Fluxgate sensor fault detection method

Abstract

The invention discloses a fluxgate sensor fault detection method, and relates to the technical field of sensor fault detection. Comprising the steps of setting an initial detection current, obtaining an initial detection item, detecting a target fluxgate sensor based on the initial detection item, and obtaining an output current of the target fluxgate sensor; temperature and humidity data are obtained through an obtaining mode, a temperature initial item and a humidity initial item are obtained, and the temperature initial item and the humidity initial item are used for expressing the initial detection environment suffered by the target fluxgate sensor. According to the method, the temperature compensation formula and the humidity compensation formula are created, the interference values of the real-time temperature item and the real-time humidity item on the target fluxgate sensor are converted into the compensation values, and the actual fault data of the target fluxgate sensor are obtained according to the combination result of the compensation values and the fault current item. And thus, a more accurate fault detection effect on the target fluxgate sensor is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of sensor fault detection, and in particular to a fluxgate sensor fault detection method. Background Art

[0002] A fluxgate sensor is a highly sensitive magnetic field sensor, mainly used to measure static or low-frequency magnetic field strength. A fluxgate sensor is usually composed of a core made of ferromagnetic material and a coil wound around it. An alternating current is applied to the sensor to saturate the magnetic field of the ferromagnetic core. When an external magnetic field acts on the core, it changes the saturation state of the core, thereby affecting the current changes in the coil. Through precise circuit design, the sensor can convert these changes into measurable electrical signals, reflecting the strength and direction of the external magnetic field. Its working principle is based on the saturation characteristics of magnetic materials and is often used in geomagnetic measurement, aerospace, geological exploration and other fields.

[0003] Patent publication number CN117665683A is a fluxgate sensor noise detection method, system and storage medium, a probe open-loop sensitivity acquisition module, used to obtain the open-loop sensitivity of the fluxgate sensor probe, a total noise acquisition module, used to place the probe in a magnetic shielding module to obtain the total noise of the fluxgate sensor, an external noise measurement module, used to set a probe replacement circuit to replace the probe, and place it in the magnetic shielding module to obtain the external noise introduced by the part other than the probe, a probe open-loop noise acquisition module, used to obtain the open-loop noise of the probe based on the total noise of the fluxgate sensor and the external noise, and a probe closed-loop noise acquisition module, used to calculate the closed-loop noise of the probe by multiplying the open-loop noise by the ratio of the fluxgate sensor sensitivity to the open-loop sensitivity of the probe.

[0004] When the above-mentioned and similar technical solutions perform extreme fault value detection on the target fluxgate sensor, multiple tests are required to determine the extreme fault value of the target fluxgate sensor. However, during the multiple tests, when a constant detection environment cannot be provided, the temperature and humidity change in real time over time, and the changes in temperature and humidity will cause certain interference to the fault value detection results of the fluxgate. During the initial detection and the final detection, when the change values ​​of temperature and humidity exceed a certain level, the fault value detection of the target fluxgate sensor will be inaccurate, resulting in certain differences in the fault detection results of the fluxgate sensor. Summary of the invention

[0005] The object of the present invention is to provide a fluxgate sensor fault detection method to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a fluxgate sensor fault detection method, comprising: An initial detection current is set to obtain an initial detection item, and a target fluxgate sensor is detected based on the initial detection item to obtain an output current of the target fluxgate sensor; Acquire temperature and humidity data by an acquisition method to obtain an initial temperature item and an initial humidity item, wherein the initial temperature item and the initial humidity item are used to describe an initial detection environment to which the target fluxgate sensor is subjected; A detection adjustment item is set, and a combined detection item is obtained based on the detection adjustment item and the initial detection item, and a detection feedback item is obtained by continuously detecting the target fluxgate sensor. The detection feedback item is used to express the continuous detection result of the target fluxgate sensor. Based on the detection feedback item, it is determined whether the output current of the target fluxgate sensor is consistent with the combined detection item. When the output current of the target fluxgate sensor is consistent with the combined detection item, the detection step is repeated. When the output current of the target fluxgate sensor is inconsistent with the combined detection item, the combined detection item is adjusted by an adjustment method to obtain the target combined detection item and obtain the fault current item. The temperature and humidity data of the target fluxgate sensor are acquired again to obtain a real-time temperature item and a real-time humidity item, and the interference values ​​of the real-time temperature item and the real-time humidity item on the target fluxgate sensor are converted into compensation values ​​by a compensation method to obtain an environmental compensation item; Based on the combination result of the environmental compensation term and the fault current term, actual fault data of the target fluxgate sensor is acquired to obtain an actual fault term, which is used to express the environmental impact value of the target fluxgate sensor.

