Autonomous ocean magnetic measurement system and magnetic measurement method based on UUV

Abstract

According to the autonomous ocean magnetic measurement system and magnetic measurement method based on the UUV, magnetic measurement equipment is carried on the UUV, so that the UUV can execute self-controlled magnetic measurement operation while keeping a stable navigation attitude above the seabed; according to the system, a plurality of groups of sensors are utilized to synchronously measure total magnetic quantity information and magnetic vector information of each sea area position, and high-precision target information is obtained through difference; meanwhile, positioning information is obtained, an accurate corresponding relation between a magnetic field and a position is established, error correction and carrier magnetic interference compensation are carried out on the three-axis fluxgate, and high-precision, multi-parameter and whole-sea-area ocean geomagnetic measurement requirements are met.

Description

Technical Field

[0001] The present invention relates to the technical field of marine detection equipment, and in particular to an autonomous marine magnetic measurement system and method based on UUV. Background Art

[0002] Marine geomagnetic measurements are mainly used for target detection, magnetic field detection, geomagnetic matching navigation, etc. There are currently two main methods for collecting marine geomagnetic maps: one is deep-sea towing, where the magnetometer is towed at a height near the seabed, which cannot locate the exact location of the magnetometer measurement point; the other is to mount the magnetometer on a submarine submersible for seabed measurement. There are still few equipment products that can achieve large-scale and high-precision measurements, and their applications are relatively limited.

[0003] At present, marine geomagnetic measurements mainly collect total geomagnetic field information, but vector geomagnetism and geomagnetic gradient information, which have more elements and more information than total geomagnetic field information, are gradually becoming important contents of marine magnetic measurements. Summary of the invention

[0004] The present invention provides an autonomous ocean magnetic survey system and method based on UUV, which utilizes the low cost, flexible maneuverability and precise positioning characteristics of the UUV platform, and carries magnetic survey equipment on the UUV, so that it can perform self-controlled magnetic survey operations while maintaining a stable navigation posture above the seabed.

[0005] The autonomous marine magnetic measurement system based on UUV provided by the present disclosure mainly includes: two sets of blind-zone free optical pump sensor probes and two sets of three-axis fluxgate sensor probes, and a positioning device, wherein:

[0006] Two optical pump sensor probes are used to measure the total magnetic field respectively;

[0007] Two fluxgate sensor probes are used to measure the magnetic vector field respectively;

[0008] A positioning device, used to obtain the position of the carrier platform to establish a corresponding relationship between the magnetic field and the position;

[0009] A certain distance is maintained between the first and second optical pump sensor probes, and between the first and second fluxgate sensor probes, for forming differential or gradient measurement to obtain geomagnetic gradient information.

[0010] Compared with the prior art, the beneficial effects of the present invention are: (1) a group of blind-spot-free optically pumped magnetometers and a group of high-orthogonality fluxgates are used to meet the full-region geomagnetic map acquisition needs of total site magnetism, vector geomagnetism, and geomagnetic gradient information; (2) magnetic measurement simultaneously integrates the positioning function, accurately corresponds to the relationship between magnetic field and position, and can perform error correction and carrier magnetic interference compensation on the three-axis fluxgate, meeting the needs of high-precision, multi-parameter, and full-sea marine geomagnetic measurement; (3) a modular cabin UUV structure is used to facilitate structural assembly and adjustment; (4) it has autonomous navigation control capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above and other objects, features and advantages of the present disclosure will become more apparent through a more detailed description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present disclosure.

[0012] Figure 1 is a general structural diagram of an exemplary embodiment according to the present disclosure;

[0013] Figure 2 Schematic diagram of equipment installation;

[0014] Figure 3 Schematic diagram of magnetic sensor probe installation.

