Calibration device, method and equipment for triaxial fluxgate magnetometer

Abstract

The invention provides a calibration device, method and equipment for a three-axis fluxgate magnetometer, and the device comprises a first support which comprises a first bottom plate and two first side plates; the first rotating body is located between the two first side plates and comprises a second bottom plate and two second side plates; the two second side plates are rotationally connected with the first side plates adjacent to the two second side plates through the first rotating shafts and the second rotating shafts correspondingly. The rotating disc is located above the second bottom plate and is rotatably connected with the second bottom plate through a third rotating shaft, and angle scales are marked on the edge of the rotating disc; the second support is located between the two second side plates and comprises a third bottom plate and two third side plates; wherein the third bottom plate is fixedly connected with the center position of the upper surface of the turntable; the second rotating body is located between the two third side plates and comprises a fourth bottom plate, and the two ends of the second rotating body are vertically bent upwards to form two fourth side plates; and the two fourth side plates are rotatably connected with the adjacent third side plates through a fourth rotating shaft and a fifth rotating shaft respectively.

Description

Technical Field

[0001] The present invention relates to the field of magnetic field measurement technology, and in particular to a calibration device, method and equipment for a three-axis fluxgate magnetometer. Background Art

[0002] With the development of space technology, three-axis magnetometers can be used to measure the orbital magnetic field of satellites to determine and control the satellite's attitude. This on-orbit magnetic attitude determination method is simple and low-cost, and is adopted by many micro-satellites. In order to ensure the accuracy of magnetic attitude determination, the three-axis magnetometer must have high-precision measurement capabilities. Generally, the three-axis magnetometer is calibrated before it is carried on the satellite.

[0003] At present, there are many methods for calibrating the measurement error of a three-axis magnetometer. For example, the measurement results of the three-axis magnetometer are used to analyze and calculate the errors, thereby obtaining a calibration model of the three-axis magnetometer; or, an ellipsoidal surface model is used to calculate the magnetic field intensity measured by the three-axis magnetometer, and the calibration parameters are calculated by the recursive method; or, optimization algorithms such as particle swarm optimization and genetic algorithm are used for the calibration of the three-axis magnetometer.

[0004] However, the equipment used in the above calibration method is generally complex, with poor reading accuracy, the rotation center of the turntable is not uniform, and the calibration and calculation process is also complicated, which can no longer meet the needs. Summary of the invention

[0005] The present invention provides a calibration device, method and equipment for a three-axis fluxgate magnetometer, which are used to solve the technical problem that the calibration of the three-axis fluxgate magnetometer cannot be simply realized in the prior art.

[0006] In one aspect, the present invention provides a calibration device for a three-axis fluxgate magnetometer, comprising: A first bracket, comprising a first bottom plate, wherein two ends of the first bottom plate are vertically bent upward to form two first side plates; A first rotating body is located between the two first side plates, and includes a second bottom plate, and the two ends of the second bottom plate are vertically bent upward to form two second side plates; wherein the two second side plates are rotatably connected to the first side plates adjacent to them through the first rotating shaft and the second rotating shaft respectively; A turntable, located above the second bottom plate, rotatably connected to the second bottom plate via a third rotation axis, and having an edge marked with angle scales; a second bracket, located between the two second side panels, comprising a third bottom panel, and the two ends of the third bottom panel are vertically bent upward to form two third side panels; wherein the third bottom panel is fixedly connected to the center position of the upper surface of the turntable; and The second rotating body is located between the two third side plates, and includes a fourth bottom plate, and the two ends of the fourth bottom plate are vertically bent upward to form two fourth side plates; wherein the two fourth side plates are rotatably connected to the respective adjacent third side plates through a fourth rotation axis and a fifth rotation axis, respectively, and the fourth bottom plate is used to place the three-axis fluxgate magnetometer; The ends of the first rotating axis, the second rotating axis, the fourth rotating axis and the fifth rotating axis are all marked with angle scales; and the axes of the first rotating axis, the second rotating axis, the fourth rotating axis and the fifth rotating axis are on the same straight line.

