Three-axis magnetic field sensor calibration device based on three-R-axis rotating system

Abstract

The invention discloses a three-axis magnetic field sensor calibration device. A pure wood frame supporting structure is a long-strip-shaped structure; the three-R-axis rotating part has self electromagnetic shielding performance, the three-axis magnetic field sensor is installed on the three-R-axis rotating part and is far away from parts with electromagnetic interference in the three-R-axis rotating part, and the three-R-axis rotating part can drive the three-axis magnetic field sensor to rotate in three R-axis directions so that the rotating posture of the three-axis magnetic field sensor can cover the whole three-dimensional space; the three-R-axis rotation control part is used for controlling the three-R-axis rotation part to rotate in the three R-axis directions. According to the device, measurement information of the three-axis magnetic field sensor fully covers a three-dimensional space range where an ellipsoid is located through three-R-axis rotation, so that magnetic field interference of the rotating device and ground environment interference magnetic fields such as ferromagnetic soil and rocks on the three-axis magnetic field sensor in the use process is greatly reduced and even eliminated; and the calibration precision and accuracy of the three-axis magnetic field sensor are improved.

Description

Technical Field

[0001] The present invention relates to the field of magnetic field measurement technology, and in particular to a three-axis magnetic field sensor calibration device based on a three-R-axis rotation system. Background Art

[0002] In the manufacturing process of the three-axis magnetic field sensor, non-orthogonality error, sensitivity error and zero offset error are inevitable. The non-orthogonality error of the three measuring axes of the three-axis magnetic field sensor refers to the fact that the three measuring axes of the three-axis magnetic field sensor cannot be guaranteed to be completely orthogonal to each other during the manufacturing process. The sensitivity error is a measurement error caused by the different sensitivities of the axes of the three-axis magnetic field sensor and the different characteristics of the amplification circuit of the measurement signal. The zero offset error refers to the zero-point offset error caused by the internal electronic components, analog circuit design, and conversion of analog signals to digital signals of the sensor, which result in the output value not being zero when the magnetic induction intensity is zero. These errors make the data measured by the high-precision three-axis magnetic field sensor unable to be used directly, and the measurement value needs to be calibrated.

[0003] Commonly used error calibration methods for three-axis magnetic field sensors are divided into two categories: auxiliary vector calibration method and independent scalar calibration method. The auxiliary vector calibration method performs auxiliary calibration on the data of the three-axis magnetic field sensor by comparing it with the known magnetic induction intensity vector field. However, in practical applications, it is difficult to obtain a high-precision known three-axis magnetic induction intensity vector. The independent scalar calibration method can avoid this disadvantage. By rotating the three-axis magnetic field sensor in a constant magnetic field, it is calibrated with the total magnetic induction intensity being a fixed value as a constraint. The independent scalar calibration method has attracted a large number of scholars' research due to its advantages of easy operation in practical environments and has been widely used. A typical representative is the magnetic compensation method based on the ellipsoid assumption. This method selects a place with a relatively clean magnetic field environment, rotates the three-axis magnetic field sensor in the full range of space, and takes the total earth magnetic induction intensity as a constant value as a constraint in a short time, and performs real-time measurement, thereby obtaining a series of rich measurement values, and then calibrates the non-orthogonality error, sensitivity error and zero bias error of the three-axis magnetic field sensor. The existing independent scalar calibration method of three-axis magnetic field sensor has problems such as the rotating platform is not three R-axis, the magnetic field interference of the rotating platform is large, the rotation trajectory of the three-axis magnetic field sensor does not fully cover the entire three-dimensional space, and the distribution information on the ellipsoid is not rich enough.

[0004] The independent scalar calibration method for the three-axis magnetic field sensor needs to rotate the three-axis magnetic field sensor in the space range. The total earth's magnetic induction intensity is a constant value as a constraint in a short time. The magnetic field interference is minimized as much as possible during the rotation process to keep the surrounding magnetic field constant. In addition, the measured magnetic induction intensity information is distributed as evenly and widely as possible on the ellipsoid during the rotation process. A three-axis magnetic field sensor calibration device based on a three-R-axis rotation system is proposed. Summary of the invention

[0005] In view of the shortcomings of the prior art, the technical problem to be solved is to provide a three-axis magnetic field sensor calibration device based on a three-R-axis rotation system, which can enable the magnetic induction intensity measured by the three-axis magnetic field sensor to fully cover the three-dimensional space of the entire ellipsoid, and greatly reduce or even eliminate the magnetic field interference of the rotating device itself and the ground environment such as ferromagnetic soil and rocks on the three-axis magnetic field sensor during use, thereby increasing the precision and accuracy of the three-axis magnetic field sensor calibration.

