Indoor space triaxial magnetoresistive sensor parameter calibration obtaining method and magnetoresistive sensor

Abstract

The invention provides an indoor space triaxial magnetoresistive sensor parameter calibration obtaining method and a magnetoresistive sensor, and the method comprises the steps: 1, building a multi-layer magnetic shielding barrel, and shielding the external magnetic field interference for the calibration of a triaxial magnetoresistive sensor; 2, designing a three-direction magnetic field coil and a coil framework; 3, winding a three-dimensional coil, and fixing the sensitive center of the three-axis magnetoresistive sensor at the central position of the three-dimensional coil; and 4, through a current control strategy, under the condition that the size of the total magnetic field is not changed, the direction of the magnetic field continuously rotates and changes, the state that the sensor continuously rotates during external field testing is simulated, and acquisition of calibration parameters of the indoor sensor is completed. By applying the technical scheme of the invention, the technical problem of high manpower and material resources required for calibration in a remote field in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetoresistive sensor testing, and in particular to a method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space and a magnetoresistive sensor. Background Art

[0002] The three-axis magnetoresistive sensor is mainly used to measure and solve the three-axis magnetic field to provide a basis for magnetic compensation. Its parameter calibration requires the sensor itself to be rotated continuously in a stable magnetic field environment, and the output data of the sensor in different magnetic field directions is obtained to perform parameter fitting. In order to obtain a better calibration effect, the calibration of the three-axis magnetoresistive sensor is usually carried out in a remote location with a stable environmental magnetic field. The continuous rotation of the sensor is also done manually. The entire calibration process is time-consuming, labor-intensive and inconvenient to operate. Under the above requirements, it is necessary to study a method for obtaining calibration parameters of a spatial three-axis magnetoresistive sensor so that the calibration of the three-axis magnetoresistive sensor can be realized in the laboratory. Summary of the invention

[0003] The present invention provides a method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space and a magnetoresistive sensor, which can solve the technical problem in the prior art that high manpower and material resources are required for calibration in a remote field.

[0004] According to one aspect of the present invention, a method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space is provided. The method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space comprises: step one, building a multi-layer magnetic shielding barrel to shield the three-axis magnetoresistive sensor from external magnetic field interference; step two, designing a three-directional magnetic field coil and a coil skeleton; step three, winding a three-dimensional coil, and fixing the sensitive center of the three-axis magnetoresistive sensor at the center position of the three-dimensional coil; step four, through a current control strategy, realizing that the direction of the magnetic field continuously rotates and changes when the total magnetic field size remains unchanged, simulating the state of the sensor continuously rotating during an external field test, and completing the acquisition of the calibration parameters of the indoor sensor; step four specifically comprises: according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 Ensure that the total field generated by the three-axis coil is always the preset magnetic field value, where B(x), B(y), and B(z) represent the magnetic fields generated by the three-axis coil in the X, Y, and Z directions respectively, and B represents the total field synthesized by the three. Calculate the current value I required to generate the B magnetic field in the X direction based on the magnetic field coefficient of the coil in the X direction xmax , change the X direction current from -I xmax To I xmax Start scanning at fixed step intervals; set the Z direction current to positive current, and scan each point in the X direction according to B 2 (x)+B 2 (y)+B 2(z) = B 2 , the Y direction current has a current value range, set a fixed step size to scan the Y direction current within this range, and within this range, the Y current scans a point each time according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Z direction corresponds to a fixed current value I z After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. x Scan to the next step, scan the Y and Z direction currents in turn according to the above method. Each time a three-direction current is fixed, the total magnetic field generated remains unchanged, and the direction rotates continuously, which is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, so as to obtain the calibration parameters in the laboratory; set the Z direction current to negative current, and scan a point in the X direction according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the Y direction current has a current value range, and a fixed step size is set to scan the Y direction current within this range. Within this range, each time the Y current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Z direction corresponds to a fixed current value I z After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. x Scan to the next step size, and scan the Y and Z direction currents in turn in the above manner. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but its direction rotates continuously. This is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory.

[0005] Furthermore, each time the X-direction current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the Y direction current has a current value range, specifically including: the X direction current scans a point, and the X direction current at any set point is I xi , current I xi The corresponding magnetic field is B(x i), assuming that the current in the Z direction is 0, the magnetic field range corresponding to the current in the Y direction is calculated as The current value range of the Y-direction current is obtained according to the magnetic field range corresponding to the Y-direction current.