[0007] A calibration device for a three-axis fluxgate magnetometer provided according to the present invention also includes: three power measurement components; Wherein, a power measurement component is used to drive the first rotating body to rotate and measure the rotation angle of the first rotating body; A power measurement component is used to drive the turntable to rotate and measure the rotation angle of the turntable; A power measurement component is used for driving the second rotating body to rotate and measuring the rotation angle of the second rotating body.

[0008] According to a calibration device for a three-axis fluxgate magnetometer provided by the present invention, the power measurement component includes an adjustment gear and an angular encoder.

[0009] According to a calibration device for a three-axis fluxgate magnetometer provided by the present invention, counterweight blocks are provided at the upper ends of the two second side plates and the upper ends of the two fourth side plates.

[0010] According to a calibration device for a three-axis fluxgate magnetometer provided by the present invention, a plurality of rollers are disposed on the lower surface of the first base plate for moving the first bracket.

[0011] According to a calibration device for a three-axis fluxgate magnetometer provided by the present invention, materials of the first bracket, the first rotating body, the turntable, the second bracket and the second rotating body are all non-magnetic materials.

[0012] On the other hand, the present invention further provides a calibration method for a three-axis fluxgate magnetometer, the calibration method being applied to the calibration device for the three-axis fluxgate magnetometer described in any one of the above items, the three-axis fluxgate magnetometer being located at the center of the fourth base plate, the method comprising: determining an initial position of the three-axis fluxgate magnetometer; Acquire a first set of magnetic field data, a second set of magnetic field data, and a third set of magnetic field data of the x-axis, y-axis, and z-axis of the three-axis fluxgate magnetometer at the initial position, when the x-axis at the initial position rotates by a first angle to the y-axis, and when the x-axis at the initial position rotates by the first angle to the z-axis; When the three-axis fluxgate magnetometer is located at the initial position, obtaining a fourth set of magnetic field data, a fifth set of magnetic field data, and a sixth set of magnetic field data of the x-axis, y-axis, and z-axis of the three-axis fluxgate magnetometer when the x-axis of the three-axis fluxgate magnetometer is rotated by a second angle, a third angle, and a fourth angle respectively in the y-axis direction; When the three-axis fluxgate magnetometer is located at the initial position, obtaining a seventh set of magnetic field data, an eighth set of magnetic field data, and a ninth set of magnetic field data of the x-axis, y-axis, and z-axis of the three-axis fluxgate magnetometer when the x-axis of the three-axis fluxgate magnetometer is rotated in the z-axis direction by the second angle, the third angle, and the fourth angle respectively; When the three-axis fluxgate magnetometer is located at the initial position, obtaining the tenth group of magnetic field data, the eleventh group of magnetic field data, and the twelfth group of magnetic field data of the x-axis, the y-axis, and the z-axis of the three-axis fluxgate magnetometer when the y-axis of the three-axis fluxgate magnetometer is rotated in the z-axis direction by the second angle, the third angle, and the fourth angle respectively; Based on the first group of magnetic field data, the second group of magnetic field data, the third group of magnetic field data, the fourth group of magnetic field data, the fifth group of magnetic field data, the sixth group of magnetic field data, the seventh group of magnetic field data, the eighth group of magnetic field data, the ninth group of magnetic field data, the tenth group of magnetic field data, the eleventh group of magnetic field data and the twelfth group of magnetic field data, a calibration equation group of the three-axis fluxgate magnetometer is constructed; wherein the calibration equation group includes twelve calibration equations; Calibration parameters of the three-axis fluxgate magnetometer are determined based on the calibration equation group.

[0013] According to a calibration method for a three-axis fluxgate magnetometer provided by the present invention, the first angle is 90°, the second angle is 30°, the third angle is 45°, and the fourth angle is 60°.

