Calibration device, method and equipment for three-axis fluxgate magnetometer

Abstract

The present invention provides a calibration device, method and equipment for a three-axis fluxgate magnetometer, the device comprising: a first bracket, comprising a first base plate and two first side plates; a first rotating body, located between the two first side plates, comprising a second base plate and two second side plates; wherein the two second side plates are rotatably connected to the first side plates adjacent to each other via a first rotating shaft and a second rotating shaft; a turntable, located above the second base plate and rotatably connected to the second base plate via a third rotating shaft, and an edge of which is marked with an angle scale; a second bracket, located between the two second side plates, comprising a third base plate and two third side plates; wherein the third base plate is fixedly connected to the center position of the upper surface of the turntable; a second rotating body, located between the two third side plates, comprising a fourth base plate, and having two ends bent vertically upward to form two fourth side plates; wherein the two fourth side plates are rotatably connected to the third side plates adjacent to each other via a fourth rotating shaft and a fifth rotating shaft.

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 advancement of space technology, three-axis magnetometers can be used to measure a satellite's orbital magnetic field for satellite attitude determination and control. This simple, low-cost method for on-orbit magnetic attitude determination has been adopted by many microsatellites. To ensure the accuracy of magnetic attitude determination, the three-axis magnetometer must possess high-precision measurement capabilities. Typically, the three-axis magnetometer is calibrated before being deployed on a satellite.

[0003] Currently, there are many methods for calibrating the measurement errors of three-axis magnetometers. For example, the measurement results of the three-axis magnetometer are used to analyze and calculate the errors, thereby obtaining a calibration model for the three-axis magnetometer. Alternatively, 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 recursion. Alternatively, 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 in the prior art that the calibration of the three-axis fluxgate magnetometer cannot be simply achieved.

[0006] In one aspect, the present invention provides a calibration device for a three-axis fluxgate magnetometer, comprising:

[0007] A first bracket includes a first bottom plate, and two ends of the first bottom plate are bent vertically upward to form two first side plates;

[0008] a first rotating body, located between the two first side panels, comprising a second bottom panel, with both ends of the second bottom panel vertically bent upward to form two second side panels; wherein the two second side panels are rotatably connected to the adjacent first side panels via a first rotation axis and a second rotation axis, respectively;

[0009] a turntable, located above the second bottom plate and rotatably connected to the second bottom plate via a third rotation axis, and having an edge marked with angle scales;

[0010] a second bracket, located between the two second side panels, comprising a third bottom panel, with both ends of the third bottom panel vertically bent upward to form two third side panels; wherein the third bottom panel is fixedly connected to the center of the upper surface of the turntable; and

[0011] a second rotating body, located between the two third side plates, comprising a fourth bottom plate, wherein both ends of the fourth bottom plate are bent vertically upward to form two fourth side plates; wherein the two fourth side plates are rotatably connected to the respective adjacent third side plates via a fourth rotation axis and a fifth rotation axis, respectively, and the fourth bottom plate is used to place the three-axis fluxgate magnetometer;

[0012] 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.

[0013] A calibration device for a three-axis fluxgate magnetometer according to the present invention further includes: three power measurement components;

[0014] 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;

[0015] A power measurement component is used to drive the turntable to rotate and measure the rotation angle of the turntable;

[0016] A power measurement component is used for driving the second rotating body to rotate and measuring the rotation angle of the second rotating body.

[0017] 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.

[0018] According to the calibration device of a three-axis fluxgate magnetometer provided by the present invention, counterweights are provided on the upper ends of the two second side plates and the upper ends of the two fourth side plates.

[0019] According to a calibration device for a three-axis fluxgate magnetometer provided by the present invention, a plurality of rollers are provided on the lower surface of the first base plate for moving the first bracket.

[0020] 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.

[0021] On the other hand, the present invention further provides a calibration method for a three-axis fluxgate magnetometer, which is applied to the calibration device for the three-axis fluxgate magnetometer described in any one of the above items, wherein the three-axis fluxgate magnetometer is located at the center of the fourth base plate, and the method comprises:

[0022] determining an initial position of the three-axis fluxgate magnetometer;

[0023] 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 three-axis fluxgate magnetometer at an initial position, when the x-axis is rotated by a first angle about the y-axis at the initial position, and when the x-axis is rotated by the first angle about the z-axis at the initial position;

[0024] 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 in the y-axis direction by a second angle, a third angle, and a fourth angle, respectively;

[0025] 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;

[0026] When the three-axis fluxgate magnetometer is located at the initial position, obtaining a tenth set of magnetic field data, an eleventh set of magnetic field data, and a twelfth set of magnetic field data of the x-axis, y-axis, and z-axis of the three-axis fluxgate magnetometer when the y-axis of the three-axis fluxgate magnetometer is rotated by the second angle, the third angle, and the fourth angle respectively.

