation processing on the surface charge and the electric field detection signal to obtain a three-dimensional electric field signal.

[0013] Furthermore, the measurement method also includes: obtaining three-dimensional electric field information in an inertial coordinate system according to the three-dimensional electric field signal and the posture information acquired by the posture detection unit.

[0014] The embodiments of the present disclosure provide a spatial three-dimensional electric field measurement sensor and a measurement method. In the differential detection or non-differential detection mode, the sensor effectively weakens the interference brought to the sensor by the environment by placing the structure's own charged detection unit and the external induction electrode unit, thereby realizing the desire for accurate measurement; the posture information obtained by the posture detection unit provides a guarantee for accurately describing the observation of the spatial three-dimensional electric field in the inertial coordinate system. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] For a more complete understanding of the present disclosure and its advantages, reference will now be made to the following description taken in conjunction with the accompanying drawings, in which:

[0016] Figure 1 A three-dimensional diagram of a spatial three-dimensional electric field measurement sensor according to an embodiment of the present disclosure is schematically shown;

[0017] Figure 2 A schematic diagram of the structure of a spherical spatial three-dimensional electric field measurement sensor according to an embodiment of the present disclosure is shown;

[0018] Figure 3 A schematic diagram of the structure of a cylindrical spatial three-dimensional electric field measurement sensor according to an embodiment of the present disclosure is shown;

[0019] Figure 4 The schematic diagram of the structure of the external sensing electrode according to an embodiment of the present disclosure is shown;

[0020] Figure 5 A schematic diagram of the structure of a spatial three-dimensional electric field measurement sensor according to another embodiment of the present disclosure is shown;

[0021] Figure 6 The figure schematically shows a schematic diagram of spatial three-dimensional electric field measurement according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0022] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0023] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0024] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0025] Figure 1 The figure schematically shows a stereoscopic view of a spatial three-dimensional electric field measurement sensor according to an embodiment of the present disclosure.

[0026] like Figure 1 As shown, the spatial three-dimensional electric field measurement sensor 100 includes: a support unit 10, an external induction electrode unit, an electric field sensitive unit, a structure self-charge detection unit 40, a signal processing unit 50 and a sensor power supply unit 60.

[0027] In the embodiment of the present disclosure, the external sensing electrode unit is arranged on the support unit 10 and is detachably connected to the support unit 10, and is used to sense the external electric field signal; wherein, there is at least a pair of external sensing electrodes 20 differentially arranged in the external sensing electrode unit, and the external sensing electrode unit includes at least 4 external sensing electrodes 20. The electric field sensitive unit is arranged in the support unit 10, and is used to obtain the external electric field signal and perform signal conditioning, and output the electric field detection signal; wherein, the electric field sensitive unit includes at least 4 electric field sensitive sub-units 30, and at least 4 electric field sensitive sub-units 30 are electrically connected to at least 4 external sensing electrodes 20 in a one-to-one correspondence. The structure self-charge detection unit 40 is arranged in the support unit 10, and is used to detect the surface charge of the support unit 10. The signal processing unit 50 is arranged in the support unit 10, and is used to perform differential processing or calculation processing on the surface charge and the electric field detection signal to obtain a three-dimensional electric field signal.

[0028] like Figure 1As shown, the support unit 10 includes: a shell 101 with a cavity inside, a plurality of insulating supports 102, a support structure 103 and a connection end 104 of the structure's own charged detection unit. Among them, the plurality of insulating supports 102 are located on the shell 101, and correspond to at least four external sensing electrodes 20 one by one, and each insulating support 102 is used to support an external sensing electrode 20. Specifically, each insulating support 102 is an annular structure with a groove, and each insulating support 102 is arranged non-coplanar with the adjacent insulating support 102. Each external sensing electrode 20 and its corresponding insulating support together form a floating potential, and the external sensing electrode 20 and its corresponding insulating support form a whole that is electrically connected to the electric field sensitive subunit 30. The support structure 103 is located in the shell 101 and is detachably connected to the inner wall of the shell 101. The connection end 104 of the structure's own charged detection unit is used to connect the structure's own charged detection unit 40. The support structure 103 is a polyhedron containing a cavity, and an electric field sensitive subunit 30, a structure self-charge detection unit 40 and a signal processing unit 50 can be arranged on one side thereof.