[0006] In order to achieve the above purpose, the present invention is realized by the following technical solution: a three-axis magnetic field sensor calibration device based on a three-R-axis rotation system, comprising:

[0007] The pure wood frame support structure is a long strip structure;

[0008] A three-axis rotating part, which has its own electromagnetic shielding property and is arranged on the pure wooden frame supporting structure. A three-axis magnetic field sensor is installed on the three-axis rotating part and is far away from the parts with electromagnetic interference in the three-axis rotating part. The three-axis rotating part can drive the three-axis magnetic field sensor to rotate in three R-axis directions so that the magnetic induction intensity measured by the three-axis magnetic field sensor covers the three-dimensional space of the entire ellipsoid; and

[0009] The three-R-axis rotation control component is connected to the three-R-axis rotating member for controlling the three-R-axis rotating member to rotate in three R-axis directions.

[0010] Furthermore, the pure wood frame supporting structure includes a square mounting wooden board and a supporting wooden frame with a square cross-section, the supporting wooden frame includes a plurality of supporting wooden poles, and the plurality of supporting wooden poles are connected by wooden mortise and tenon joints to form the supporting wooden frame with a square cross-section, and the mounting wooden board is covered and fixed on the top of the supporting wooden frame.

[0011] Furthermore, the three R-axis rotating member includes a first rotating drive member, a second rotating drive member, a third rotating drive member, a first connecting part, a second connecting part and a cylindrical wooden frame mounting frame, the first rotating drive member, the second rotating drive member and the third rotating drive member are connected in sequence through the first connecting part and the second connecting part, and the first connecting part and the first rotating drive member can rotate relative to each other, the second connecting part and the second rotating drive member can rotate relative to each other, the first rotating drive member is connected to the top of the pure wooden frame support structure, the cylindrical wooden frame mounting frame is in the shape of a long strip, one end of the cylindrical wooden frame mounting frame is rotatably connected to the third rotating drive member, and the three-axis magnetic field sensor is installed at the other end of the cylindrical wooden frame mounting frame away from the third rotating drive member.

[0012] Furthermore, the first connecting part and the second connecting part are both box-shaped aluminum alloy plates, which include two vertical side plates and two horizontal plates, and a circular hole is opened on one of the horizontal plates and one of the vertical side plates, and the center of the circular hole is respectively located at the geometric center of the horizontal plate and the vertical side plate at the bottom.

[0013] Further, the first rotary drive member, the second rotary drive member and the third rotary drive member include a hollow rotary platform, a precision servo motor and an electromagnetic shielding packaging shell;

[0014] The hollow rotating platform comprises an annular rotating member, a bottom fixed member and a motor connection port, wherein the annular rotating member is rotatably mounted on the bottom fixed member;

[0015] The bottom fixing part of the hollow rotating platform of the first rotating driving member is fixedly connected to the top of the pure wooden frame supporting structure, and the annular rotating member of the hollow rotating platform of the first rotating driving member is fixedly sleeved with the circular hole on the horizontal plate at the bottom of the first connecting part;

[0016] The bottom fixing part of the hollow rotating platform of the second rotating driving member is sleeved and fixed with the circular hole on the vertical side plate of the first connecting part, and the annular rotating member of the hollow rotating platform of the second rotating driving member is sleeved and fixed with the circular hole on the vertical side plate of the second connecting part;

[0017] The bottom fixing part of the hollow rotating platform of the third rotating driving member is fixedly connected to the horizontal plate of the second connecting part, and the annular rotating member of the hollow rotating platform of the third rotating driving member is fixedly connected to one end of the cylindrical wooden frame mounting frame;

[0018] The precision servo motor is installed on the motor connection port and connected to the corresponding annular rotating member to drive the annular rotating member to rotate;

[0019] The electromagnetic shielding packaging shell is arranged outside the corresponding hollow rotating platform and the precision servo motor, and is open.

[0020] Furthermore, the rotary drive member can reduce speed and increase the rotational torque, and the reduction ratio of the rotary drive member is 1:10.

[0021] Furthermore, the electromagnetic shielding packaging shell includes a rotating shielding packaging shell and a fixed shielding packaging shell, the rotating shielding packaging shell is covered outside the annular rotating part, and the fixed shielding packaging shell is used to cover the bottom fixing part, the motor connecting port and the precision servo motor together, and the rotating shielding packaging shell and the fixed shielding packaging shell are not closed and can move relative to each other.

[0022] Furthermore, the rotating shielding packaging shell and the fixed shielding packaging shell both include a high-damping and high-strength rubber layer 1, a double-sided silver-plated copper layer, a high-damping and high-strength rubber layer 2, a silicon steel layer, a high-damping and high-strength rubber layer 3 and a Permalloy layer, which are stacked in sequence from the inside to the outside, and adjacent layers are bonded by acrylic flexible glue.