[0014] According to a calibration method for a three-axis fluxgate magnetometer provided by the present invention, the calibration equation group includes: , , , , , , , , , , , , Among them, the magnetic field data of the x-axis, y-axis and z-axis in the first set of magnetic field data are respectively ( B xt0 , B y0 ，B z0 ); The magnetic field data of the x-axis, y-axis and z-axis in the second set of magnetic field data are respectively ( B yt0 , B y1 ，B z1 ); The magnetic field data of the x-axis, y-axis and z-axis in the third set of magnetic field data are respectively B zt0 , B y2 ，B z2 ); The magnetic field data of the x-axis, y-axis and z-axis in the fourth set of magnetic field data are respectively ( B x3 , B y3 ，B z3 ); The magnetic field data of the x-axis, y-axis and z-axis in the fifth set of magnetic field data are respectively ( B x4 , B y4 ，B z4 ); The magnetic field data of the x-axis, y-axis and z-axis in the sixth set of magnetic field data are respectively ( B x5 , B y5 ，B z5 ); The magnetic field data of the x-axis, y-axis and z-axis in the seventh set of magnetic field data are respectively ( B x6 , B y6，B z6 ); The magnetic field data of the x-axis, y-axis and z-axis in the eighth set of magnetic field data are respectively ( B x7 , B y7 ，B z7 ); The magnetic field data of the x-axis, y-axis and z-axis in the ninth set of magnetic field data are respectively ( B x8 , B y8 ，B z8 ); The magnetic field data of the x-axis, y-axis and z-axis in the tenth set of magnetic field data are respectively ( B x9 , B y9 ，B z9 ); The magnetic field data of the x-axis, y-axis and z-axis in the eleventh set of magnetic field data are respectively ( B x10 , B y10 ，B z10 ); The magnetic field data of the x-axis, y-axis and z-axis in the twelfth set of magnetic field data are respectively ( B x11 , B y11 ，B z11 ); are calibration parameters of the three-axis fluxgate magnetometer.

[0015] On the other hand, the present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a calibration method for a three-axis fluxgate magnetometer as described above is implemented.

[0016] The present invention provides a calibration device, method and equipment for a three-axis fluxgate magnetometer. The calibration device for the three-axis fluxgate magnetometer may include a first bracket, a first rotating body, a turntable, a second bracket and a second rotating body. The first rotating body and the second rotating body can rotate along their respective rotation axes within the upper and lower spatial ranges. The turntable can rotate within the horizontal spatial range. When the three-axis fluxgate magnetometer is fixed on the fourth base plate, the angle of the three-axis fluxgate magnetometer can be adjusted by rotating the first rotating body, the turntable and the second rotating body, so as to obtain the magnetic field data of the x-axis, y-axis and z-axis of the three-axis fluxgate magnetometer at different angles, and then the calibration parameters of the three-axis fluxgate magnetometer can be determined according to the magnetic field data, which is very simple and efficient, and also has high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 is a structural schematic diagram of a calibration device for a three-axis fluxgate magnetometer provided in an embodiment of the present invention; Figure 2 It is a flow chart of a calibration method of a three-axis fluxgate magnetometer provided in an embodiment of the present invention; Figure 3 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Figure 1 Schematic diagram of the structure of the calibration device of the three-axis fluxgate magnetometer provided by the embodiment of the present invention. Figure 1 As shown, the calibration device 400 of the three-axis fluxgate magnetometer may include a first bracket, a first rotating body, a turntable 601, a second bracket and a second rotating body.

[0021] The first bracket may include a first bottom plate 401 , and two ends of the first bottom plate 401 are bent vertically upward to form two first side plates 402 .

[0022] The first rotating body is located between the two first side plates 402. The first rotating body may include a second bottom plate 501, and the two ends of the second bottom plate 501 are bent vertically upward to form two second side plates 502; wherein the two second side plates 502 are rotatably connected to the first side plates 402 adjacent to each other through a first rotating shaft (not shown in the figure) and a second rotating shaft (not shown in the figure). For example, the first rotating body can be driven to rotate by rotating the first rotating shaft and the second rotating shaft, and the rotation mode is similar to swinging like a swing, and the maximum swing angle is 360 degrees.

[0023] The turntable 601 is located above the second bottom plate 501 and is rotatably connected to the second bottom plate 501 via a third rotation axis (not shown in the figure), and an angle scale is marked on the edge. For example, the turntable 601 can rotate up to 360 degrees in the horizontal plane. The angle scale can range from 0 to 360 degrees.