[0007] Furthermore, the compensation method includes: Create a temperature compensation formula, the temperature compensation formula is: ;in Indicates the temperature The compensation current under represents the initial detection item, It represents the linear temperature coefficient, which describes the linear effect of temperature change on current. represents the quadratic temperature coefficient, taking into account the nonlinear effect, Indicates the exponential compensation coefficient of temperature, taking into account the exponential effect of temperature on the electrical properties of the material. Indicates the real-time temperature item, represents the initial term of temperature; Create a humidity compensation formula, the humidity compensation formula is: ;in Indicates humidity The compensation current under represents the initial detection item, Represents the linear humidity coefficient, which describes the linear effect of humidity changes on current. represents the secondary humidity coefficient, taking into account the nonlinear effect of humidity on current, Represents the logarithmic compensation coefficient of humidity, taking into account the logarithmic effect of humidity on sensor performance. Represents the real-time humidity item, represents the initial humidity term; The environmental compensation value is and The combined result.

[0008] Furthermore, the , , , The methods for obtaining include: Set multiple temperature points and humidity points to obtain a temperature set and a humidity set, set a verified current, and obtain a verified current item; The temperature set and the humidity set are combined, and the output current of the verification current item is detected by the target fluxgate sensor to obtain the calibration current item; Create a temperature fitting formula. The temperature fitting formula is: ;in is the calibration current term, To verify the current term; Create a humidity fitting formula. The humidity fitting formula is: ;in is the calibration current term, To verify the current term.

[0009] Furthermore, the and The methods for obtaining include: Create a temperature index formula. The temperature index formula is: ;in is the calibration current term, To verify the current term; Create a humidity index formula. The humidity index formula is: ;in is the calibration current term, To verify the current term.

[0010] Furthermore, the acquisition method includes: setting a target number of first acquisition device groups, acquiring position data of a target fluxgate sensor, obtaining a marked feature point, setting an interval item, arranging the first acquisition device groups with the marked feature point as the center and the interval item as the interval, acquiring the average temperature and average humidity of the target fluxgate sensor, and obtaining a temperature initial item and a humidity initial item.

[0011] Furthermore, the acquisition method also includes: Obtain the position information of the target fluxgate sensor and obtain the center position feature point; Set the creation value, create the acquisition space based on the central position feature point and the creation value as a unit, and obtain the acquisition space item; Set the layout item, based on the acquisition space item, take the layout item as the benchmark, arrange the target number of second acquisition equipment groups, respectively acquire the temperature and humidity data, obtain the temperature data set and the humidity data set, obtain the average temperature and average humidity of the target fluxgate sensor based on the temperature data set and the humidity data set, and obtain the temperature initial item and the humidity initial item.

[0012] Furthermore, the detection adjustment item includes an adjustment range and an adjustment time, and the setting method of the detection adjustment item includes: setting a first amplification item, and obtaining a range adjustment item based on a combination result of the first amplification item and an initial detection item; The duration is set to obtain a duration item, and the detection adjustment item is obtained based on a combination result of the range adjustment item and the duration item.