[0015] In the figure, 1 is the bow section, 2 is the inertial navigation cabin, 3 is the electric control cabin, 4 is the high and low voltage battery cabin, 5 is the communication and positioning cabin, 6 is the stern section, 33 is the fluxgate probe 1, 34 is the optical pump probe 1, 35 is the fluxgate probe 2, and 36 is the optical pump probe 2. DETAILED DESCRIPTION

[0016] The preferred embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0017] The present invention provides an autonomous marine magnetic measurement system based on UUV. The magnetic measurement system adopts two sets of blind-zone free optical pump sensor probes, two sets of fluxgate sensor probes, inertial navigation, ultra-short baseline and Beidou / GPS, etc. The total and vector magnetometers complement each other and form differential or gradient measurements at the same time to improve the information volume and accuracy of the measurement data. Combined with the fusion positioning function of ultra-short baseline, inertial navigation and Beidou / GPS, the relationship between magnetic field and position is accurately matched, and the three-axis fluxgate is corrected for error and carrier magnetic interference is compensated to meet the needs of high-precision, multi-parameter, and full-sea marine geomagnetic measurement.

[0018] In one exemplary embodiment:

[0019] The UUV equipped with the above-mentioned magnetic measurement equipment has the capabilities of autonomous navigation control and autonomous planning; the overall modular cabin design is capable of carrying magnetic measurement equipment; it supports shore-based remote control; it supports cluster coordinated command; it has the ability to collect and store magnetic equipment data and output information network; it has the ability to adapt to different operating sea conditions and operating environment requirements.

[0020] The main structure is as follows Figure 1 As shown, from front to back, it includes: bow section 1, inertial navigation cabin 2, electric control cabin 3, high and low voltage battery cabin 4, communication and positioning cabin 5, stern section 6 and other parts, among which:

[0021] The bow section is equipped with a magnetic measurement load compartment that is sealed separately.

[0022] The magnetic field measurement sensor probe is installed in the magnetic measurement load compartment;

[0023] The inertial navigation cabin is equipped with a magnetic field measurement electronic unit, a data acquisition and storage system, and a three-axis inertial navigation system.

[0024] The communication and positioning cabin is equipped with an ultra-short baseline, Beidou / GPS positioning device and Doppler speed meter.

[0025] The stern section is equipped with a cross rudder and main propeller.

[0026] Non-magnetic counterweights are installed on the lower sides of the bow section and the stern section, and a lifting ring is installed on the upper side of the middle part of the UUV.

[0027] In this embodiment, the UUV adopts a modular cabin segment design as a whole, and a limit stopper is designed between the segments, and each segment is connected in turn on the circumference by bolts;

[0028] The cross rudder and main propeller are installed at the stern section to adjust the speed, heading and attitude of the UUV;

[0029] The communication and positioning cabin is equipped with an ultra-short baseline, Beidou / GPS positioning machine and Doppler speed meter, etc., and uses GPS / Beidou positioning and flow velocity information as inertial navigation input; the ultra-short baseline requires a supporting ship that meets the installation requirements of the ultra-short baseline, generally using an acoustic probe rod.

[0030] The magnetic measurement payload compartment section is respectively installed with: fluxgate probe 33—optical pump probe 34—fluxgate probe 35—optical pump probe 36 from front to back. A certain distance is maintained between the fluxgate probe 33 and the optical pump probe 34, between the optical pump probe 34 and the fluxgate probe 35, between the fluxgate probe 35 and the optical pump probe 36, and between the fluxgate probe 35 and the electronic compartment to reduce mutual interference.

[0031] The measurement method based on the above system mainly includes the following steps:

[0032] At a certain place on the seabed, optical pump sensor probes 34 and 36 measure the total magnetic field BT1 and BT2 respectively, and fluxgate sensor probes 33 and 35 measure the magnetic vector field (Bx1, By1, Bz1) and (Bx2, By2, Bz2) respectively. Multiple sets of sensors form data backup, reduce abnormal factors in sensor testing, and synchronously measure the total magnetic field information and magnetic vector information at different sea locations, and obtain high-precision target information through differential analysis.