[0023] Furthermore, the cylindrical wooden frame mounting frame is a hollow member, and the cylindrical wooden frame mounting frame includes a plurality of vertical wooden poles and a plurality of arc-shaped wooden tenons. The plurality of vertical wooden poles are evenly spaced circumferentially, and adjacent vertical wooden poles are connected by the arc-shaped wooden tenons. The bottom fixing component of the hollow rotating platform of the third rotating driving member is connected to one end of the vertical wooden pole.

[0024] Furthermore, the three R-axis rotation control component includes three servo motor drivers, a power supply, a three-axis servo motor controller and a waterproof housing. The three servo motor drivers are respectively connected to the three precision servo motors through three multi-core cables, corresponding to each other one by one. The three-axis servo motor controller is communicatively connected with the three servo motor drivers through the multi-core cables. The waterproof housing covers the three servo motor drivers, power supply and three-axis servo motor controller.

[0025] Beneficial effects of the present invention:

[0026] When the three-axis magnetic field sensor calibration device based on the three-R-axis rotation system is used, the three-axis magnetic field sensor is transmitted to the three-R-axis rotating part through the three-R-axis rotation control component, so that the three-axis magnetic field sensor rotates in the three R-axis directions, and its rotation posture covers the entire three-dimensional space, so that the magnetic induction intensity measured by the three-axis magnetic field sensor fully covers the three-dimensional space of the entire ellipsoid, and greatly reduces or even eliminates the magnetic field interference of the rotating device itself and the ground environment interference magnetic field such as ferromagnetic soil and rocks on the three-axis magnetic field sensor during use, thereby increasing the precision and accuracy of the three-axis magnetic field sensor calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to explain this specific embodiment more clearly, the following will briefly introduce the drawings required for use in the specific embodiment. In all the drawings, each element or component is not necessarily drawn according to the actual scale.

[0028] Figure 1 A schematic diagram of a three-axis magnetic field sensor calibration device based on a three-R-axis rotation system provided in this embodiment;

[0029] Figure 2 It is a schematic diagram of a pure wooden frame support structure in a three-axis magnetic field sensor calibration device based on a three-R-axis rotation system of the present invention;

[0030] Figure 3 It is a schematic diagram of the structure of the rotating driving member in the three-axis magnetic field sensor calibration device based on the three-R-axis rotation system of the present invention, and its rotation direction with the pure wooden frame support structure and the cylindrical wooden frame mounting frame;

[0031] Figure 4 It is a structural schematic diagram of a hollow rotating platform in a three-axis magnetic field sensor calibration device based on a three-R-axis rotating system of the present invention;

[0032] Figure 5 It is a structural schematic diagram of a cylindrical wooden frame mounting frame in a three-axis magnetic field sensor calibration device based on a three-R-axis rotation system of the present invention;

[0033] Figure 6 It is a schematic diagram of a first connecting part and a second connecting part in a three-axis magnetic field sensor calibration device based on a three-R-axis rotation system of the present invention;

[0034] Figure 7 It is a cross-sectional schematic diagram of a hollow rotating platform of a three-R-axis rotating part and an electromagnetic shielding packaging shell of a precision servo motor in a three-axis magnetic field sensor calibration device based on a three-R-axis rotating system of the present invention in a vertical plane;

[0035] Figure 8 It is a communication control schematic diagram of a three-axis magnetic field sensor calibration device based on a three-R-axis rotation system of the present invention;

[0036] Reference numerals:

[0037] 1. Pure wooden frame support structure; 2. Three R-axis rotating parts; 3. Three R-axis rotation control parts; 4. Multi-core cables; 5. Support wooden poles; 6. Install wooden boards; 7. First rotating drive parts; 8. Second rotating drive parts; 9. Third rotating drive parts; 10. Precision servo motor; 11. First connecting part; 12. Second connecting part; 13. Cylindrical wooden frame mounting frame; 14. Annular rotating parts; 15. Bottom fixing parts; 16. Motor connection port; 17. Arc-shaped wooden tenon; 18. Horizontal plate; 19. Vertical side plate; 20. Rotating shielding packaging shell; 21. Fixed shielding packaging shell; 22. Servo motor driver; 23. Power supply; 24. Three-axis servo motor controller; 25. Waterproof shell; 26. Vertical wooden pole. DETAILED DESCRIPTION

[0038] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the invention is not limited by the specific implementation disclosed below.

[0039] See also Figures 1 to 8 The present invention provides a three-axis magnetic field sensor calibration device based on a three-R-axis rotation system, including a pure wood frame support structure 1, a three-R-axis rotation part 2 and a three-R-axis rotation control component 3.