[0027] constructing a calibration equation group for the three-axis fluxgate magnetometer based on the first set of magnetic field data, the second set of magnetic field data, the third set of magnetic field data, the fourth set of magnetic field data, the fifth set of magnetic field data, the sixth set of magnetic field data, the seventh set of magnetic field data, the eighth set of magnetic field data, the ninth set of magnetic field data, the tenth set of magnetic field data, the eleventh set of magnetic field data, and the twelfth set of magnetic field data; wherein the calibration equation group includes twelve calibration equations;

[0028] Calibration parameters of the three-axis fluxgate magnetometer are determined based on the calibration equation group.

[0029] 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°.

[0030] According to a calibration method for a three-axis fluxgate magnetometer provided by the present invention, the calibration equation group includes:

[0031] ,

[0032] ,

[0033] ,

[0034] ,

[0035] ,

[0036] ,

[0037] ,

[0038] ,

[0039] ,

[0040] ,

[0041] ,

[0042] ,

[0043] 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 );

[0044] 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 );

[0045] 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 ，Bz2 );

[0046] 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 );

[0047] 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 );

[0048] 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 );

[0049] 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 );

[0050] 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 );

[0051] 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 );

[0052] 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 );

[0053] 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 );

[0054] 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 );

[0055] are the calibration parameters of the three-axis fluxgate magnetometer.

[0056] 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.

[0057] 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 a vertical spatial range. The turntable can rotate within a horizontal spatial range. When the three-axis fluxgate magnetometer is fixed to a 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, thereby obtaining 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 based on the magnetic field data. This is very simple and efficient, and also has high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to 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 any creative work.

[0059] Figure 1 1 is a schematic structural diagram of a calibration device for a three-axis fluxgate magnetometer provided in an embodiment of the present invention;

[0060] Figure 2 1 is a flow chart of a calibration method for a three-axis fluxgate magnetometer provided in an embodiment of the present invention;

[0061] Figure 3 It is a structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0062] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0063] Figure 1 FIG. 1 is a schematic diagram of the structure of a calibration device for a three-axis fluxgate magnetometer according to an 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.

[0064] The first bracket may include a first bottom plate 401 , and both ends of the first bottom plate 401 are bent vertically upward to form two first side plates 402 .

[0065] The first rotating body is located between the two first side panels 402. The first rotating body may include a second base panel 501, with both ends of the second base panel 501 bent vertically upward to form two second side panels 502. The two second side panels 502 are rotatably connected to their respective adjacent first side panels 402 via a first rotation axis (not shown) and a second rotation axis (not shown). For example, the first rotating body can be rotated by rotating the first and second rotation axes, similar to a swing, with a maximum swing angle of 360 degrees.

[0066] The turntable 601 is located above the second base plate 501 and is rotatably connected to the second base plate 501 via a third rotation axis (not shown). An angular scale is marked on the edge of the turntable 601. For example, the turntable 601 can rotate a maximum of 360 degrees in a horizontal plane. The angular scale can range from 0 to 360 degrees.

[0067] The second bracket is positioned between the two second side panels 502 and includes a third bottom panel 701. The ends of the third bottom panel 701 are bent vertically upward to form two third side panels 702. The third bottom panel 701 is fixedly connected to the center of the upper surface of the turntable 601. In other words, as the turntable 601 rotates, the second bracket rotates along with it.

[0068] The second rotating body is located between the two third side panels 702. The second rotating body may include a fourth base panel 801, with both ends of the fourth base panel 801 bent vertically upward to form two fourth side panels 802. The two fourth side panels 802 are rotatably connected to their respective adjacent third side panels 702 via a fourth rotation axis 804 and a fifth rotation axis (not shown). The fourth base panel 801 is used to house a three-axis fluxgate magnetometer. For example, the second rotating body can be rotated by rotating the fourth and fifth rotation axes, similar to a swing, with a maximum swing angle of 360 degrees.

[0069] The ends of the first, second, fourth, and fifth rotational axes are all marked with angle scales. Furthermore, the axes of the first, second, fourth, and fifth rotational axes are aligned on the same straight line. The angle scales can range from 0 to 360 degrees.

[0070] 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 a vertical spatial range. The turntable 601 can rotate within a horizontal spatial range. When the three-axis fluxgate magnetometer is fixed to 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, thereby obtaining 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 based on the magnetic field data. This is very simple and efficient, and also has high accuracy.

[0071] In one embodiment of the present specification, the calibration device 400 for a three-axis fluxgate magnetometer may further include three power measurement components.

[0072] 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.

[0073] A power measurement component is used to drive the turntable 601 to rotate and measure the rotation angle of the turntable 601.