[0024] The second bracket is located between the two second side plates 502, and the second bracket may include a third bottom plate 701, and the two ends of the third bottom plate 701 are vertically bent upward to form two third side plates 702; wherein the third bottom plate 701 is fixedly connected to the center position of the upper surface of the rotating disk 601. In other words, when the rotating disk 601 rotates, the second bracket can rotate with the rotating disk 601.

[0025] The second rotating body is located between the two third side plates 702. The second rotating body may include a fourth bottom plate 801, and the two ends of the fourth bottom plate 801 are bent vertically upward to form two fourth side plates 802; wherein the two fourth side plates 802 are rotatably connected to the respective adjacent third side plates 702 through the fourth rotating shaft 804 and the fifth rotating shaft (not shown in the figure), and the fourth bottom plate 801 is used to place the three-axis fluxgate magnetometer. For example, the second rotating body can be driven to rotate by rotating the fourth rotating shaft and the fifth rotating shaft, and the rotation mode is similar to swinging like a swing, and the maximum swing angle is 360 degrees.

[0026] The ends of the first rotation axis, the second rotation axis, the fourth rotation axis 804 and the fifth rotation axis are all marked with angle scales, and the axes of the first rotation axis, the second rotation axis, the fourth rotation axis 804 and the fifth rotation axis are on the same straight line. The angle scale can range from 0 to 360 degrees.

[0027] In this embodiment, the calibration device 400 of the three-axis fluxgate magnetometer may include a first bracket, a first rotating body, a turntable 601, a second bracket and a second rotating body. The first rotating body and the second rotating body can rotate along their respective rotation axes within the upper and lower spatial ranges. The turntable 601 can rotate within the horizontal spatial range. When the three-axis fluxgate magnetometer is fixed on the fourth base plate 801, the angle of the three-axis fluxgate magnetometer can be adjusted by rotating the first rotating body, the turntable 601 and the second rotating body, so as to obtain the magnetic field data of the x-axis, y-axis and z-axis of the three-axis fluxgate magnetometer at different angles, and then the calibration parameters of the three-axis fluxgate magnetometer can be determined according to the magnetic field data, which is very simple and efficient, and also has high accuracy.

[0028] In one embodiment of the present specification, the calibration device 400 of the three-axis fluxgate magnetometer may further include three power measurement components.

[0029] Wherein, a power measurement component is used to drive the first rotating body to rotate and measure the rotation angle of the first rotating body.

[0030] A power measurement component is used to drive the turntable 601 to rotate and measure the rotation angle of the turntable 601 .

[0031] A power measurement component is used for driving the second rotating body to rotate and measuring the rotation angle of the second rotating body.

[0032] In this embodiment, a power measurement component is used to drive the first rotating body to rotate and measure the rotation angle of the first rotating body, a power measurement component is used to drive the turntable 601 to rotate and measure the rotation angle of the turntable 601, and a power measurement component is used to drive the second rotating body to rotate and measure the rotation angle of the second rotating body. Automatic rotation of the first rotating body, turntable 601 and the second rotating body is realized, that is, automatic rotation and measurement of the angle of the three-axis fluxgate magnetometer is realized, which is very simple, efficient and has high accuracy.

[0033] In one embodiment of the present specification, the power measurement assembly may include an adjustment gear 901 and an angle encoder 902 .

[0034] In this embodiment, the adjusting gear 901 can be a multi-stage angle adjusting gear. The angular encoder 902 can be a high-precision angular encoder. The adjusting gear 901 is used to drive the object to rotate. The angular encoder 902 is used to measure the angle of rotation. For example, an adjusting gear 901 can drive the first rotating shaft or the second rotating shaft to rotate, thereby driving the first rotating body to rotate, and the angular encoder 902 corresponding to the adjusting gear 901 is used to measure the rotation angle. An adjusting gear 901 can drive the fourth rotating shaft 804 or the fifth rotating shaft to rotate, thereby driving the second rotating body to rotate, and the angular encoder 902 corresponding to the adjusting gear 901 is used to measure the rotation angle. An adjusting gear 901 can drive the third rotating shaft to rotate, thereby driving the turntable 601 to rotate, and the angular encoder 902 corresponding to the adjusting gear 901 is used to measure the rotation angle.