[0006] Furthermore, the multi-layer magnetic shielding barrel has four or five layers, and the material is the soft magnetic alloy 1J85.

[0007] Furthermore, step two specifically includes: designing three non-uniform densely wound square coils of different sizes through simulation to generate uniform magnetic fields with different magnetic field coefficients respectively. The magnetic field space that meets the uniformity requirements should cover the sensitive area of ​​the three-axis magnetoresistive sensor, and designing and processing the coil frame to ensure that the minimum internal space of the coil frame can place the three-axis magnetoresistive sensor.

[0008] Furthermore, step three specifically includes: winding three enameled wire coils on the coil frame respectively, assembling and fixing the three wound coils concentrically and orthogonally through tooling to provide magnetic field input for calibration of the magnetoresistive sensor, and fixing the three-axis magnetoresistive sensor through a fixing tool so that the center of its sensitive area is located at the center of the three-directional magnetic field coil.

[0009] Furthermore, the total magnetic field B is 50000 nT.

[0010] According to another aspect of the present invention, a three-axis magnetoresistive sensor is provided, and the three-axis magnetoresistive sensor is calibrated using the indoor space three-axis magnetoresistive sensor parameter calibration acquisition method as described above.

[0011] According to another aspect of the present invention, a method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space is provided, and the method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space comprises: step one, building a multi-layer magnetic shielding barrel to shield the three-axis magnetoresistive sensor from external magnetic field interference; step two, designing a three-directional magnetic field coil and a coil skeleton; step three, winding a three-dimensional coil, and fixing the sensitive center of the three-axis magnetoresistive sensor at the center position of the three-dimensional coil; step four, through a current control strategy, realizing that the direction of the magnetic field continuously rotates and changes while the total magnetic field size remains unchanged, simulating the state of the sensor continuously rotating during an external field test, and completing the acquisition of the calibration parameters of the indoor sensor; step four specifically comprises: according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 Ensure that the total field generated by the three-axis coil is always the preset magnetic field value, where B(x), B(y), and B(z) represent the magnetic fields generated by the three-axis coil in the X, Y, and Z directions respectively, and B represents the total field synthesized by the three. Calculate the current value I required to generate the B magnetic field in the X direction based on the magnetic field coefficient of the coil in the X direction xmax , change the X direction current from -I xmax To I xmaxStart scanning at fixed step intervals; set the Y direction current to positive current, and scan each point in the X direction according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the Z direction current has a current value range, set a fixed step length to scan the Z direction current within this range, and within this range, each time the Z current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Y direction corresponds to a fixed current value I y After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. x Scan to the next step, scan the Z and Y direction currents in turn according to the above method. Each time a three-direction current is fixed, the total magnetic field generated remains unchanged, and the direction rotates continuously, which is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, so as to obtain the calibration parameters in the laboratory; set the Y direction current to negative current, and scan a point in the X direction according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the Z direction current has a current value range, set a fixed step length to scan the Z direction current within this range, and within this range, each time the Z current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Y direction corresponds to a fixed current value I y After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. x Scan to the next step size, and scan the Z and Y direction currents in turn in the above manner. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but its direction rotates continuously. This is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory.

[0012] According to another aspect of the present invention, a method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space is provided, and the method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space comprises: step one, building a multi-layer magnetic shielding barrel to shield the three-axis magnetoresistive sensor from external magnetic field interference; step two, designing a three-directional magnetic field coil and a coil skeleton; step three, winding a three-dimensional coil, and fixing the sensitive center of the three-axis magnetoresistive sensor at the center position of the three-dimensional coil; step four, through a current control strategy, realizing that the direction of the magnetic field continuously rotates and changes when the total magnetic field size remains unchanged, simulating the state of the sensor continuously rotating during an external field test, and completing the acquisition of the calibration parameters of the indoor sensor; step four specifically comprises: according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 Ensure that the total field generated by the three-axis coil is always the preset magnetic field value, where B(x), B(y), and B(z) represent the magnetic fields generated by the three-axis coil in the X, Y, and Z directions respectively, and B represents the total field synthesized by the three. Calculate the current value I required to generate the B magnetic field in the Y direction based on the Y direction coil magnetic field coefficient ymax , change the Y direction current from -I ymax To I ymax Start scanning at fixed step intervals; set the Z direction current to positive current, and the Y direction current scans a point at each point according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the X-direction current has a current value range, and a fixed step size is set to scan the X-direction current within this range. Within this range, each time the X current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Z direction corresponds to a fixed current value I z After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. y Scan to the next step, scan the X and Z direction currents in turn according to the above method. Each time a three-direction current is fixed, the total magnetic field generated remains unchanged, and the direction rotates continuously, which is equivalent to the situation where the direction of the stable magnetic field remains unchanged under the external field condition while the three-axis magnetoresistive sensor rotates continuously, so as to obtain the calibration parameters in the laboratory; set the Z direction current to negative current, and scan a point in the Y direction according to B 2 (x)+B 2 (y)+B 2 (z) = B 2, the X-direction current has a current value range, and a fixed step size is set to scan the X-direction current within this range. Within this range, each time the X current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Z direction corresponds to a fixed current value I z After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. y Scan to the next step size, and scan the X and Z direction currents in turn in the above manner. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but its direction rotates continuously. This is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory.