[0029] In the embodiment of the present disclosure, the external sensing electrode unit includes: at least 4 external sensing electrodes 20, each of which is disposed on an insulating support 102 and is detachably connected to the insulating support 102, and is used to sense external electric field signals. Specifically, each external sensing electrode is non-coplanarly disposed with its adjacent external sensing electrode, and a differential or non-differential arrangement is used to realize spatial three-dimensional electric field signal sensing. Figure 2 As shown, the overall structure composed of the shell 101 and N external sensing electrodes 20 is spherical, and the six external sensing electrodes 20 are located on different surfaces of the sphere to form three pairs of external sensing electrodes 20 arranged opposite to each other, so as to realize the sensing of the three-dimensional electric field in space; or, the four external sensing electrodes 20 are located on different surfaces of the sphere, and at least one pair of external sensing electrodes are differentially arranged to realize the sensing of the three-dimensional electric field in space.

[0030] like Figure 3 As shown, the structure formed by the housing 101 and the external sensing electrode unit is cylindrical. For example, if the external sensing electrode unit includes 6 external sensing electrodes 20, 4 of the external sensing electrodes 20 can be located on different sides of the cylinder, and 2 external sensing electrodes 20 can be located on the upper and lower surfaces of the cylinder to achieve the sensing of the three-dimensional electric field in space. Figure 5 As shown, if the external sensing electrode units are all located on the side of the cylinder, four external sensing electrodes 20 form two pairs of sensing electrodes, and the two pairs of sensing electrodes are orthogonally arranged with a certain height difference to achieve the sensing of the three-dimensional electric field in space.

[0031] Specifically, each external sensing electrode 20 is made of a conductor material, a semiconductor material or a composite material with a conductive layer plated on the surface, and can be a circular, square, curved or diamond-shaped electrode. Figure 4 shown.

[0032] It should be noted that the appearance of the at least four external sensing electrodes 20 can be determined according to the external structure formed by them and the shell 101. The structure formed by the at least four external sensing electrodes 20 and the shell 101 includes but is not limited to other symmetrical three-dimensional shapes such as sphere, hexahedron, cylinder, etc. When the overall appearance of the sensor is spherical, each external sensing electrode 20 can be a circular electrode, a curved electrode, etc.; when the overall appearance of the sensor is a hexahedron, each external sensing electrode 20 can be a rectangular, square or diamond electrode, etc.

[0033] In the embodiment of the present disclosure, the electric field sensitive subunit 30 is disposed on the support structure 103, and is used to obtain external electric field signals and perform signal conditioning, and output electric field detection signals. The electric field sensitive unit includes at least 4 electric field sensitive subunits 30, and the at least 4 electric field sensitive subunits 30 are electrically connected to at least 4 external sensing electrodes 20 in a one-to-one correspondence.

[0034] Specifically, when the external sensing electrodes 20 in the external sensing electrode unit are differentially arranged on the shell 101, each electric field sensitive sub-unit 30 is electrically connected to each external sensing electrode 20 in a one-to-one correspondence. For example, when the number of external sensing electrodes 20 is 6, 3 pairs of external sensing electrodes are formed, and two external sensing electrodes in each external sensing electrode are arranged opposite to each other, so as to sense an external electric field signal of one dimension, and 3 pairs of external sensing electrodes 20 can realize the detection of three-dimensional electric field signals; when the number of external sensing electrodes 20 is 4, 2 pairs of external sensing electrodes are formed, and two external sensing electrodes in each external sensing electrode are arranged opposite to each other, so as to sense an external electric field signal of one dimension; the two pairs of external sensing electrodes are orthogonally arranged and have a certain height difference, so as to realize the detection of three-dimensional electric field signals. Figure 5 shown.

[0035] Specifically, when there are external sensing electrodes 20 in the external sensing electrode unit that are non-differentially arranged on different surfaces of the shell 101, that is, one pair of external sensing electrodes 20 are differentially arranged on the shell 101, and the other external sensing electrodes 20 are individually arranged on different surfaces of the shell 101. For example, when the number of the external sensing electrodes 20 is 4, one pair of the external sensing electrodes 20 are relatively arranged on the shell 101 and are used to sense an external electric field signal of one dimension, and the other two external sensing electrodes 20 are individually arranged on two different surfaces of the shell 101 to sense electric field signals of another two dimensions, thereby obtaining a three-dimensional electric field signal. When the number of the external sensing electrodes 20 is 5, two pairs of the external sensing electrodes 20 are relatively arranged on the shell 101 and are used to sense external electric field signals of two dimensions, and the remaining external sensing electrode 20 is used to sense an electric field signal of another dimension, thereby obtaining a three-dimensional electric field signal.