[0035] The positions of each adjusting gear 901 and each angular encoder 902 on the calibration device 400 may not be specifically limited, and the installation positions may be selected according to actual conditions. For example, an adjusting gear 901 and an angular encoder 902 may be respectively arranged on the opposite side of the two first side plates 402 (of course, they may also be arranged on the opposite side), to drive the first rotating shaft or the second rotating shaft to rotate; an adjusting gear 901 and an angular encoder 902 may be respectively arranged on the opposite side of the two third side plates 702 (of course, they may also be arranged on the opposite side), to drive the fourth rotating shaft or the fifth rotating shaft to rotate; an adjusting gear 901 and an angular encoder 902 may be respectively arranged on the second bottom plate 501, to drive the third rotating shaft to rotate.

[0036] In one embodiment of the present specification, a counterweight block 603 is disposed on the upper ends of the two second side plates 502 and the upper ends of the two fourth side plates 802 .

[0037] In this embodiment, the main function of the counterweight block 603 is to increase weight to maintain balance, thereby facilitating the control of the rotation of the second side plate 502 and the fourth side plate 802 .

[0038] In one embodiment of the present specification, a plurality of rollers 604 are disposed on the lower surface of the first bottom plate 401 for moving the first bracket.

[0039] In this embodiment, a plurality of rollers 604 are provided on the lower surface of the first bottom plate 401 to facilitate the movement of the first bracket, that is, the calibration device 400 can be moved more conveniently. The plurality of rollers 604 can be evenly distributed on the lower surface of the first bottom plate 401, or can be provided at each corner of the first bottom plate 401. Furthermore, a plurality of adjustment rods 605 that can be extended up and down can be provided on the lower surface of the first bottom plate 401. When the area where the calibration device 400 is placed is not smooth enough, the calibration device 400 can be kept balanced by controlling the adjustment rods 605 to extend up and down.

[0040] In one embodiment of the present specification, the materials of the first bracket, the first rotating body, the turntable 601, the second bracket and the second rotating body are all non-magnetic materials.

[0041] In this embodiment, the materials of the first bracket, the first rotating body, the turntable 601, the second bracket and the second rotating body are all non-magnetic materials, which can ensure the accuracy of the magnetic field data of the x-axis, y-axis and z-axis of the three-axis fluxgate magnetic intensity. Similarly, the material of the roller 604 can also be non-magnetic material. Non-magnetic materials can include plastic non-magnetic materials, ceramic non-magnetic materials and some metal non-magnetic materials (such as stainless steel, copper alloy and aluminum alloy, etc.).

[0042] In summary, the calibration device 400 can rotate on a single axis or multiple axes simultaneously, and can rotate concentrically and coaxially, ensuring the accuracy of the measurement data. It is easy to build, easy to move, low cost, can coarsely and finely adjust the rotation angle, takes a short time, has high measurement efficiency and accuracy, can customize the rectangular coordinate system, does not require zero adjustment, and can read valid magnetic field data without the need for an additional magnetometer to read background data.

[0043] Based on the same general inventive concept, the present invention also protects a calibration method for a three-axis fluxgate magnetometer. Figure 2 , Figure 2 It is a flow chart of a calibration method for a three-axis fluxgate magnetometer provided in an embodiment of the present invention.

[0044] The calibration method of the three-axis fluxgate magnetometer uses the calibration device of the three-axis fluxgate magnetometer described in any of the above embodiments. The three-axis fluxgate magnetometer is located at the center of the fourth base plate. The calibration method may include the following steps 101 to 107.

[0045] 101. Determine the initial position of the three-axis fluxgate magnetometer.

[0046] 102. Obtain a first set of magnetic field data, a second set of magnetic field data, and a third set of magnetic field data of the x-axis, y-axis, and z-axis of the three-axis fluxgate magnetometer when the three-axis fluxgate magnetometer is at an initial position, rotated from the x-axis to the y-axis by a first angle at the initial position, and rotated from the x-axis to the z-axis by a first angle at the initial position.