[0074] A power measurement component is used for driving the second rotating body to rotate and measuring the rotation angle of the second rotating body.

[0075] 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. This realizes the automatic rotation of the first rotating body, the turntable 601 and the second rotating body, that is, the automatic rotation and angle measurement of the three-axis fluxgate magnetometer is realized, which is very simple, efficient and highly accurate.

[0076] In one embodiment of the present specification, the power measurement assembly may include an adjustment gear 901 and an angular encoder 902 .

[0077] In this embodiment, the adjustment gear 901 can be a multi-stage angle adjustment gear. The angular encoder 902 can be a high-precision angular encoder. The adjustment 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 adjustment 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 adjustment gear 901 is used to measure the rotation angle. An adjustment 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 adjustment gear 901 is used to measure the rotation angle. An adjustment 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 adjustment gear 901 is used to measure the rotation angle.

[0078] The positions of the adjustment gears 901 and the angular encoders 902 on the calibration device 400 are not specifically limited, and the installation positions can be selected according to actual conditions. For example, an adjustment gear 901 and an angular encoder 902 can be respectively arranged on the opposite sides of the two first side plates 402 (of course, they can also be arranged on the opposite sides) to drive the first rotating shaft or the second rotating shaft to rotate; an adjustment gear 901 and an angular encoder 902 can be respectively arranged on the opposite sides of the two third side plates 702 (of course, they can also be arranged on the opposite sides) to drive the fourth rotating shaft or the fifth rotating shaft to rotate; an adjustment gear 901 and an angular encoder 902 can be respectively arranged on the second base plate 501 to drive the third rotating shaft to rotate.

[0079] In one embodiment of the present specification, a counterweight 603 is provided on the upper ends of the two second side plates 502 and the upper ends of the two fourth side plates 802 .

[0080] In this embodiment, the main function of the counterweight 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 .

[0081] In one embodiment of the present specification, a plurality of rollers 604 are provided on the lower surface of the first bottom plate 401 for moving the first bracket.

[0082] In this embodiment, the lower surface of the first base plate 401 is provided with a plurality of rollers 604 to facilitate movement of the first bracket, that is, to more conveniently move the calibration device 400. The plurality of rollers 604 can be evenly distributed on the lower surface of the first base plate 401, or can be provided at various corners of the first base plate 401. Furthermore, the lower surface of the first base plate 401 can also be provided with a plurality of adjustable rods 605 that can be extended and retracted upward and downward. If 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 and retract upward and downward.

[0083] In one embodiment of the present specification, the first bracket, the first rotating body, the turntable 601 , the second bracket, and the second rotating body are all made of non-magnetic materials.

[0084] In this embodiment, the first bracket, the first rotating body, the turntable 601, the second bracket, and the second rotating body are all made of non-magnetic materials, ensuring the accuracy of the acquired three-axis fluxgate magnetic field data for the x-, y-, and z-axes. Similarly, the roller 604 can also be made of a non-magnetic material. Non-magnetic materials include non-magnetic plastics, non-magnetic ceramics, and some non-magnetic metals (such as stainless steel, copper alloys, and aluminum alloys).

[0085] 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.

[0086] 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 by an embodiment of the present invention.

[0087] The calibration method for a three-axis fluxgate magnetometer employs the calibration device for a 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.

[0088] 101. Determine the initial position of the three-axis fluxgate magnetometer.

[0089] 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 at the initial position to the y-axis by a first angle, and rotated from the x-axis at the initial position to the z-axis by a first angle.

[0090] 103. When the three-axis fluxgate magnetometer is located at an 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 toward the y-axis by a second angle, a third angle, and a fourth angle, respectively.

[0091] 104. When the three-axis fluxgate magnetometer is at an initial position, obtaining seventh, eighth, and ninth sets 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 toward the z-axis by a second angle, a third angle, and a fourth angle, respectively.

[0092] 105. When the three-axis fluxgate magnetometer is at an initial position, obtaining the tenth set of magnetic field data, the eleventh set of magnetic field data, and the twelfth set 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 toward the z-axis by a second angle, a third angle, and a fourth angle, respectively.

[0093] 106. Based on the first set of magnetic field data, the second set of magnetic field data, the third set of magnetic field data, the fourth set of magnetic field data, the fifth set of magnetic field data, the sixth set of magnetic field data, the seventh set of magnetic field data, the eighth set of magnetic field data, the ninth set of magnetic field data, the tenth set of magnetic field data, the eleventh set of magnetic field data and the twelfth set 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.

[0094] 107. Determine the calibration parameters of the three-axis fluxgate magnetometer based on the calibration equations.