[0040] Specifically, the pure wood frame support structure 1 is a long strip structure. The three-R-axis rotating part 2 has its own electromagnetic shielding properties and is arranged on the pure wood frame support structure 1. The three-axis magnetic field sensor is installed on the three-R-axis rotating part 2 and is away from the parts with electromagnetic interference in the three-R-axis rotating part. The three-R-axis rotating part 2 can drive the three-axis magnetic field sensor to rotate in the three R-axis directions so that the magnetic induction intensity measured by the three-axis magnetic field sensor covers the three-dimensional space of the entire ellipsoid. The three-R-axis rotation control component 3 is communicatively connected to the three-R-axis rotating part 2, and is used to control the three-R-axis rotating part 2 to rotate in the three R-axis directions.

[0041] When in use, a signal is transmitted to the three R-axis rotating part 2 through the three R-axis rotation control component 3, so that the three-axis magnetic field sensor rotates in the three R-axis directions, and its rotation posture covers the entire three-dimensional space, so that the magnetic induction intensity measured by the three-axis magnetic field sensor fully covers the three-dimensional space of the entire ellipsoid, and greatly reduces or even eliminates the magnetic field interference of the rotating device itself and the ground environment interference magnetic field such as ferromagnetic soil and rocks on the three-axis magnetic field sensor during use, thereby increasing the precision and accuracy of the calibration of the three-axis magnetic field sensor.

[0042] See also Figure 2 Specifically, in this embodiment, the pure wood frame support structure 1 includes a square installation plank 6 and a support wood frame with a square cross section. The support wood frame includes a plurality of support wood rods 5, and the plurality of support wood rods 5 are connected by wood mortise and tenon joints to form a support wood frame with a square cross section. The installation plank 6 is covered and fixed on the top of the support wood frame.

[0043] In the specific implementation, 4 supporting wooden poles 5 can be selected, and the wooden tenons can be 12 short wooden poles. The 4 supporting wooden poles and the 12 wooden tenons are spliced ​​into a pure wooden frame support structure 1. For example, when the size of the pure wooden frame support structure 1 is 300mm long, 300mm wide, and 3000mm high, the 4 supporting wooden poles 5 are 3000mm long, the 12 wooden poles 5 (including the mortise and tenon joints) are 300mm long, the side length of the installation board 6 is 300mm, and a circular hole is opened in the installation board 6 for installing other components. The connection between wooden poles is all connected by mortise and tenon joints. Neither the wooden poles nor the wooden board contains any metal material, and the connection part does not use any metal material such as nails and bolts. The wooden poles and the wooden board are connected by cylindrical wooden tenons. Through the pure wooden frame support structure 1, the three-axis R-axis rotating part 2 is 3000mm away from the ground, and the three-axis magnetic field sensor carried by the three-axis R-axis rotating part 2 is far away from the ground, avoiding the influence of the ground environment interference magnetic field such as ferromagnetic soil and rocks on the three-axis magnetic field sensor.

[0044] In this embodiment, the three-R-axis rotating member 2 includes a first rotating driving member 7, a second rotating driving member 8, a third rotating driving member 9, a first connecting portion 11, a second connecting portion 12 and a cylindrical wooden frame mounting frame 13. The first rotating driving member 7, the second rotating driving member 8 and the third rotating driving member 9 are connected in sequence through the first connecting portion 11 and the second connecting portion 12, and the first connecting portion 11 and the first rotating driving member 7 can rotate relative to each other, and the second connecting portion 12 and the second rotating driving member 8 can rotate relative to each other. The first rotating driving member 7 is connected to the top of the pure wooden frame supporting structure 1, and the cylindrical wooden frame mounting frame 13 is in the shape of a long strip, and the cylindrical wooden frame mounting frame 13 has two ends, including an M end and an N end (see Figure 5 The M end of the cylindrical wooden frame mounting frame 13 is rotatably connected to the third rotary drive member 9 , and the three-axis magnetic field sensor is mounted on the N end of the cylindrical wooden frame mounting frame 13 away from the third rotary drive member 9 .

[0045] See also Figure 6 Specifically, the first connecting portion 11 and the second connecting portion 12 are both box-shaped aluminum alloy plates, which include two vertical side plates 19 and two horizontal plates 18. The box-shaped aluminum alloy plate includes 8 nodes, namely A, B, C, D, E, F, G and H. Among them, the plates where the four points A, B, F and E are located and the plates where the four points C, D, H and G are located are two vertical side plates 19, and the plates where the four points A, B, C and D are located and the plates where the four points E, F, G and H are located are two horizontal plates 18. And a circular hole is opened on one of the bottom horizontal plates 18 and one vertical side plate 19, that is, the plates with the circular hole are the horizontal plates where the four points E, F, G and H are located and the vertical side plates where the four points C, D, H and G are located. The centers of the two circular holes are located at the geometric centers of the horizontal plate 18 and the vertical side plate 19, respectively.