[0047] 103. When the three-axis fluxgate magnetometer is located at an initial position, a fourth set of magnetic field data, a fifth set of magnetic field data, and a sixth set of magnetic field data of the x-axis, y-axis, and z-axis of the three-axis fluxgate magnetometer are obtained when the x-axis of the three-axis fluxgate magnetometer is rotated toward the y-axis by a second angle, a third angle, and a fourth angle, respectively.

[0048] 104. When the three-axis fluxgate magnetometer is located at an initial position, the seventh set of magnetic field data, the eighth set of magnetic field data and the ninth set of magnetic field data of the x-axis, the y-axis and the z-axis of the three-axis fluxgate magnetometer are obtained when the x-axis of the three-axis fluxgate magnetometer is rotated toward the z-axis by a second angle, a third angle and a fourth angle respectively.

[0049] 105. When the three-axis fluxgate magnetometer is located at an initial position, the tenth group of magnetic field data, the eleventh group of magnetic field data and the twelfth group of magnetic field data of the x-axis, the y-axis and the z-axis of the three-axis fluxgate magnetometer are obtained when the y-axis of the three-axis fluxgate magnetometer rotates toward the z-axis by a second angle, a third angle and a fourth angle respectively.

[0050] 106. Based on the first group of magnetic field data, the second group of magnetic field data, the third group of magnetic field data, the fourth group of magnetic field data, the fifth group of magnetic field data, the sixth group of magnetic field data, the seventh group of magnetic field data, the eighth group of magnetic field data, the ninth group of magnetic field data, the tenth group of magnetic field data, the eleventh group of magnetic field data and the twelfth group of magnetic field data, a calibration equation group of the three-axis fluxgate magnetometer is constructed; wherein the calibration equation group includes twelve calibration equations.

[0051] 107. Determine the calibration parameters of the three-axis fluxgate magnetometer based on the calibration equation group.

[0052] In this embodiment, by rotating the three-axis fluxgate magnetometer, the first group of magnetic field data, the second group of magnetic field data, the third group of magnetic field data, the fourth group of magnetic field data, the fifth group of magnetic field data, the sixth group of magnetic field data, the seventh group of magnetic field data, the eighth group of magnetic field data, the ninth group of magnetic field data, the tenth group of magnetic field data, the eleventh group of magnetic field data and the twelfth group of magnetic field data are obtained, and the calibration equation group of the three-axis fluxgate magnetometer is constructed, and the calibration parameters of the three-axis fluxgate magnetometer are determined based on the calibration equation group, which is very simple and efficient. In general, the angle encoder can be connected to the computer to read the data measured by the angle encoder.

[0053] In one embodiment of the present specification, the first angle may be 90°, the second angle may be 30°, the third angle may be 45°, and the fourth angle may be 60°.

[0054] In this embodiment, the second angle can be any value between 1° and 30°. The third angle can be any value between 31° and 45°. The fourth angle can be any value between 46° and 60°. The first angle can be any value between 61° and 90°. When the first angle is 90°, the second angle is 30°, the third angle is 45°, and the fourth angle is 60°, the calculation process can be made simpler.

[0055] In one embodiment of the present specification, the calibration equation group may include the following calibration equations (1) to (12).

[0056] , (1); , (2); , (3); , (4); , (5); , (6); , (7); , (8); , (9); , (10); , (11); , (12).

[0057] Among them, the magnetic field data of the x-axis, y-axis and z-axis in the first set of magnetic field data are respectively ( B xt0 , B y0 ，B z0 ); The magnetic field data of the second set of magnetic field data are as follows: B yt0 , B y1 ，B z1 ); The magnetic field data of the third set of magnetic field data are as follows: B zt0, B y2 ，B z2 ); The magnetic field data of the fourth set of magnetic field data are as follows: B x3 , B y3 ，B z3 ); The magnetic field data of the fifth set of magnetic field data are as follows: B x4 , B y4 ，B z4 ); The magnetic field data of the sixth set of magnetic field data are as follows: B x5 , B y5 ，B z5 ); The magnetic field data of the seventh set of magnetic field data are as follows: B x6 , B y6 ，B z6 ); The magnetic field data of the eighth set of magnetic field data are as follows: B x7 , B y7 ，B z7 ); The magnetic field data of the ninth set of magnetic field data are as follows: B x8 , B y8 ，B z8 ); The magnetic field data of the x-axis, y-axis and z-axis in the tenth set of magnetic field data are respectively ( B x9 , B y9 ，B z9 ); The magnetic field data of the x-axis, y-axis and z-axis in the eleventh set of magnetic field data are respectively ( B x10 , B y10 ，Bz10 ); The magnetic field data of the x-axis, y-axis and z-axis in the twelfth set of magnetic field data are respectively ( B x11 , B y11 ，B z11 ); are calibration parameters of the three-axis fluxgate magnetometer.