[0095] In this embodiment, by rotating the three-axis fluxgate magnetometer, a first set of magnetic field data, a second set of magnetic field data, a third set of magnetic field data, a fourth set of magnetic field data, a fifth set of magnetic field data, a sixth set of magnetic field data, a seventh set of magnetic field data, an eighth set of magnetic field data, a ninth set of magnetic field data, a tenth set of magnetic field data, an eleventh set of magnetic field data, and a twelfth set of magnetic field data are obtained. A calibration equation set for the three-axis fluxgate magnetometer is then constructed, and calibration parameters of the three-axis fluxgate magnetometer are determined based on the calibration equation set. This is a very simple and efficient method. Generally, the data measured by the angular encoder can be read by connecting it to a computer.

[0096] 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°.

[0097] 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 simplified.

[0098] In one embodiment of the present specification, the calibration equation group may include the following calibration equations (1) to (12).

[0099] , (1);

[0100] , (2);

[0101] , (3);

[0102] , (4);

[0103] , (5);

[0104] , (6);

[0105] , (7);

[0106] , (8);

[0107] , (9);

[0108] , (10);

[0109] , (11);

[0110] , (12).

[0111] 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 );

[0112] The magnetic field data of the second set of magnetic field data are ( B yt0 , B y1 ，B z1 );

[0113] The magnetic field data of the third set of magnetic field data are the x-axis, y-axis and z-axis respectively. B zt0 , B y2 ，B z2 );

[0114] The magnetic field data of the fourth set of magnetic field data are ( B x3 , B y3 ，B z3 );

[0115] The magnetic field data of the fifth set of magnetic field data are ( B x4 , B y4 ，B z4 );

[0116] The magnetic field data of the sixth set of magnetic field data are ( B x5 , B y5 ，B z5 );

[0117] The magnetic field data of the seventh set of magnetic field data are ( B x6 , B y6 ，B z6 );

[0118] The magnetic field data of the eighth set of magnetic field data are ( B x7 , B y7 ，B z7 );

[0119] The magnetic field data of the ninth set of magnetic field data are ( B x8 , B y8，B z8 );

[0120] 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 );

[0121] 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 );

[0122] The magnetic field data of the x-axis, y-axis and z-axis in the twelfth set of magnetic field data are ( B x11 , B y11 ，B z11 );

[0123] are the calibration parameters of the three-axis fluxgate magnetometer.

[0124] Figure 3 Schematic diagram of the structure of the electronic device provided by the 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 via the communication bus 340. The processor 310 may call logic instructions in the memory 330 to execute the calibration method of the three-axis fluxgate magnetometer.

[0125] Furthermore, the logic instructions in the aforementioned memory 330 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0126] 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.

[0127] 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 perform the calibration method of the three-axis fluxgate magnetometer provided by the above methods.

[0128] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0129] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0130] 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 various embodiments of the present invention.

Claims

1. A calibration device for a three-axis fluxgate magnetometer, characterized in that: include: A first bracket includes a first bottom plate, and two ends of the first bottom plate are bent vertically upward to form two first side plates; a first rotating body, located between the two first side panels, comprising a second bottom panel, with both ends of the second bottom panel vertically bent upward to form two second side panels; wherein the two second side panels are rotatably connected to the adjacent first side panels via a first rotation axis and a second rotation axis, respectively; a turntable, located above the second bottom plate and 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, with both ends of the third bottom panel vertically bent upward to form two third side panels; wherein the third bottom panel is fixedly connected to the center of the upper surface of the turntable; and a second rotating body, located between the two third side plates, comprising a fourth bottom plate, wherein both ends of the fourth bottom plate are bent vertically upward to form two fourth side plates; wherein the two fourth side plates are rotatably connected to the respective adjacent third side plates via 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, wherein: 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, wherein: A plurality of rollers are provided 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, wherein: 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 three-axis fluxgate magnetometer at an initial position, when the x-axis is rotated by a first angle about the y-axis at the initial position, and when the x-axis is rotated by the first angle about the z-axis at the initial position; 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 in the y-axis direction by a second angle, a third angle, and a fourth angle, respectively; 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 a tenth set of magnetic field data, an eleventh set of magnetic field data, and a twelfth set of magnetic field data of the x-axis, y-axis, and z-axis of the three-axis fluxgate magnetometer when the y-axis of the three-axis fluxgate magnetometer is rotated by the second angle, the third angle, and the fourth angle respectively. constructing a calibration equation group for the three-axis fluxgate magnetometer based on the first set of magnetic field data, the second set of magnetic field data, the third set of magnetic field data, the fourth set of magnetic field data, the fifth set of magnetic field data, the sixth set of magnetic field data, the seventh set of magnetic field data, the eighth set of magnetic field data, the ninth set of magnetic field data, the tenth set of magnetic field data, the eleventh set of magnetic field data, and the twelfth set of magnetic field data; 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 equations include: ， ， ， ， ， ， ， ， ， ， ， ， 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 the 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, wherein: 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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