[0046] The circular hole is used to connect with the corresponding rotating driving member. The center of the circular hole is located at the geometric center of the horizontal plate 18 and the vertical side plate 19 at the bottom, which can ensure that the force of the object is balanced during the rotation process and improve the rotation stability.

[0047] See also Figure 3 In this embodiment, the first rotary drive member 7, the second rotary drive member 8 and the third rotary drive member 9 include a hollow rotary platform, a precision servo motor 10 and an electromagnetic shielding packaging shell.

[0048] See also Figure 4 The hollow rotating platform includes an annular rotating member 14 , a bottom fixing member 15 and a motor connecting port 16 , and the annular rotating member 14 is rotatably mounted on the bottom fixing member 15 .

[0049] The first bottom fixing component 15 is fixedly connected to the top of the pure wood frame supporting structure 1 , and the first annular rotating member 14 is fixedly sleeved with a circular hole on the horizontal plate 18 at the bottom of the first connecting portion 11 .

[0050] The second bottom fixing component 15 is sleeved and fixed to the round hole on the vertical side plate 19 of the first connecting portion 11 , and the second annular rotating member 14 is sleeved and fixed to the round hole on the vertical side plate 19 of the second connecting portion 12 .

[0051] The third bottom fixing member 15 is fixedly connected to the horizontal plate 18 of the second connecting portion 12, and the third annular rotating member 14 is fixedly connected to the M end of the cylindrical wooden frame mounting frame 13;

[0052] The precision servo motor 10 is mounted on the motor connection port 16 and connected to the corresponding annular rotating member 14 to drive the annular rotating member 14 to rotate;

[0053] The electromagnetic shielding package shell is arranged outside the corresponding hollow rotating platform and the precision servo motor 10 and is open.

[0054] When in use, the precision servo motor 10 drives the corresponding annular rotating part 14 to rotate, which can drive the corresponding connecting part to rotate, and finally drive the cylindrical wooden frame mounting frame 13. The specific speed of rotation is controlled by the three-R-axis rotation control component 3. The speed, direction and other times can be the same or different, and finally the rotation of the three-axis magnetic field sensor is realized.

[0055] See also Figure 7 In this embodiment, the electromagnetic shielding package shell includes a rotating shielding package shell 20 and a fixed shielding package shell 21, and the rotating shielding package shell 20 is covered outside the annular rotating member 14. The cross-sectional view on the plumb plane presents two antisymmetric η shapes.

[0056] The fixed shielding packaging shell 21 is used to cover the bottom fixing component 15, the motor connection port 16 and the precision servo motor 10 together, and the rotating shielding packaging shell 20 and the fixed shielding packaging shell 21 are not closed and can move relative to each other, that is, there is an opening.

[0057] The rotating shielding packaging shell 20 and the fixed shielding packaging shell 21 both include a high-damping and high-strength rubber layer 1, a double-sided silver-plated copper layer, a high-damping and high-strength rubber layer 2, a silicon steel layer, a high-damping and high-strength rubber layer 3 and a Permalloy layer, which are stacked in sequence from the inside to the outside, and adjacent layers are bonded by acrylic flexible glue.

[0058] In this way, the rotating shielding encapsulating shell 20 of the annular rotating member 14 covers both the outer and inner opening parts of the annular rotating member 14 of the hollow rotating platform, and the electromagnetic shielding encapsulating shell of the inner annular part extends to the bottom of the bottom fixing part 15 of the hollow rotating platform, and the entire rotating shielding encapsulating shell 20 of the annular rotating member 14 of the hollow rotating platform rotates together with the annular rotating member 14 of the hollow rotating platform. The rotating shielding encapsulating shell 20 of the annular rotating member 14 of the hollow rotating platform has two antisymmetric η shapes in the cross-sectional view on the plumb plane.

[0059] The bottom fixing part 15 of the hollow rotating platform, the motor connection port 16 and the fixed shielding enclosure 21 of the precision servo motor 10 cover and wrap the bottom fixing part 15 of the hollow rotating platform, the motor connection port 16 and the precision servo motor 10. There is an opening in the fixed shielding enclosure 21 of the motor connection port 16, but there is overlap at the opening, which is convenient for the multi-core cable 4 to pass through. At the same time, the overlap at the opening avoids the weakening of the electromagnetic shielding effect at the opening.

[0060] In addition, the fixed shielding packaging shell 21 covering and wrapping the bottom fixing component 15, the motor connection port 16 and the precision servo motor 10 of the hollow rotating platform extends externally to the top of the annular rotating part 14 of the hollow rotating platform, overlaps with the rotating shielding packaging shell 20 of the annular rotating part 14 of the hollow rotating platform with a gap; the fixed shielding packaging shell 21 covering and wrapping the bottom fixing component 15, the motor connection port 16 and the precision servo motor 10 of the hollow rotating platform extends in the inner ring part to the top of the annular rotating part 14 of the hollow rotating platform, overlaps with the rotating shielding packaging shell 20 of the annular rotating part 14 of the hollow rotating platform with a gap, so that when the annular rotating part 14 of the hollow rotating platform rotates, the two parts of the electromagnetic shielding packaging shell, namely the fixed shielding packaging shell 21 and the rotating shielding packaging shell 20, will not collide, and the overlap avoids the weakening of the electromagnetic shielding effect at the opening.