[0013] According to another aspect of the present invention, a method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space is provided, and the method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space comprises: step one, building a multi-layer magnetic shielding barrel to shield the three-axis magnetoresistive sensor from external magnetic field interference; step two, designing a three-directional magnetic field coil and a coil skeleton; step three, winding a three-dimensional coil, and fixing the sensitive center of the three-axis magnetoresistive sensor at the center position of the three-dimensional coil; step four, through a current control strategy, realizing that the direction of the magnetic field continuously rotates and changes while the total magnetic field size remains unchanged, simulating the state of the sensor continuously rotating during an external field test, and completing the acquisition of the calibration parameters of the indoor sensor; step four specifically comprises: according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 Ensure that the total field generated by the three-axis coil is always the preset magnetic field value, where B(x), B(y), and B(z) represent the magnetic fields generated by the three-axis coil in the X, Y, and Z directions respectively, and B represents the total field synthesized by the three. Calculate the B generated in the Z direction based on the magnetic field coefficient of the Z-direction coil. 预设总场 Required current value I in magnetic field zmax , change the Z direction current from -I zmax To I zmax Start scanning at fixed step intervals; set the Y direction current to positive current, and the Z direction current scans each point according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the X-direction current has a current value range, and a fixed step size is set to scan the X-direction current within this range. Within this range, each time the X current scans a point, according to B 2 (x)+B2 (y)+B 2 (z) = B 2 , the current in the Y direction corresponds to a fixed current value I y After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. z Scan to the next step length, scan the X and Y direction currents in turn according to the above method. Each time a three-direction current is fixed, the total magnetic field generated remains unchanged, and the direction rotates continuously, which is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, so as to obtain the calibration parameters in the laboratory; set the Y direction current to negative current, and scan a point in the Z direction according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the X-direction current has a current value range, and a fixed step size is set to scan the X-direction current within this range. Within this range, each time the X current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Y direction corresponds to a fixed current value I y After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. z Scan to the next step size, and scan the X and Y direction currents in turn in the above manner. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but its direction rotates continuously. This is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory.

[0014] By applying the technical solution of the present invention, a method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space is provided. The method builds a large multi-layer magnetic shielding barrel, designs a three-directional magnetic field coil and a coil frame in a high uniformity zone, winds a three-dimensional coil, and fixes the sensitive center of the three-axis magnetoresistive sensor at the center of the three-dimensional coil through a tool. Through a current control strategy, the magnetic field direction is continuously rotated and changed while the total magnetic field size remains unchanged, simulating the state of continuous rotation of the sensor during field testing, and completing the acquisition of indoor sensor calibration parameters. Compared with the prior art, the method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space provided by the present invention has the main advantage that the calibration of the three-axis magnetoresistive sensor can be realized in the laboratory, avoiding the manpower and material resources required for calibration in remote fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The included drawings are used to provide a further understanding of the embodiments of the present invention, which constitute a part of the specification, are used to illustrate the embodiments of the present invention, and together with the text description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 A schematic diagram of the appearance of a large multi-layer magnetic shielding barrel provided according to a specific embodiment of the present invention is shown;

[0017] Figure 2 A schematic diagram of installing a three-axis magnetoresistive sensor and an X-coil according to a specific embodiment of the present invention is shown;

[0018] Figure 3 A schematic diagram of the installation of a three-axis magnetoresistive sensor and X and Y coils provided in a specific embodiment of the present invention is shown;

[0019] Figure 4 A schematic diagram of the installation of a three-axis magnetoresistive sensor and X, Y, and Z coils provided according to a specific embodiment of the present invention is shown. DETAILED DESCRIPTION