[0013] Furthermore, the adjustment method comprises: Obtain the combined detection item data and the previous adjacent combined detection item data when the output current of the target fluxgate sensor is inconsistent with the combined detection item, obtain the target data item and the difference data item, obtain the difference between the target data item and the difference data item, and obtain the target interval item; Set the fluctuation item, and based on the combination result of the fluctuation item and the target interval item, combine them with the target data item and the difference data item respectively. When the output current of the target fluxgate sensor is consistent with the combined detection item, the fluctuation item and the difference data item are combined as the combined detection item, and it is judged whether the output current of the target fluxgate sensor is consistent with the combined detection item. When the output current of the target fluxgate sensor is inconsistent with the combined detection item, the fluctuation item is a negative value, and is combined with the target data item as the combined detection item, and it is judged whether the output current of the target fluxgate sensor is consistent with the combined detection item. Repeat the steps for adjustment to obtain the fault current item.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The fluxgate sensor fault detection method obtains temperature and humidity data during the first detection to obtain an initial temperature item and an initial humidity item, then detects the target fluxgate sensor by adjusting the test current, and when the output data of the target fluxgate sensor is different from the known rated current, the target test current is marked as a limit current to obtain a fault current item, and then the temperature and humidity data of the target fluxgate sensor are obtained again to obtain a real-time temperature item and a real-time humidity item, and by creating a temperature compensation formula and a humidity compensation formula, the interference value of the real-time temperature item and the real-time humidity item on the target fluxgate sensor is converted into a compensation value, and the actual fault data of the target fluxgate sensor is obtained according to the combination result of the compensation value and the fault current item, thereby achieving a more accurate fault detection effect on the target fluxgate sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall process of the present invention; Figure 2 It is a schematic diagram of the first acquisition device group and the position of the marking feature points of the present invention; Figure 3 A schematic diagram showing the relationship between the creation value and the central position feature point of the present invention; Figure 4 This is a schematic diagram of the position of the second acquisition device group of the present invention. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0017] As an important measurement tool, fluxgate sensor is widely used in industrial automation, traffic monitoring, environmental monitoring and other fields. Its accuracy and reliability directly affect the performance of the entire system. In order to ensure the effectiveness of the target fluxgate sensor in practical applications, it is essential to perform limit fault value detection. However, in this process, environmental factors, especially changes in temperature and humidity, may have a significant impact on the test results. Limit fault value detection aims to determine the performance limit of the sensor under specific conditions so that potential faults can be discovered in time in actual use. This process usually requires multiple tests to ensure the accuracy and reliability of the results. By performing systematic limit fault value detection on the fluxgate sensor, it can provide an important basis for equipment maintenance and fault warning, thereby improving the safety and stability of the system. When performing limit fault value detection, temperature and humidity are two important environmental factors that cannot be ignored. Since the detection process often takes a long time, environmental conditions may change during this period. Temperature fluctuations will directly affect the electrical characteristics of the fluxgate sensor. For example, temperature increases may cause the resistance value of the sensor to change, thereby affecting its output signal. Stability, while changes in humidity may cause the circuit inside the sensor to become damp, thereby causing problems such as short circuit or signal distortion. Therefore, when performing fault detection on the fluxgate sensor, the influence of temperature and humidity needs to be considered. The technical solution provided in the present application applies a rated and known initial current to the target fluxgate sensor when performing fault detection on the fluxgate sensor, and obtains the temperature and humidity data during the first detection to obtain the temperature initial item and the humidity initial item. Then, the target fluxgate sensor is detected by adjusting the test current. When the output data of the target fluxgate sensor is different from the known rated current, the target test current is marked as the limit current to obtain the fault current item. Then, the temperature and humidity data of the target fluxgate sensor are obtained again to obtain the real-time temperature item and the real-time humidity item. By creating a temperature compensation formula and a humidity compensation formula, the interference value of the real-time temperature item and the real-time humidity item on the target fluxgate sensor is converted into a compensation value. According to the combination result of the compensation value and the fault current item, the actual fault data of the target fluxgate sensor is obtained, thereby achieving a more accurate fault detection effect on the target fluxgate sensor. Specifically, in the present application, Figure 1 As shown, steps S100-S500 are included.

[0018] Step S100: setting an initial detection current, detecting a target fluxgate sensor, and obtaining an output current of the target fluxgate sensor.