[0061] In a specific implementation, the materials of the rotating shielding packaging shell 20 and the fixed rotating shielding packaging shell 20 can be selected as follows:

[0062] The first rubber layer is a 2mm thick high-damping and high-strength rubber; the second copper sheet layer is a double-sided silver-plated copper sheet, and the total thickness of the double-sided silver-plated copper sheet (including the silver-plated layer and copper) is 0.3mm; the third silicon steel sheet layer is a 2mm thick high-damping and high-strength rubber; the fourth silicon steel sheet layer is a 0.6mm thick silicon steel sheet; the fifth rubber layer is a 2mm thick high-damping and high-strength rubber; the sixth Permalloy layer is a 0.6mm thick Permalloy. The six layers of materials are bonded with acrylic flexible glue. The parameters of the high-damping and high-strength rubber are: elastic modulus>5MPa, damping ratio>0.2, tensile strength>10MPa, ultimate elongation>300%. The parameters of the double-sided silver-plated copper sheet are: the copper content of the selected copper sheet is >99%, the conductivity of copper is >58MS / m, the thickness of the single-sided silver plating layer is >20 microns, and the silver content of the silver plating layer is >99.9%. The parameters of the silicon steel sheet are: initial magnetic permeability >5000H / m, maximum magnetic permeability >20000H / m. The parameters of Permalloy are: initial magnetic permeability >30000H / m, maximum magnetic permeability >500000H / m. The elongation of the acrylic flexible glue after curing is >200%. When the electromagnetic shielding package shell is shielded, the object to be shielded is covered and wrapped, the inner surface of the electromagnetic shielding package shell is the first layer of material, and the outer surface of the electromagnetic shielding package shell is the sixth material.

[0063] See also Figure 5 In this embodiment, the cylindrical wooden frame mounting frame 13 may be a hollow member and may be 2000 mm in length.

[0064] The cylindrical wooden frame mounting frame 13 includes a plurality of vertical wooden rods 26 and a plurality of arc-shaped wooden tenons 17. The plurality of vertical wooden rods 26 are evenly spaced circumferentially, and adjacent vertical wooden rods 26 are connected by arc-shaped wooden tenons 17. The bottom fixing component 15 of the third rotary drive member 9 is connected to the M end of the vertical wooden rod 26.

[0065] By means of the extended cylindrical wooden frame mounting frame 13, the three-axis magnetic field sensor is kept away from the hollow rotating platform and the precision servo motor 10, which greatly reduces the magnetic field interference of the hollow rotating platform and the precision servo motor 10 on the three-axis magnetic field sensor. By means of the electromagnetic shielding package shell, the static magnetic field of the hollow rotating platform and the precision servo motor 10, and the high-frequency magnetic field of the precision servo motor 10 when working, are shielded, which greatly reduces the magnetic field interference of the magnetic field of the hollow rotating platform and the precision servo motor 10 on the three-axis magnetic field sensor. By means of the hollow cylindrical wooden frame mounting frame 13, the three-axis magnetic field sensor is kept away from the hollow rotating platform and the precision servo motor 10, and the electromagnetic shielding package shell is adopted, the magnetic field interference to the three-axis magnetic field sensor is greatly reduced, so that the three-axis magnetic field sensor measures a constant earth magnetic induction intensity.

[0066] In specific implementation, there can be 10 vertical wooden poles 26, 2000 mm long, with a square cross section, and the side length of the square cross section is 50 mm. At 500 mm and 1500 mm of the vertical wooden poles 26, the vertical wooden poles 26 are connected by arc-shaped wooden dowels 17, so that one wooden ring is formed on the entire circumference at 500 mm and 1500 mm, that is, two wooden rings are formed. At the N end of the cylindrical wooden frame mounting frame 13 of the annular rotating member 14 away from the hollow rotating platform, the end of each wooden pole has a through hole of a quadrangular pyramid, and the three-axis magnetic field sensor to be calibrated is installed at the through hole of the quadrangular pyramid and fixed by a thin wooden wedge.