[0058] Figure 3 Schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the calibration method of the three-axis fluxgate magnetometer.

[0059] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0060] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the calibration method of the three-axis fluxgate magnetometer provided by the above methods.

[0061] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the calibration method of the three-axis fluxgate magnetometer provided by the above methods.

[0062] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0063] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A calibration device for a three-axis fluxgate magnetometer, characterized in that: include: A first bracket, comprising a first bottom plate, wherein two ends of the first bottom plate are vertically bent upward to form two first side plates; A first rotating body is located between the two first side plates, and includes a second bottom plate, and the two ends of the second bottom plate are vertically bent upward to form two second side plates; wherein the two second side plates are rotatably connected to the first side plates adjacent to them through the first rotating shaft and the second rotating shaft respectively; A turntable, located above the second bottom plate, rotatably connected to the second bottom plate via a third rotation axis, and having an edge marked with angle scales; a second bracket, located between the two second side panels, comprising a third bottom panel, and the two ends of the third bottom panel are vertically bent upward to form two third side panels; wherein the third bottom panel is fixedly connected to the center position of the upper surface of the turntable; and The second rotating body is located between the two third side plates, and includes a fourth bottom plate, and the two ends of the fourth bottom plate are vertically bent upward to form two fourth side plates; wherein the two fourth side plates are rotatably connected to the respective adjacent third side plates through a fourth rotation axis and a fifth rotation axis, respectively, and the fourth bottom plate is used to place the three-axis fluxgate magnetometer; The ends of the first rotating axis, the second rotating axis, the fourth rotating axis and the fifth rotating axis are all marked with angle scales; and the axes of the first rotating axis, the second rotating axis, the fourth rotating axis and the fifth rotating axis are on the same straight line.

2. The calibration device for a three-axis fluxgate magnetometer according to claim 1, characterized in that: Also includes: three power measurement components; Wherein, a power measurement component is used to drive the first rotating body to rotate and measure the rotation angle of the first rotating body; A power measurement component is used to drive the turntable to rotate and measure the rotation angle of the turntable; A power measurement component is used for driving the second rotating body to rotate and measuring the rotation angle of the second rotating body.

3. The calibration device for a three-axis fluxgate magnetometer according to claim 2, characterized in that: The power measurement assembly includes an adjustment gear and an angular encoder.

4. The calibration device for a three-axis fluxgate magnetometer according to claim 1, characterized in that: The upper ends of the two second side plates and the upper ends of the two fourth side plates are both provided with counterweight blocks.

5. The calibration device for a three-axis fluxgate magnetometer according to claim 1, characterized in that: A plurality of rollers are disposed on the lower surface of the first bottom plate for moving the first bracket.

6. The calibration device for a three-axis fluxgate magnetometer according to claim 1, characterized in that: The first bracket, the first rotating body, the turntable, the second bracket and the second rotating body are all made of non-magnetic materials.