[0019] It should be noted that the set initial detection current is the minimum detection current conventionally used for fluxgate sensors. Since the maximum load levels of different fluxgate sensors are different, when detecting the fluxgate sensor, it is usually started from the minimum detection current, and the intensity of the detection current is gradually increased. It is observed whether the output current of the fluxgate sensor being detected is consistent with the set detection current. When the output current of the fluxgate sensor is consistent with the set detection current, it indicates that the fluxgate sensor is not faulty. Conversely, when the output current of the fluxgate sensor is inconsistent with the set detection current, it means that the fluxgate sensor is in a fault state under the detection current of the set intensity at this time. Therefore, the fault detection effect of the fluxgate sensor can be achieved in this way.

[0020] Step S200: Acquire temperature and humidity data to obtain initial temperature items and initial humidity items.

[0021] It should be noted that the temperature initial item and the humidity initial item are used to describe the initial detection environment to which the target fluxgate sensor is subjected. When the fluxgate sensor is detected for the first time, the temperature and humidity to which the fluxgate sensor is subjected are the initial temperature and initial humidity.

[0022] Specifically, the step of obtaining the temperature initial item and the humidity initial item includes S2001.

[0023] Step S2001: Set the target number of first acquisition device groups, acquire the position data of the target fluxgate sensor, obtain the marked feature point, set the interval item, take the marked feature point as the center, arrange the first acquisition device group with the interval item as the interval, acquire the average temperature and average humidity of the target fluxgate sensor, and obtain the temperature initial item and the humidity initial item.

[0024] like Figure 2 As shown, it should be noted that the set target number is 5, and the first acquisition device group is composed of a temperature sensor and a humidity sensor. First, the position information of the target fluxgate sensor is obtained, and the set interval item is 1m. With the position of the target fluxgate sensor as the center, the temperature sensor and the humidity sensor that constitute the first acquisition device group are arranged at a distance of 1m from the target fluxgate sensor to obtain the average temperature and average humidity of the target fluxgate sensor, and obtain the temperature initial item and the humidity initial item.

[0025] In the specific implementation process, the initial temperature item and the initial humidity item are obtained for the fluxgate sensor undergoing fault detection. With the position of the target fluxgate sensor as the center, five groups of first acquisition equipment groups consisting of temperature sensors and humidity sensors are set up, and they are arranged at intervals of 1m from the target fluxgate sensor. The temperature data and humidity data of the target fluxgate sensor are obtained respectively. The obtained temperature data are: 25℃, 24℃, 26℃, 25℃, 25℃, and the humidity data are: 50%, 49%, 51%, 51%, 49%, respectively. At this time, by calculating the average values ​​of temperature and humidity, the initial temperature item and the initial humidity item are obtained to be 25℃ and 50%, respectively.

[0026] Specifically, the step of obtaining the temperature initial item and the humidity initial item also includes S2002.

[0027] Step S2002: Acquire the position information of the target fluxgate sensor, obtain the center position feature point, set the creation value, create an acquisition space based on the center position feature point and with the creation value as the unit, obtain the acquisition space item, set the layout item, based on the acquisition space item and with the layout item as the benchmark, arrange the second acquisition device group of the target number, respectively acquire the temperature and humidity data, obtain the temperature data set and the humidity data set, acquire the average temperature and average humidity of the target fluxgate sensor based on the temperature data set and the humidity data set, and obtain the temperature initial item and the humidity initial item.

[0028] like Figure 3-Figure 4 As shown, it should be noted that the set creation value is 1m, that is, with the position of the target fluxgate sensor as the center and the creation value as the unit, the acquisition space item is obtained, the acquisition space item is a three-dimensional space, and the set layout item is 2m. Since the acquisition space item is a three-dimensional space and the layout item is 2m, the number of the second acquisition device groups is eight at this time, which are respectively set at eight fixed points of the acquisition space. The second acquisition device group is also composed of a temperature sensor and a humidity sensor. The average temperature and average humidity of the target fluxgate sensor are obtained to obtain the temperature initial item and the humidity initial item. Since the positions of the eight second acquisition device groups are eight fixed points in the three-dimensional space, the acquired data can more accurately reflect the average temperature and average humidity of the target fluxgate sensor at the center.

[0029] Step S300: setting a detection adjustment item, obtaining a combined detection item based on the detection adjustment item and the initial detection item, continuously detecting the target fluxgate sensor, and obtaining a detection feedback item, which is used to express the continuous detection result of the target fluxgate sensor.