[0020] It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0022] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0023] like Figures 1 to 4 As shown, according to the first embodiment of the present invention, a method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space is provided. The method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space includes: step one, building a multi-layer magnetic shielding barrel to shield the three-axis magnetoresistive sensor from external magnetic field interference; step two, designing a three-directional magnetic field coil and a coil skeleton; step three, winding a three-dimensional coil, and fixing the sensitive center of the three-axis magnetoresistive sensor at the center position of the three-dimensional coil; step four, through a current control strategy, realizing that the direction of the magnetic field continuously rotates and changes when the total magnetic field size remains unchanged, simulating the state of the sensor continuously rotating during an external field test, and completing the acquisition of the calibration parameters of the indoor sensor; step four specifically includes: according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 Ensure that the total field generated by the three-axis coil is always the preset magnetic field value, where B(x), B(y), and B(z) represent the magnetic fields generated by the three-axis coil in the X, Y, and Z directions respectively, and B represents the total field synthesized by the three. Calculate the current value I required to generate the B magnetic field in the X direction based on the magnetic field coefficient of the coil in the X direction xmax , change the X direction current from -I xmax To I xmax Start scanning at fixed step intervals; set the Z direction current to positive current, and scan each point in the X direction according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the Y direction current has a current value range, set a fixed step size to scan the Y direction current within this range, and within this range, the Y current scans a point each time according to B 2 (x)+B 2 (y)+B 2 (z) = B 2, the current in the Z direction corresponds to a fixed current value I z After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. x Scan to the next step, scan the Y and Z direction currents in turn according to the above method. Each time a three-direction current is fixed, the total magnetic field generated remains unchanged, and the direction rotates continuously, which is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, so as to obtain the calibration parameters in the laboratory; set the Z direction current to negative current, and scan a point in the X direction according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the Y direction current has a current value range, and a fixed step size is set to scan the Y direction current within this range. Within this range, each time the Y current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Z direction corresponds to a fixed current value I z After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. x Scan to the next step size, and scan the Y and Z direction currents in turn in the above manner. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but its direction rotates continuously. This is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory.

[0024] By applying this configuration, a method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space is provided. The method builds a large multi-layer magnetic shielding barrel, designs a three-directional magnetic field coil and a coil frame in a high uniformity zone, winds a three-dimensional coil, and fixes the sensitive center of the three-axis magnetoresistive sensor at the center of the three-dimensional coil through a tool. Through a current control strategy, the magnetic field direction is continuously rotated and changed while the total magnetic field size remains unchanged, simulating the state of continuous rotation of the sensor during field testing, and completing the acquisition of indoor sensor calibration parameters. Compared with the prior art, the method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space provided by the present invention has the main advantage that the calibration of the three-axis magnetoresistive sensor can be realized in the laboratory, avoiding the manpower and material resources required for calibration in remote fields.

[0025] Further, in the present invention, each time the X-direction current scans a point, according to B 2(x)+B 2 (y)+B 2 (z) = B 2 , the Y direction current has a current value range, specifically including: the X direction current scans a point, and the X direction current at any set point is I xi , current I xi The corresponding magnetic field is B(x i ), assuming that the current in the Z direction is 0, the magnetic field range corresponding to the current in the Y direction is calculated as The current value range of the Y-direction current is obtained according to the magnetic field range corresponding to the Y-direction current.

[0026] As a specific embodiment of the present invention, the current value I required to generate the B magnetic field in the X direction is calculated according to the magnetic field coefficient of the coil in the X direction. xmax , change the X direction current from -I xmax To I xmax Start scanning at fixed step intervals; set the Z direction current to positive current, and scan each point in the X direction. Assume that the X direction current at this point is I xi , the magnetic field is B(x i ), set the Z direction current to 0, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , calculate and obtain the magnetic field range corresponding to the current in the Y direction: Get the current value range of the Y direction current according to the magnetic field range corresponding to the Y direction current Set a fixed step size to scan the Y direction current within this range. Within this range, each time the Y current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Z direction corresponds to a fixed current value I z After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. x Scan to the next step size, and scan the Y and Z direction currents in turn in the above manner. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but its direction rotates continuously. This is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory.