[0036] According to an embodiment of the present disclosure, each electric field sensitive subunit 30 includes: an electric field sensitive device 301 and a signal conditioning circuit 302. The electric field sensitive device 301 is used to obtain the external electric field signal sensed by the external sensing electrode 20 connected thereto. The signal conditioning circuit 302 is connected to the electric field sensitive device 301, and is used to condition the electric field signal output by the electric field sensitive device 301 and output an electric field detection signal. The signal conditioning circuit 302 conditions the electric field signal output by the electric field sensitive device 301, specifically including converting the signal output by the device into a standard signal, so that the signal processing unit 50 can process the signal.

[0037] It should be noted that the number of the external sensing electrodes 20 being at least 4 is not limited to 4, 5 or 6. In other application scenarios, the number of the external sensing electrodes 20 may be greater than 6. Different numbers (N) of external sensing electrodes 20 may constitute N / 2 external sensing electrode pairs that are differentially arranged, or there may be at least one pair of external sensing electrodes that are differentially arranged, and the other external sensing electrodes are non-differentially arranged. The embodiments of the present disclosure are not limited to this.

[0038] In the embodiments of the present disclosure, when the spatial three-dimensional electric field measurement sensor is placed in an electric field, the support unit 10 will inevitably accumulate charge, causing interference with the electric field measurement at the location of the sensor. In order to accurately obtain the influence of the support unit 10 on the electric field signal to be measured, the surface charge of the support unit 10 can be detected by the structure's own charged detection unit 40.

[0039] like Figure 1 As shown, the structure's own charge detection unit 40 is arranged on the support structure 103 and connected to the support structure unit connection end 104 through a metal wire (coaxial line), which is used to detect the surface charge of the support unit 10 and obtain the influence of the support unit 10 on the external electric field to be measured, thereby improving the accuracy of the three-dimensional electric field detection signal.

[0040] In the embodiment of the present disclosure, the signal processing unit 50 is arranged on the support structure 103, and is used to perform differential processing or computational processing on the surface charge and the electric field detection signal to obtain a three-dimensional electric field signal. When the external sensing electrode 20 in the external sensing electrode unit is differentially arranged, the signal processing unit 50 performs differential processing on the electric field detection signal of the electric field sensitive subunit 30, and the surface charge is also involved in the differential processing as a compensation amount to obtain a three-dimensional electric field signal; when the external sensing electrode 20 in the external sensing electrode unit is non-differentially arranged, the signal processing unit 50 performs computational processing on the electric field detection signal and the surface charge of the electric field sensitive subunit 30 to obtain a three-dimensional electric field signal.

[0041] Specifically, the signal processing unit 50 is electrically connected to the electric field sensitive subunit 30 and the structure self-charged detection unit 40, and is used to obtain the output signals of the electric field sensitive subunit 30 and the structure self-charged detection unit 40, and integrate and process these signals to obtain a three-dimensional electric field signal.

[0042] According to an embodiment of the present disclosure, the signal processing unit 50 includes: a main control unit 501, a posture detection unit 502 electrically connected to the main control unit 501, and a signal sending module 503. Among them, the posture detection unit 502 is used to obtain the posture information of the sensor and output it to the main control unit 501; the posture information includes but is not limited to the yaw angle α, pitch angle β and roll angle γ of the sensor. The main control unit 501 is electrically connected to the electric field sensitive subunit 30, the structure self-charge detection unit 40 and the posture detection unit 502, and performs differential processing or operation processing on the surface charge and the electric field detection signal to obtain a three-dimensional electric field signal in the carrier coordinate system, and combines the posture information output by the posture detection unit 502 to obtain the three-dimensional electric field information in the inertial coordinate system.