[0067] See also Figure 8 In this embodiment, the three R-axis rotation control component 3 includes three servo motor drivers 22, a power supply 23, a three-axis servo motor controller 24, and a waterproof shell 25. The three servo motor drivers 22 are connected to the three precision servo motors 10 through three multi-core cables 4, respectively, and each corresponds to the other. The three-axis servo motor controller 24 is communicatively connected with the three servo motor drivers 22 through the multi-core cable 4. The precision servo motor 10 installed on the first hollow rotating platform, the precision servo motor 10 installed on the second hollow rotating platform, and the precision servo motor 10 installed on the third hollow rotating platform can be independently controlled by the three-axis servo motor controller 24, and the three precision servo motors 10 can rotate at different speeds, directions, and angles. The program is input into the three-axis servo motor controller 24, and the instructions are sent through the three-axis servo motor controller 24 and transmitted to the three servo motor drivers 22. The three servo motor drivers 22 then control the rotation of the three corresponding precision servo motors 10 of the three R-axis rotating parts. The three precision servo motors 10 drive the annular rotating parts 14 of the three hollow rotating platforms of the three R-axis rotating parts to rotate, so that the hollow cylindrical wooden frame mounting frame 13 of the three R-axis rotating parts can realize the three R-axis rotational movement.

[0068] The usage of the three-axis magnetic field sensor calibration device based on the three R-axis rotation system is as follows:

[0069] When using the three-axis magnetic field sensor calibration device based on the three-R axis rotation system, the device is placed in an open field environment, away from buildings, iron towers and other ferromagnetic materials, so that the earth's magnetic induction intensity at this location remains constant in the short time of calibrating the three-axis magnetic field sensor, and the rotation and calibration process of a single three-axis magnetic field sensor does not exceed 10 minutes. At a location no more than 1000mm away from the three-axis magnetic field sensor calibration device based on the three-R axis rotation system, an accurate high-precision three-axis magnetometer is arranged. When calibrating the three-axis magnetic field sensor, an accurate high-precision three-axis magnetometer is used to measure the earth's magnetic induction intensity at this location. The three-axis magnetic field sensor is placed at the N end of the square wooden pole of the hollow cylindrical wooden frame mounting frame 13, and a signal is transmitted to the three-R axis rotating part 2 through the three-R axis rotation control component 3, so that the three-axis magnetic field sensor rotates in the three R axis directions, and its rotation posture covers the entire three-dimensional space, so that the magnetic induction intensity measured by the three-axis magnetic field sensor fully covers the three-dimensional space of the entire ellipsoid. The earth's magnetic induction intensity is measured by fully rotating the three-axis magnetic field sensor and the earth's magnetic induction intensity is measured by an accurate high-precision three-axis magnetometer. The non-orthogonality error, sensitivity error and zero bias error of the three-axis magnetic field sensor are calibrated by an independent scalar calibration method.

[0070] The above technical solution has the following advantages:

[0071] A three-axis magnetic field sensor calibration device based on a three-R-axis rotation system enables the measurement information of the three-axis magnetic field sensor to fully cover the three-dimensional spatial range of the ellipsoid through three-R-axis rotation, and greatly reduces or even eliminates the magnetic field interference of the rotating device itself and the ground environment interference magnetic field such as ferromagnetic soil and rocks on the three-axis magnetic field sensor during use, thereby increasing the precision and accuracy of the three-axis magnetic field sensor calibration.

[0072] The above embodiments are only used to illustrate the technical solution of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or components or all technical features thereof can be replaced by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A three-axis magnetic field sensor calibration device based on a three-R-axis rotation system, characterized in that: include: The pure wood frame support structure is a long strip structure; A three-axis rotating part, which has its own electromagnetic shielding property and is arranged on the pure wooden frame support structure. A three-axis magnetic field sensor is installed on the three-axis rotating part and is far away from the parts with electromagnetic interference in the three-axis rotating part. The three-axis rotating part can drive the three-axis magnetic field sensor to rotate in three R-axis directions so that the magnetic induction intensity measured by the three-axis magnetic field sensor covers the three-dimensional space of the entire ellipsoid; and The three-R-axis rotation control component is connected to the three-R-axis rotating member for controlling the three-R-axis rotating member to rotate in three R-axis directions.

2. The three-axis magnetic field sensor calibration device based on the three-R-axis rotation system according to claim 1, characterized in that: The pure wood frame support structure includes a square installation wooden board and a supporting wooden frame with a square cross section. The supporting wooden frame includes a plurality of supporting wooden poles. The plurality of supporting wooden poles are connected by wooden mortise and tenon joints to form the supporting wooden frame with a square cross section. The installation wooden board is covered and fixed on the top of the supporting wooden frame.