[0030] It should be noted that the detection adjustment item includes an adjustment range and an adjustment time. The setting method of the detection adjustment item includes: setting a first amplification item, and obtaining a range adjustment item based on a combination result of the first amplification item and the initial detection item; setting a duration to obtain a duration item, and obtaining a detection adjustment item based on a combination result of the range adjustment item and the duration item. The first amplification item is set to 50%, and based on the combination result of the first amplification item and the initial detection item, it is continuously increased to obtain multiple detection currents for the target fluxgate sensor. The duration is set to 5s, and it is determined whether the output current of the target fluxgate sensor within the duration is consistent with the detection current.

[0031] Step S400: Determine whether the output current of the target fluxgate sensor is consistent with the combined detection item. When the output current of the target fluxgate sensor is consistent with the combined detection item, repeat the detection step. When the output current of the target fluxgate sensor is inconsistent with the combined detection item, adjust the combined detection item through the adjustment method, obtain the target combined detection item, and obtain the fault current item.

[0032] It should be noted that the adjustment method includes: obtaining the combined detection item data and the previous adjacent combined detection item data when the output current of the target fluxgate sensor is inconsistent with the combined detection item, obtaining the target data item and the difference data item, obtaining the difference between the target data item and the difference data item, and obtaining the target interval item; setting the fluctuation item, based on the combination result of the fluctuation item and the target interval item, respectively combining with the target data item and the difference data item, when the output current of the target fluxgate sensor is consistent with the combined detection item, the fluctuation item and the difference data item are combined as the combined detection item, and it is judged whether the output current of the target fluxgate sensor is consistent with the combined detection item, when the output current of the target fluxgate sensor is inconsistent with the combined detection item, the fluctuation item is a negative value, and is combined with the target data item as the combined detection item, and it is judged whether the output current of the target fluxgate sensor is consistent with the combined detection item, and the steps are repeated for adjustment to obtain the fault current item.

[0033] In the specific implementation process, the combined detection item data obtained when the output current of the target fluxgate sensor is inconsistent with the combined detection item and the previous adjacent combined detection item data are 10mA and 9.5mA respectively. At this time, the difference between the target data item and the difference data item is 0.5mA, and the set fluctuation item is 50%. At this time, the combination result of the fluctuation item and the target interval item is 0.25mA. Since the combined detection item data when the output current of the target fluxgate sensor is inconsistent with the combined detection item is 10mA, the fluctuation item is a negative value at this time, and is combined with the target data item as a combined detection item. The combined detection item is 9.75mA, and the target fluxgate sensor is again Detection, when the output current of the target fluxgate sensor is inconsistent with the combined detection item again, the combined detection item data when the output current of the target fluxgate sensor is inconsistent with the combined detection item and the previous adjacent combined detection item data are 9.75mA and 9.5mA respectively. At this time, the difference between the target data item and the difference data item is 0.25mA, and the combination result of the fluctuation item and the target interval item is 0.125mA. The fluctuation item is a negative value and is combined with the target data item as a combined detection item. The combined detection item is 9.625mA. The target fluxgate sensor is detected again, and so on, until the accurate target combined detection item is obtained, and the fault current item is obtained.

[0034] Step S500: Acquire the temperature and humidity data of the target fluxgate sensor again to obtain the real-time temperature item and the real-time humidity item, and convert the interference value of the real-time temperature item and the real-time humidity item on the target fluxgate sensor into a compensation value through a compensation method to obtain an environmental compensation item.