[0033] At the same time, the position information (E, N, H) measured by the ultra-short baseline or inertial navigation accurately corresponds to the relationship between the magnetic field and the position, and performs error correction and carrier magnetic interference compensation on the three-axis flux gate to meet the needs of high-precision, multi-parameter, and full-sea marine geomagnetic measurements.

[0034] The above technical scheme is only an exemplary embodiment of the present invention. For those skilled in the art, it is easy to make various types of improvements or modifications based on the application methods and principles disclosed in the present invention, and it is not limited to the method described in the above specific embodiment of the present invention. Therefore, the method described above is only preferred and does not have a restrictive meaning.

Claims

1. An autonomous ocean magnetic survey system based on UUV, characterized in that: include: Two sets of blind-zone free optical pump sensor probes and two sets of three-axis fluxgate sensor probes, and positioning devices, including: Two optical pump sensor probes are used to measure the total magnetic field respectively; Two fluxgate sensor probes are used to measure the magnetic vector field respectively; A positioning device, used to obtain the position of the carrier platform to establish a corresponding relationship between the magnetic field and the position; A certain distance is maintained between the first and second optical pump sensor probes, and between the first and second fluxgate sensor probes, for forming differential or gradient measurement to obtain geomagnetic gradient information.

2. The system according to claim 1, characterized in that The positioning device adopts inertial navigation and / or ultra-short baseline positioning equipment; The magnetic measurement system, which uses inertial navigation as a positioning device, is also equipped with Beidou or GPS and a Doppler velocimeter to provide input for the inertial navigation.

3. The system according to claim 1 or 2, characterized in that: The system adopts a modular cabin design, which includes, from front to back: bow section (1), inertial navigation cabin (2), electric control cabin (3), high and low voltage battery cabin (4), communication and positioning cabin (5), and stern section (6), among which: The bow section is sealed with a magnetic measurement load compartment; A magnetic field measurement sensor probe is installed in the magnetic measurement load cabin; The inertial navigation cabin is equipped with a magnetic field measurement electronic unit, a data acquisition and storage system, and a three-axis inertial navigation system; Communication and positioning cabin, used to install Beidou / GPS positioning equipment and Doppler speed meter; The stern section is equipped with a cross rudder and main thruster to adjust the UUV's speed, heading and attitude; Non-magnetic counterweights are installed on the lower sides of the bow section and the stern section, and a lifting ring is installed on the upper side of the middle part of the UUV.

4. The system according to claim 3, characterized in that There are limit stoppers between each compartment section of the system, and each section is connected in a circle in sequence through bolts.

5. The system according to claim 3 or 4, characterized in that: The magnetic measurement payload compartment is installed from front to back in sequence: The first fluxgate sensor probe, the first optical pump sensor probe, the second fluxgate sensor probe, and the second optical pump sensor probe are all kept at a certain distance to reduce mutual interference.

6. The system according to claim 3 or 4, characterized in that: The communication positioning cabin is also equipped with an ultra-short baseline positioning device; The ultra-short baseline positioning device adopts an acoustic probe rod method.

7. A method for marine magnetic survey using the system described in any one of claims 1 to 6, comprising the following steps: Each set of sensors synchronously measures the total magnetic information and magnetic vector information of each sea area to form data backup, wherein: the first and second optical pump sensor probes measure the total magnetic field BT1 and BT2 respectively, and the first and second fluxgate sensor probes measure the magnetic vector fields (Bx1, By1, Bz1) and (Bx2, By2, Bz2) respectively; the data obtained by the two sensor probes are used to obtain high-precision target information through differential analysis; At the same time, through the ultra-short baseline or inertial navigation, the position information (E, N, H) is measured, the corresponding relationship between the magnetic field and the position is established, and the three-axis flux gate is corrected for errors and the carrier magnetic interference is compensated to meet the needs of high-precision, multi-parameter, and full-sea marine geomagnetic measurements.

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