[0043] Specifically, when the external sensing electrode 20 in the external sensing electrode unit is differentially arranged on the shell 101, the signal processing unit 50 performs differential processing on the electric field detection signals of the multiple electric field sensitive sub-units 30, and the surface charge quantity is also involved in the differential processing process as a compensation quantity, so as to obtain a three-dimensional electric field signal in the carrier coordinate system, and output the posture information in combination with the posture detection unit 502 to obtain the three-dimensional electric field information in the inertial coordinate system. When there is a non-differential arrangement of the external sensing electrode 20 in the external sensing electrode unit, the signal processing unit 50 performs calculation processing on the electric field detection signal and the surface charge quantity of the electric field sensitive sub-unit 30, so as to obtain a three-dimensional electric field signal in the carrier coordinate system, and output the posture information in combination with the posture detection unit 502 to obtain the three-dimensional electric field information in the inertial coordinate system. The signal sending module 503 is electrically connected to the main control unit 501, and is used to output the three-dimensional electric field information in the inertial coordinate system to an external device.

[0044] It should be noted that the external devices that are connected to the spatial three-dimensional electric field measurement sensor 100 include but are not limited to terminal devices such as a host computer, a desktop computer, and a notebook. In addition, when the external sensing electrode 20 in the external sensing electrode unit is set differentially, the structure self-charge detection unit 40 obtains the surface charge of the support unit 10, and the surface charge is used as a compensation amount to improve the data detection accuracy. Among them, the determination of the surface charge calibration function can be obtained according to the actual calibration test, and the embodiments of the present disclosure are not limited to this.

[0045] According to an embodiment of the present disclosure, the spatial three-dimensional electric field measurement sensor 100 further includes: a sensor power supply unit 60 , which is disposed in the support structure 103 and is used to provide electrical energy for the spatial three-dimensional electric field measurement sensor 100 .

[0046] like Figure 1 As shown, the sensor energy supply unit 60 includes: a voltage stabilizing and regulating circuit 601 and a power module 602. The power module 602 is located inside the support structure 103 and is used to provide power for the spatial three-dimensional electric field measurement sensor 100. The voltage stabilizing and regulating circuit 601 is electrically connected to the power module 602 and is used to stabilize and regulate the electrical signal output by the power module 602, and provide corresponding working voltages for each unit in the spatial three-dimensional electric field measurement sensor 100 to ensure the normal operation of each functional module.

[0047] like Figure 6 As shown, a spatial three-dimensional electric field measurement sensor with a spherical overall structure is taken as an example to specifically describe the measurement method of differentially setting the external sensing electrode 20 and the electric field sensitive subunit 30. It should be noted that the direction of the external applied electric field described in the embodiment of the present disclosure is not only vertical, but for the convenience of explanation, the vertical electric field direction is taken as an example for detailed description, and 6 external sensing electrodes are taken as an example for explanation below.

[0048] When the spatial three-dimensional electric field measurement sensor is placed in the vertical direction of the electric field to be measured, charges will be induced on the external induction electrode unit. When only one pair of external induction electrodes is perpendicular to the applied electric field, charges of opposite polarity will be induced on the first induction electrode above the electric field and the second induction electrode below the electric field, and the electric field sensitive unit outputs the first electric field detection signal and the second electric field detection signal. The charges induced by the third induction electrode, the fourth induction electrode, the fifth induction electrode, and the sixth induction electrode are basically the same, and the electric field sensitive unit outputs the third electric field detection signal, the fourth electric field detection signal, the fifth electric field detection signal, and the sixth electric field detection signal. The signal processing circuit unit performs differential processing on the electric field detection signal output by the electric field sensitive unit, and the surface charge of the support unit 10 obtained by the structure's own charged detection unit 40 is added to the differential processing process as compensation information, thereby obtaining the electric field strength to be measured in the carrier coordinate system.

[0049] When the spatial three-dimensional electric field measurement sensor is placed in the vertical direction of the electric field to be measured, charges will be induced on the external induction electrode unit. When the external induction electrode 2 is perpendicular to the applied electric field, the first induction electrode and the second induction electrode above the electric field, and the third induction electrode and the fourth induction electrode below the electric field will sense charges of opposite polarity, and the electric field sensitive unit outputs the first electric field detection signal, the second electric field detection signal, the third electric field detection signal, and the fourth electric field detection signal. The charges sensed by the fifth induction electrode and the sixth induction electrode are basically the same, and the electric field sensitive unit outputs the fifth electric field detection signal and the sixth electric field detection signal. The signal processing circuit unit performs differential processing on the electric field detection signal output by the electric field sensitive unit, and the surface charge of the support unit 10 obtained by the structure's own charged detection unit 40 is added to the differential processing process as compensation information, thereby obtaining the electric field strength to be measured in the carrier coordinate system.