3. The three-axis magnetic field sensor calibration device based on the three-R-axis rotation system according to claim 1, characterized in that: The three R-axis rotating member includes a first rotating driving member, a second rotating driving member, a third rotating driving member, a first connecting part, a second connecting part and a cylindrical wooden frame mounting frame. The first rotating driving member, the second rotating driving member and the third rotating driving member are connected in sequence through the first connecting part and the second connecting part, and the first connecting part and the first rotating driving member can rotate relative to each other, and the second connecting part and the second rotating driving member can rotate relative to each other. The first rotating driving member is connected to the top of the pure wooden frame support structure, and the cylindrical wooden frame mounting frame is in the shape of a long strip. One end of the cylindrical wooden frame mounting frame is rotatably connected to the third rotating driving member, and the three-axis magnetic field sensor is installed at the other end of the cylindrical wooden frame mounting frame away from the third rotating driving member.

4. The three-axis magnetic field sensor calibration device based on the three-R-axis rotation system according to claim 3, characterized in that: The first connecting part and the second connecting part are both box-shaped aluminum alloy plates, which include two vertical side plates and two horizontal plates, and a circular hole is opened on each of the horizontal plate and the vertical side plate, and the center of the circular hole is respectively located at the geometric center of the horizontal plate and the vertical side plate at the bottom.

5. The three-axis magnetic field sensor calibration device based on the three-R-axis rotation system according to claim 4, characterized in that: The first rotary drive member, the second rotary drive member and the third rotary drive member include a hollow rotary platform, a precision servo motor and an electromagnetic shielding packaging shell; The hollow rotating platform comprises an annular rotating member, a bottom fixed member and a motor connection port, wherein the annular rotating member is rotatably mounted on the bottom fixed member; The bottom fixing part of the hollow rotating platform of the first rotating driving member is fixedly connected to the top of the pure wooden frame supporting structure, and the annular rotating member of the hollow rotating platform of the first rotating driving member is fixedly sleeved with the circular hole on the horizontal plate at the bottom of the first connecting part; The bottom fixing part of the hollow rotating platform of the second rotating driving member is sleeved and fixed with the circular hole on the vertical side plate of the first connecting part, and the annular rotating member of the hollow rotating platform of the second rotating driving member is sleeved and fixed with the circular hole on the vertical side plate of the second connecting part; The bottom fixing part of the hollow rotating platform of the third rotating driving member is fixedly connected to the horizontal plate of the second connecting part, and the annular rotating member of the hollow rotating platform of the third rotating driving member is fixedly connected to one end of the cylindrical wooden frame mounting frame; The precision servo motor is installed on the motor connection port and connected to the corresponding annular rotating member to drive the annular rotating member to rotate; The electromagnetic shielding packaging shell is arranged outside the corresponding hollow rotating platform and the precision servo motor, and is open.

6. The three-axis magnetic field sensor calibration device based on a three-R-axis rotation system according to claim 3 or 5, characterized in that: The rotary drive member can reduce speed and increase the rotational torque, and the reduction ratio of the rotary drive member is 1:

10.

7. The three-axis magnetic field sensor calibration device based on the three-R-axis rotation system according to claim 5, characterized in that: The electromagnetic shielding packaging shell includes a rotating shielding packaging shell and a fixed shielding packaging shell. The rotating shielding packaging shell is covered outside the annular rotating part, and the fixed shielding packaging shell is used to cover the bottom fixing part, the motor connecting port and the precision servo motor together, and the rotating shielding packaging shell and the fixed shielding packaging shell are not closed and can move relative to each other.

8. The three-axis magnetic field sensor calibration device based on the three-R-axis rotation system according to claim 5, characterized in that: The rotating shielding packaging shell and the fixed shielding packaging shell both include a high-damping and high-strength rubber layer 1, a double-sided silver-plated copper layer, a high-damping and high-strength rubber layer 2, a silicon steel layer, a high-damping and high-strength rubber layer 3 and a Permalloy layer, which are stacked in sequence from the inside to the outside, and adjacent layers are bonded by acrylic flexible glue.

9. The three-axis magnetic field sensor calibration device based on the three-R-axis rotation system according to claim 3, characterized in that: The cylindrical wooden frame mounting frame is a hollow member, and the cylindrical wooden frame mounting frame includes a plurality of vertical wooden poles and a plurality of arc-shaped wooden tenons. The plurality of vertical wooden poles are evenly spaced circumferentially, and adjacent vertical wooden poles are connected by the arc-shaped wooden tenons. The bottom fixing component of the hollow rotating platform of the third rotating driving member is connected to one end of the vertical wooden pole.

10. The three-axis magnetic field sensor calibration device based on a three-R-axis rotation system according to claim 1, characterized in that: The three R-axis rotation control component includes three servo motor drivers, a power supply, a three-axis servo motor controller and a waterproof shell. The three servo motor drivers are respectively connected to the three precision servo motors through three multi-core cables, each corresponding to each other. The three-axis servo motor controller is communicated with the three servo motor drivers through the multi-core cable. The waterproof shell covers the three servo motor drivers, the power supply and the three-axis servo motor controller.

Images