[0027] That is to say, when obtaining calibration parameters, first fix the X-direction current I x1 , and then calculate the current I x1 The current value range of the current in the Y direction (-Iymax1 , I ymax1 ), and then scan within the current value range of the Y direction current. For each point of the Y direction current, after the X and Y direction currents are fixed, the Z direction current is also fixed (at this time, the Z direction current can be set as a positive current first), thereby obtaining the X direction current I x1 A series of calibration parameters under. Then I x Scan to the next step, the X-direction current I x2 , and then calculate the current I x2 The current value range of the current in the Y direction (-I ymax2 , I ymax2 ), and then scan within the current value range of the Y direction current. For each point of the Y direction current, after the X and Y direction currents are fixed, the Z direction current is also fixed, so the X direction current I x2 Repeat the above process until the X direction current is changed from -I xmax To I xmax After the iteration is completed, the calibration parameters of all points in the X and Y directions and all positive currents in the Z direction are obtained. Then, the current in the Z direction is set to negative current, and similar to the above process, the calibration parameters of all points in the X and Y directions and all negative currents in the Z direction are obtained.

[0028] Furthermore, in the present invention, the multi-layer magnetic shielding barrel has four or five layers, and the material is the soft magnetic alloy 1J85.

[0029] In addition, in the present invention, step two specifically includes: designing three non-uniform densely wound square coils of different sizes through simulation to generate uniform magnetic fields with different magnetic field coefficients respectively, the magnetic field space that meets the uniformity requirements should cover the sensitive area of ​​the three-axis magnetoresistance sensor, and designing and processing the coil frame to ensure that the minimum internal space of the coil frame can place the three-axis magnetoresistance sensor.

[0030] As a specific embodiment of the present invention, step three specifically includes: winding three enameled wire coils on the coil frame respectively, assembling and fixing the three wound coils concentrically and orthogonally through tooling to provide magnetic field input for calibration of the magnetoresistive sensor, and fixing the three-axis magnetoresistive sensor through a fixing tool so that the center of its sensitive area is located at the center of the three-directional magnetic field coil.

[0031] According to another aspect of the present invention, a three-axis magnetoresistive sensor is provided, and the three-axis magnetoresistive sensor is calibrated using the indoor space three-axis magnetoresistive sensor parameter calibration acquisition method as described above.

[0032] By applying this configuration, a three-axis magnetoresistive sensor is provided, which uses the indoor space three-axis magnetoresistive sensor parameter calibration acquisition method as described above for parameter calibration. The method builds a large multi-layer magnetic shielding barrel, designs a high uniformity zone three-directional magnetic field coil and a coil skeleton, winds a three-dimensional coil, and fixes the sensitive center of the three-axis magnetoresistive sensor at the center of the three-dimensional coil through tooling. Through the current control strategy, the magnetic field direction is continuously rotated and changed while the total magnetic field size remains unchanged, simulating the state of continuous rotation of the sensor during field testing, and completing the acquisition of indoor sensor calibration parameters. Therefore, the indoor space three-axis magnetoresistive sensor parameter calibration acquisition method provided by the present invention is used in a three-axis magnetoresistive sensor, which can avoid the manpower and material resources required for calibration in a remote field.

[0033] According to the second embodiment of the present invention, a method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space is provided. The method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space comprises: step one, building a multi-layer magnetic shielding barrel to shield the three-axis magnetoresistive sensor from external magnetic field interference; step two, designing a three-directional magnetic field coil and a coil skeleton; step three, winding a three-dimensional coil, and fixing the sensitive center of the three-axis magnetoresistive sensor at the center position of the three-dimensional coil; step four, through a current control strategy, realizing that the direction of the magnetic field continuously rotates and changes when the total magnetic field size remains unchanged, simulating the state of the sensor continuously rotating during an external field test, and completing the acquisition of the calibration parameters of the indoor sensor; step four specifically comprises: according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 Ensure that the total field generated by the three-axis coil is always the preset magnetic field value, where B(x), B(y), and B(z) represent the magnetic fields generated by the three-axis coil in the X, Y, and Z directions respectively, and B represents the total field synthesized by the three. Calculate the current value I required to generate the B magnetic field in the X direction based on the magnetic field coefficient of the coil in the X direction xmax , change the X direction current from -I xmax To I xmax Start scanning at fixed step intervals; set the Y direction current to positive current, and scan each point in the X direction according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the Z direction current has a current value range, set a fixed step length to scan the Z direction current within this range, and within this range, each time the Z current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Y direction corresponds to a fixed current value I yAfter the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. x Scan to the next step, scan the Z and Y direction currents in turn according to the above method. Each time a three-direction current is fixed, the total magnetic field generated remains unchanged, and the direction rotates continuously, which is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, so as to obtain the calibration parameters in the laboratory; set the Y direction current to negative current, and scan a point in the X direction according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the Z direction current has a current value range, set a fixed step length to scan the Z direction current within this range, and within this range, each time the Z current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Y direction corresponds to a fixed current value I y After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. x Scan to the next step size, and scan the Z and Y direction currents in turn in the above manner. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but its direction rotates continuously. This is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory.