[0050] When the spatial three-dimensional electric field measurement sensor is placed in the vertical direction of the electric field to be measured, charges will be induced on the external induction electrode unit. When the 3 pairs of external induction electrodes are perpendicular to the applied electric field, charges with opposite polarities will be induced on the first induction electrode, the second induction electrode, and the third induction electrode above the electric field, and the fourth induction electrode, the fifth induction electrode, and the sixth induction electrode below the electric field, and the electric field sensitive unit outputs the first electric field detection signal, the second electric field detection signal, the third electric field detection signal, and the fourth electric field detection signal, the fifth electric field detection signal, and the sixth electric field detection signal. The signal processing circuit unit performs differential processing on the electric field detection signal output by the electric field sensitive unit, and the surface charge of the support unit 10 obtained by the structure's own charged detection unit 40 is added to the differential processing process as compensation information, thereby obtaining the electric field strength to be measured in the carrier coordinate system.

[0051] At this time, when the spatial three-dimensional electric field measurement sensor 100 is in the electric field to be measured, the electric field intensity of each component obtained by the electric field sensitive unit can be expressed as:

[0052] E X =E Xa -E Xb +f(E s )

[0053] E Y =E Ya -E Yb +f(E s )

[0054] E Z =E Za -E Zb +f(E s )

[0055] Among them, E Xa 、E Xb 、EYa 、E Yb 、E Za and E Zb are the electric field strengths corresponding to the external electric field signals sensed by the external sensing electrodes 20 after passing through the electric field sensitive subunit 30; f() is the calibration function; E s E is the electric field intensity after the surface charge of the support unit 10 is converted by the structure self-charge detection unit 40; X 、E Y and E Z Represents the electric field intensity in three orthogonal directions in the carrier coordinate system.

[0056] The total electric field strength E can be:

[0057]

[0058] During use, the spatial three-dimensional electric field measurement sensor 100 will inevitably change its posture, which will affect the accuracy of the three-dimensional electric field ground observation component. The posture detection unit 502 in the signal processing unit 50 outputs the posture information of the spatial three-dimensional electric field measurement sensor 100, specifically the yaw angle α, pitch angle β and roll angle γ. The electric field components observed by the spatial three-dimensional electric field measurement sensor 100 on the ground can be expressed as:

[0059]

[0060] in, and They represent the three-dimensional electric field vector in the inertial coordinate system The three orthogonal components of and Respectively represent the three-dimensional electric field vector in the carrier coordinate system The three orthogonal components of .

[0061] In the embodiment of the present disclosure, when the spatial three-dimensional electric field measurement sensor 100 is placed in an electric field, the external electric field changes are sensed through the differentially set external induction electrode pair, the electric field sensitive subunit 30 inputs the sensed external electric field signal into the electric field sensitive device 301, and the output signal of the electric field sensitive device 301 outputs the electric field detection signal through the signal conditioning circuit 302, and the differential detection method adopted by the signal processing unit 50 greatly reduces the impact of the environment on the sensor. The differentially set external induction electrode pair greatly reduces the requirements of the measurement sensor for the environment, effectively weakens the interference brought to the electric field sensor by the environment, and improves the common mode rejection ratio. The yaw angle α, pitch angle β and roll angle γ obtained by the attitude detection unit provide a guarantee for accurately observing the changes of each component of the spatial three-dimensional electric field in the inertial coordinate system.

[0062] like Figure 5 As shown, a three-dimensional electric field measurement sensor with a cylindrical external structure is used as an example to specifically describe the measurement method of differentially setting four external sensing electrodes 20 and four electric field sensitive subunits 30. The four external sensing electrodes 20 form two pairs of sensing electrodes, and the two pairs of sensing electrodes are orthogonally arranged with a certain height difference to realize the sensing of the three-dimensional electric field in space, such as Figure 5 shown.