7. A calibration method for a three-axis fluxgate magnetometer, characterized in that: The calibration method is applied to the calibration device of the three-axis fluxgate magnetometer according to any one of claims 1 to 6, wherein the three-axis fluxgate magnetometer is located at the center of the fourth base plate, and the method comprises: determining an initial position of the three-axis fluxgate magnetometer; Acquire a first set of magnetic field data, a second set of magnetic field data, and a third set of magnetic field data of the x-axis, y-axis, and z-axis of the three-axis fluxgate magnetometer at the initial position, when the x-axis at the initial position rotates by a first angle to the y-axis, and when the x-axis at the initial position rotates by the first angle to the z-axis; When the three-axis fluxgate magnetometer is located at the initial position, obtaining a fourth set of magnetic field data, a fifth set of magnetic field data, and a sixth set of magnetic field data of the x-axis, y-axis, and z-axis of the three-axis fluxgate magnetometer when the x-axis of the three-axis fluxgate magnetometer is rotated by a second angle, a third angle, and a fourth angle respectively in the y-axis direction; When the three-axis fluxgate magnetometer is located at the initial position, obtaining a seventh set of magnetic field data, an eighth set of magnetic field data, and a ninth set of magnetic field data of the x-axis, y-axis, and z-axis of the three-axis fluxgate magnetometer when the x-axis of the three-axis fluxgate magnetometer is rotated in the z-axis direction by the second angle, the third angle, and the fourth angle respectively; When the three-axis fluxgate magnetometer is located at the initial position, obtaining the tenth group of magnetic field data, the eleventh group of magnetic field data, and the twelfth group of magnetic field data of the x-axis, the y-axis, and the z-axis of the three-axis fluxgate magnetometer when the y-axis of the three-axis fluxgate magnetometer is rotated in the z-axis direction by the second angle, the third angle, and the fourth angle respectively; Based on the first group of magnetic field data, the second group of magnetic field data, the third group of magnetic field data, the fourth group of magnetic field data, the fifth group of magnetic field data, the sixth group of magnetic field data, the seventh group of magnetic field data, the eighth group of magnetic field data, the ninth group of magnetic field data, the tenth group of magnetic field data, the eleventh group of magnetic field data and the twelfth group of magnetic field data, a calibration equation group of the three-axis fluxgate magnetometer is constructed; wherein the calibration equation group includes twelve calibration equations; Calibration parameters of the three-axis fluxgate magnetometer are determined based on the calibration equation group.

8. The calibration method of a three-axis fluxgate magnetometer according to claim 7, characterized in that: The first angle is 90°, the second angle is 30°, the third angle is 45°, and the fourth angle is 60°.

9. The calibration method of a three-axis fluxgate magnetometer according to claim 8, characterized in that: The calibration equation group includes: ， ， ， ， ， ， ， ， ， ， ， ， Among them, the magnetic field data of the x-axis, y-axis and z-axis in the first set of magnetic field data are respectively ( B xt0 , B y0 ，B z0 ); The magnetic field data of the x-axis, y-axis and z-axis in the second set of magnetic field data are respectively ( B yt0 , B y1 ，B z1 ); The magnetic field data of the x-axis, y-axis and z-axis in the third set of magnetic field data are respectively B zt0 , B y2 ，B z2 ); The magnetic field data of the x-axis, y-axis and z-axis in the fourth set of magnetic field data are respectively ( B x3 , B y3 ，B z3 ); The magnetic field data of the x-axis, y-axis and z-axis in the fifth set of magnetic field data are respectively ( B x4 , B y4 ，B z4 ); The magnetic field data of the x-axis, y-axis and z-axis in the sixth set of magnetic field data are respectively ( B x5 , B y5 ，B z5 ); The magnetic field data of the x-axis, y-axis and z-axis in the seventh set of magnetic field data are respectively ( B x6 , B y6 ，B z6 ); The magnetic field data of the x-axis, y-axis and z-axis in the eighth set of magnetic field data are respectively ( B x7 , B y7 ，B z7 ); The magnetic field data of the x-axis, y-axis and z-axis in the ninth set of magnetic field data are respectively ( B x8 , B y8 ，B z8 ); The magnetic field data of the x-axis, y-axis and z-axis in the tenth set of magnetic field data are respectively ( B x9 , B y9 ，B z9 ); The magnetic field data of the x-axis, y-axis and z-axis in the eleventh set of magnetic field data are respectively ( B x10 , B y10 ，B z10 ); The magnetic field data of the x-axis, y-axis and z-axis in the twelfth set of magnetic field data are respectively ( B x11 , B y11 ，B z11 ); are calibration parameters of the three-axis fluxgate magnetometer.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the calibration method of the three-axis fluxgate magnetometer as described in any one of claims 7 to 9 is implemented.

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