[0035] It should be noted that compensation methods include: Create a temperature compensation formula, the temperature compensation formula is: ;in Indicates the temperature The compensation current under represents the initial detection item, It represents the linear temperature coefficient, which describes the linear effect of temperature change on current. represents the quadratic temperature coefficient, taking into account the nonlinear effect, Indicates the exponential compensation coefficient of temperature, taking into account the exponential effect of temperature on the electrical properties of the material. Indicates the real-time temperature item, represents the initial term of temperature; Create a humidity compensation formula, the humidity compensation formula is: ;in Indicates humidity The compensation current under represents the initial detection item, Represents the linear humidity coefficient, which describes the linear effect of humidity changes on current. represents the secondary humidity coefficient, taking into account the nonlinear effect of humidity on current, Represents the logarithmic compensation coefficient of humidity, taking into account the logarithmic effect of humidity on sensor performance. Represents the real-time humidity item, represents the initial humidity term; The environmental compensation value is and The combined result of , , , How to obtain: Set multiple temperature points and humidity points to obtain a temperature set and a humidity set, set a verified current, and obtain a verified current item; The temperature set and the humidity set are combined, and the output current of the verification current item is detected by the target fluxgate sensor to obtain the calibration current item; Create a temperature fitting formula. The temperature fitting formula is: ;in is the calibration current term, To verify the current term; Create a humidity fitting formula. The humidity fitting formula is: ;in is the calibration current term, To verify the current term.

[0036] and The methods for obtaining include: Create a temperature index formula. The temperature index formula is: ;in is the calibration current term, To verify the current term; Create a humidity index formula. The humidity index formula is: ;in is the calibration current term, To verify the current term.

[0037] In the specific implementation process, multiple temperature points are selected, from 0°C to 100°C, 10°C per point, and multiple humidity points are selected, from 10% to 90%, 10% per point. Under each combination of temperature and humidity, the sensor is used to record the output current to obtain the calibration current term. At 20°C, the measured current is 10.2mA, at 30°C, the measured current is 11.5mA, and at 40°C, the measured current is 13.0mA. At this time, according to the formula: ; ; ; ; After calculation, we get is 0.01, is 0.0001, is 0.001, is 0.02, is 0.0005, is 0.03. When the fault current item is 300mA, the temperature is 35℃, and the humidity is 70%, according to the temperature compensation formula: ;exist is 0.01, is 0.0001, When is 0.001, we calculate 11.21mA; exist is 0.02, is 0.0005, When the humidity is 0.03, according to the humidity compensation formula: ; Calculate It is 18.0384mA. At this time, the actual fault current of the target fluxgate sensor is 300-11.21-18.0384=270.7516mA, thereby achieving the effect of converting the interference value of the real-time temperature item and the real-time humidity item on the target fluxgate sensor into a compensation value.

[0038] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is limited by the attached embodiments and their equivalents.

Claims

1. A method for detecting a fluxgate sensor fault, characterized in that: include: An initial detection current is set to obtain an initial detection item, and a target fluxgate sensor is detected based on the initial detection item to obtain an output current of the target fluxgate sensor; Acquire temperature and humidity data by an acquisition method to obtain an initial temperature item and an initial humidity item, wherein the initial temperature item and the initial humidity item are used to describe an initial detection environment to which the target fluxgate sensor is subjected; A detection adjustment item is set, and a combined detection item is obtained based on the detection adjustment item and the initial detection item, and a detection feedback item is obtained by continuously detecting the target fluxgate sensor. The detection feedback item is used to express the continuous detection result of the target fluxgate sensor. Based on the detection feedback item, it is determined whether the output current of the target fluxgate sensor is consistent with the combined detection item. When the output current of the target fluxgate sensor is consistent with the combined detection item, the detection step is repeated. When the output current of the target fluxgate sensor is inconsistent with the combined detection item, the combined detection item is adjusted by an adjustment method to obtain the target combined detection item and obtain the fault current item. The temperature and humidity data of the target fluxgate sensor are acquired again to obtain a real-time temperature item and a real-time humidity item, and the interference values ​​of the real-time temperature item and the real-time humidity item on the target fluxgate sensor are converted into compensation values ​​by a compensation method to obtain an environmental compensation item; Based on the combination result of the environmental compensation term and the fault current term, actual fault data of the target fluxgate sensor is acquired to obtain an actual fault term, which is used to express the environmental impact value of the target fluxgate sensor.