[0063] When the spatial three-dimensional electric field measurement sensor 100 is in the electric field to be measured, the electric field strength of each component obtained by the electric field sensitive unit can be expressed as:

[0064] E X =E Xa -E Xb +f(E s )

[0065] E Y =E Ya -E Yb +f(E s )

[0066] The signal processing unit 50 processes the electric field detection signals in the X-axis and Y-axis directions, namely, E Za =E Ya -E Xa , E Zb =E Yb -E Xb , we can get:

[0067]

[0068] Where, f() is the calibration function; E s The electric field intensity after the surface charge of the support unit 10 is converted and obtained by the structure self-charge detection unit 40; E Xa 、E Ya 、E Za They are respectively the electric field strengths obtained after the external electric field signal sensed by the external sensing electrode 20 in the XY orthogonal direction passes through the electric field sensitive unit 30 .

[0069] The total electric field strength E can be expressed as:

[0070]

[0071] Similarly, the electric field components observed by the spatial three-dimensional electric field measurement sensor 100 on the ground can be expressed as:

[0072]

[0073] In the embodiment of the present disclosure, when the spatial three-dimensional electric field measurement sensor 100 is placed in an electric field, two pairs of external sensing electrodes are arranged orthogonally with a certain height difference to sense changes in the external electric field. The electric field sensitive subunit 30 obtains the external electric field signal sensed by the external sensing electrode 20 and outputs an electric field detection signal. The structure's own charged detection unit 40 obtains the surface charge of the support unit 10. The signal processing unit 50 performs differential and computational processing on the signals output by the electric field sensitive subunit 30 and the structure's own charged detection unit 40.

[0074] It should be noted that when the external sensing electrodes 20 in the external sensing electrode unit are differentially arranged, the structure self-charge detection unit 40 obtains the surface charge of the support unit 10, and the surface charge is used as a compensation amount to improve the data detection accuracy. The determination of the surface charge calibration function can be obtained according to an actual calibration test, and the embodiments of the present disclosure are not limited to this.

[0075] like Figure 6 As shown, a spatial three-dimensional electric field measurement sensor with a spherical overall structure is taken as an example to specifically describe a measurement method when there are non-differential external sensing electrodes 20 in the external sensing electrode unit. Taking four external sensing electrodes 20 as an example, it is assumed that there is a pair of differentially set external sensing electrodes 20 in the X-axis direction, and there is one external sensing electrode 20 on the Y-axis and one on the Z-axis.

[0076] When the spatial three-dimensional electric field measurement sensor 100 is in the electric field to be measured, the electric field strength of each component obtained by the electric field sensitive unit can be expressed as:

[0077] E X =E Xa -E Xb +f(E s )

[0078] E Y =E Ya +f(E s )

[0079] E z =E Za +f(E s )

[0080] Among them, E Xa 、E Ya 、E Za are the electric field strengths corresponding to the external electric field signals sensed by the external sensing electrodes 20 after passing through the electric field sensitive subunit 30. f() is the calibration function; E s E is the electric field intensity after the surface charge of the support unit 10 is converted by the structure self-charge detection unit 40; X 、E Y and E ZRepresents the electric field intensity in three orthogonal directions in the carrier coordinate system.

[0081] The total electric field strength E can be expressed as:

[0082]

[0083] Similarly, the electric field components observed by the spatial three-dimensional electric field measurement sensor 100 on the ground can be expressed as:

[0084]

[0085] In the embodiment of the present disclosure, when the spatial three-dimensional electric field measurement sensor 100 is placed in an electric field, the mutually orthogonal external induction electrodes 20 sense the change of the external electric field, the electric field sensitive subunit 30 obtains the external electric field signal sensed by the external induction electrode 20, outputs the electric field detection signal, the structure self-charge detection unit 40 obtains the surface charge of the support unit 10, and the signal processing unit 50 performs differential and computational processing on the electric field detection signal output by the electric field sensitive subunit 30 and the signal output by the structure self-charge detection unit 40. When there is a non-differential setting of the external induction electrode in the external induction electrode unit, the structure self-charge detection unit 40 obtains the surface charge of the support unit 10, which greatly compensates for the influence of the electric field measurement sensor on the electric field measurement result, reduces the interference of the environment to the electric field measurement sensor, and the yaw angle α, pitch angle β and roll angle γ obtained by the attitude detection unit provide a guarantee for accurately observing the changes of each component of the spatial three-dimensional electric field in the inertial coordinate system.

[0086] It should be noted that when the number of external sensing electrodes is 5 or another odd number, the measurement principle is consistent with the principle of the above embodiment, and the embodiment of the present disclosure will not be described in detail for the measurement scenarios of other numbers of external sensing electrodes.

[0087] An embodiment of the present disclosure also provides a spatial three-dimensional electric field measurement method, which is implemented based on the spatial three-dimensional electric field measurement sensor 100 provided by the above embodiment, and specifically includes: placing the spatial three-dimensional electric field measurement sensor 100 provided by the above embodiment in an external electric field environment; the external sensing electrode unit senses external electric field signals of different dimensions, and outputs them correspondingly to the electric field sensitive sub-units connected in a one-to-one correspondence; wherein there is at least a pair of external sensing electrodes differentially set in the external sensing electrode unit; the electric field sensitive unit senses the external electric field signal and performs signal conditioning, and outputs the electric field detection signal to the signal processing unit; the structure's own charged detection unit is used to detect the surface charge of the supporting unit; the signal processing unit performs differential processing or calculation processing on the surface charge and the electric field detection signal to obtain a three-dimensional electric field signal.

[0088] Furthermore, the measurement method further includes: obtaining three-dimensional electric field information in an inertial coordinate system according to the three-dimensional electric field signal in the carrier coordinate system and the posture information acquired by the posture detection unit 502 .

[0089] It should be noted that the spatial three-dimensional electric field measurement method provided in the embodiment of the present disclosure is implemented based on the spatial three-dimensional electric field measurement sensor 100 shown in the above embodiment or other similar structures, and the spatial three-dimensional electric field measurement sensor 100 will not be described in detail here.

[0090] The embodiments of the present disclosure provide a spatial three-dimensional electric field measurement sensor and a measurement method. In the sensor, at least four external sensing electrodes 20 and at least four electric field sensitive sub-units 30 can be differentially arranged or non-differentially arranged. In the differential setting, the signal processing unit 50 performs differential processing on the electric field detection signal of the electric field sensitive subunit 30, and the surface charge is also involved in the differential processing as a compensation amount to obtain a three-dimensional electric field signal in the carrier coordinate system, and combined with the posture information of the posture detection unit, the observation result of the sensor in the inertial coordinate system is obtained; in the non-differential setting, the signal processing unit 50 performs calculation processing on the electric field detection signal and the surface charge of the electric field sensitive subunit 30 to obtain a three-dimensional electric field signal in the carrier coordinate system, and combined with the posture information of the posture detection unit, the observation result of the sensor in the inertial coordinate system is obtained; the spatial three-dimensional electric field measurement sensor provided by the embodiment of the present disclosure effectively weakens the interference brought to the sensor by the environment through the placement of the structure's own charged detection unit and the external induction electrode unit, thereby realizing the desire for accurate measurement; the posture information obtained by the posture detection unit provides a guarantee for accurately observing the components of the spatial three-dimensional electric field in the inertial coordinate system.

[0091] While the disclosure has been illustrated and described in detail in the drawings and foregoing description, such illustration and description are to be considered illustrative or exemplary and not restrictive.

[0092] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of scopes, even if such combinations or combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of scopes without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0093] Although the present disclosure has been shown and described with reference to specific exemplary embodiments of the present disclosure, it should be understood by those skilled in the art that various changes in form and details may be made to the present disclosure without departing from the spirit and scope of the present disclosure as defined by the appended claims and their equivalents. Therefore, the scope of the present disclosure should not be limited to the above-mentioned embodiments, but should be determined not only by the appended claims, but also by the equivalents of the appended claims.