2. A fluxgate sensor fault detection method according to claim 1, characterized in that: The compensation method includes: Create a temperature compensation formula, the temperature compensation formula is: ； in Indicates the temperature The compensation current under represents the initial detection item, It represents the linear temperature coefficient, which describes the linear effect of temperature change on current. represents the quadratic temperature coefficient, taking into account the nonlinear effect, Indicates the exponential compensation coefficient of temperature, taking into account the exponential effect of temperature on the electrical properties of the material. Indicates the real-time temperature item, represents the initial term of temperature; Create a humidity compensation formula, the humidity compensation formula is: ； in Indicates humidity The compensation current under represents the initial detection item, Represents the linear humidity coefficient, which describes the linear effect of humidity changes on current. represents the secondary humidity coefficient, taking into account the nonlinear effect of humidity on current, Represents the logarithmic compensation coefficient of humidity, taking into account the logarithmic effect of humidity on sensor performance. Represents the real-time humidity item, represents the initial humidity term; The environmental compensation value is and The combined result.

3. A fluxgate sensor fault detection method according to claim 2, characterized in that: Said , , , The methods for obtaining include: Set multiple temperature points and humidity points to obtain a temperature set and a humidity set, set a verified current, and obtain a verified current item; The temperature set and the humidity set are combined, and the output current of the verification current item is detected by the target fluxgate sensor to obtain the calibration current item; Create a temperature fitting formula. The temperature fitting formula is: ； in is the calibration current term, To verify the current term; Create a humidity fitting formula. The humidity fitting formula is: ； in is the calibration current term, To verify the current term.

4. A fluxgate sensor fault detection method according to claim 3, characterized in that: Said and The methods for obtaining include: Create a temperature index formula. The temperature index formula is: ； in is the calibration current term, To verify the current term; Create a humidity index formula. The humidity index formula is: ； in is the calibration current term, To verify the current term.

5. A fluxgate sensor fault detection method according to claim 1, characterized in that: The acquisition method includes: setting a target number of first acquisition device groups, acquiring position data of a target fluxgate sensor, obtaining a marked feature point, setting an interval item, arranging the first acquisition device groups with the marked feature point as the center and the interval item as the interval, acquiring the average temperature and average humidity of the target fluxgate sensor, and obtaining a temperature initial item and a humidity initial item.

6. A fluxgate sensor fault detection method according to claim 1, characterized in that: The acquisition method also includes: Obtain the position information of the target fluxgate sensor and obtain the center position feature point; Set the creation value, create the acquisition space based on the central position feature point and the creation value as a unit, and obtain the acquisition space item; Set the layout item, based on the acquisition space item, take the layout item as the benchmark, arrange the target number of second acquisition equipment groups, respectively acquire the temperature and humidity data, obtain the temperature data set and the humidity data set, obtain the average temperature and average humidity of the target fluxgate sensor based on the temperature data set and the humidity data set, and obtain the temperature initial item and the humidity initial item.

7. A fluxgate sensor fault detection method according to claim 1, characterized in that: The detection adjustment item includes an adjustment range and an adjustment time, and the setting method of the detection adjustment item includes: setting a first amplification item, and obtaining a range adjustment item based on a combination result of the first amplification item and an initial detection item; The duration is set to obtain a duration item, and the detection adjustment item is obtained based on a combination result of the range adjustment item and the duration item.

8. A fluxgate sensor fault detection method according to claim 1, characterized in that: The adjustment method comprises: Obtain the combined detection item data and the previous adjacent combined detection item data when the output current of the target fluxgate sensor is inconsistent with the combined detection item, obtain the target data item and the difference data item, obtain the difference between the target data item and the difference data item, and obtain the target interval item; Set the fluctuation item, and based on the combination result of the fluctuation item and the target interval item, combine them with the target data item and the difference data item respectively. When the output current of the target fluxgate sensor is consistent with the combined detection item, the fluctuation item and the difference data item are combined as the combined detection item, and it is judged whether the output current of the target fluxgate sensor is consistent with the combined detection item. When the output current of the target fluxgate sensor is inconsistent with the combined detection item, the fluctuation item is a negative value, and is combined with the target data item as the combined detection item, and it is judged whether the output current of the target fluxgate sensor is consistent with the combined detection item. Repeat the steps for adjustment to obtain the fault current item.

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