Claims

1. A spatial three-dimensional electric field measurement sensor, characterized in that: include: An external sensing electrode unit, arranged on the support unit (10), and used for sensing an external electric field signal; wherein at least one pair of external sensing electrodes are differentially arranged in the external sensing electrode unit, and the external sensing electrode unit comprises at least four external sensing electrodes (20); An electric field sensitive unit, arranged in the support unit (10), used for acquiring the external electric field signal and performing signal conditioning, and outputting an electric field detection signal; wherein the electric field sensitive unit comprises at least four electric field sensitive sub-units (30), and the at least four electric field sensitive sub-units (30) are electrically connected to the at least four external sensing electrodes (20) in a one-to-one correspondence; A structure self-charge detection unit (40) is arranged in the support unit (10) and is used to detect the surface charge amount of the support unit (10); A signal processing unit (50) is arranged in the support unit (10) and is used to perform differential processing or calculation processing on the surface charge amount and the electric field detection signal to obtain a three-dimensional electric field signal; The signal processing unit (50) comprises: a main control unit (501), a posture detection unit (502) electrically connected to the main control unit, and a signal sending module (503); wherein: The posture detection unit (502) is used to obtain the posture information of the sensor and output it to the main control unit (501); The main control unit (501) is electrically connected to the electric field sensitive unit, the structure self-charge detection unit (40), the posture detection unit (502) and the signal sending module (503), and is used to perform differential processing or calculation processing on the surface charge and the electric field detection signal to obtain a three-dimensional electric field signal in a carrier coordinate system; and obtain three-dimensional electric field information in an inertial coordinate system based on the three-dimensional electric field signal in the carrier coordinate system and the posture information; The signal sending module (503) is used to output the three-dimensional electric field information in the inertial coordinate system to an external device.

2. The spatial three-dimensional electric field measurement sensor according to claim 1, characterized in that: Each electric field sensitive subunit (30) comprises: An electric field sensing device (301), used for acquiring the external electric field signal sensed by the external sensing electrode connected thereto; A signal conditioning circuit (302) is connected to the electric field sensitive device (301) and is used to perform signal conditioning on an output signal of the electric field sensitive device (301) and output an electric field detection signal.

3. The spatial three-dimensional electric field measurement sensor according to claim 1, characterized in that: Each external sensing electrode (20) is one or more of a circular electrode, a square electrode, a curved electrode and a diamond electrode.

4. The spatial three-dimensional electric field measurement sensor according to claim 1, characterized in that: The spatial three-dimensional electric field measurement sensor also includes: A sensor power supply unit (60) is arranged in the support unit (10) and is used to provide electrical energy to the sensor.

5. The spatial three-dimensional electric field measurement sensor according to claim 1, characterized in that: The support unit (10) comprises: a shell (101) with a hollow interior, a plurality of insulating supports (102) and a support structure (103); wherein the plurality of insulating supports (102) are arranged on the shell (101) and correspond one-to-one to the at least four external sensing electrodes; the support structure (103) is arranged in the shell (101) and connected to the shell (101); wherein the electric field sensitive unit, the structure self-charge detection unit (40) and the signal processing unit (50) are arranged on the support structure (103).

6. The spatial three-dimensional electric field measurement sensor according to claim 1, characterized in that: Each external sensing electrode (20) is made of a conductor material, a semiconductor material, or a composite material with a conductive layer plated on the surface.

7. The spatial three-dimensional electric field measurement sensor according to claim 5, characterized in that: The structure formed by the shell (101) and the external sensing electrode unit is in the shape of a sphere, a hexahedron or a cylinder.

8. A method for measuring a spatial three-dimensional electric field based on the spatial three-dimensional electric field measurement sensor according to any one of claims 1 to 7, characterized in that: include: Placing the spatial three-dimensional electric field measurement sensor according to any one of claims 1 to 7 in an external electric field environment; The external sensing electrode unit senses external electric field signals of different dimensions and outputs them to the electric field sensitive subunits (30) connected in a one-to-one correspondence; wherein at least one pair of external sensing electrodes (20) are differentially arranged in the external sensing electrode unit; The electric field sensing unit senses the external electric field signal and performs signal conditioning, and outputs an electric field detection signal to the signal processing unit (50); The structure self-charge detection unit (40) is used to detect the surface charge of the support unit (10); the signal processing unit (50) performs differential processing or calculation processing on the surface charge and the electric field detection signal to obtain a three-dimensional electric field signal.

9. The method for measuring a spatial three-dimensional electric field according to claim 8, characterized in that: The measurement method also includes: Three-dimensional electric field information in an inertial coordinate system is obtained based on the three-dimensional electric field signal and the position and posture information acquired by the posture detection unit (502).

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