[0034] According to the third embodiment of the present invention, a method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space is provided. The method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space comprises: step one, building a multi-layer magnetic shielding barrel to shield the three-axis magnetoresistive sensor from external magnetic field interference; step two, designing a three-directional magnetic field coil and a coil skeleton; step three, winding a three-dimensional coil, and fixing the sensitive center of the three-axis magnetoresistive sensor at the center position of the three-dimensional coil; step four, through a current control strategy, realizing that the magnetic field direction continuously rotates and changes when the total magnetic field size remains unchanged, simulating the state of continuous rotation of the sensor during field testing, and completing the acquisition of indoor sensor calibration parameters; step four specifically comprises: according to B 2 (x)+B 2 (y)+B 2 (z) = B 2Ensure that the total field generated by the three-axis coil is always the preset magnetic field value, where B(x), B(y), and B(z) represent the magnetic fields generated by the three-axis coil in the X, Y, and Z directions respectively, and B represents the total field synthesized by the three. Calculate the current value I required to generate the B magnetic field in the Y direction based on the Y direction coil magnetic field coefficient ymax , change the Y direction current from -I ymax To I ymax Start scanning at fixed step intervals; set the Z direction current to positive current, and the Y direction current scans a point at each point according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the X-direction current has a current value range, and a fixed step size is set to scan the X-direction current within this range. Within this range, each time the X current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Z direction corresponds to a fixed current value I z After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. y Scan to the next step, scan the X and Z direction currents in turn according to the above method. Each time a three-direction current is fixed, the total magnetic field generated remains unchanged, and the direction rotates continuously, which is equivalent to the situation where the direction of the stable magnetic field remains unchanged under the external field condition while the three-axis magnetoresistive sensor rotates continuously, so as to obtain the calibration parameters in the laboratory; set the Z direction current to negative current, and scan a point in the Y direction according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the X-direction current has a current value range, and a fixed step size is set to scan the X-direction current within this range. Within this range, each time the X current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Z direction corresponds to a fixed current value I z After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. yScan to the next step size, and scan the X and Z direction currents in turn in the above manner. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but its direction rotates continuously. This is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory.

[0035] According to a fourth embodiment of the present invention, a method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space is provided. The method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space comprises: step one, building a multi-layer magnetic shielding barrel to shield the three-axis magnetoresistive sensor from external magnetic field interference; step two, designing a three-directional magnetic field coil and a coil skeleton; step three, winding a three-dimensional coil, and fixing the sensitive center of the three-axis magnetoresistive sensor at the center position of the three-dimensional coil; step four, through a current control strategy, realizing that the direction of the magnetic field continuously rotates and changes when the total magnetic field size remains unchanged, simulating the state of the sensor continuously rotating during an external field test, and completing the acquisition of the calibration parameters of the indoor sensor; step four specifically comprises: according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 Ensure that the total field generated by the three-axis coil is always the preset magnetic field value, where B(x), B(y), and B(z) represent the magnetic fields generated by the three-axis coil in the X, Y, and Z directions respectively, and B represents the total field synthesized by the three. Calculate the current value I required to generate the B magnetic field in the Y direction based on the Y direction coil magnetic field coefficient ymax , change the Y direction current from -I ymax To I ymax Start scanning at fixed step intervals; set the X-direction current to positive current, and the Y-direction current scans a point at each point according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the Z direction current has a current value range, set a fixed step length to scan the Z direction current within this range, and within this range, each time the Z current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the X direction corresponds to a fixed current value I x After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. yScan to the next step, scan the Z and X direction currents in turn according to the above method. Each time a three-direction current is fixed, the total magnetic field generated remains unchanged, and the direction rotates continuously, which is equivalent to the situation where the direction of the stable magnetic field remains unchanged under the external field condition while the three-axis magnetoresistive sensor rotates continuously, so as to obtain the calibration parameters in the laboratory; set the X direction current to negative current, and scan a point in the Y direction according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the Z direction current has a current value range, set a fixed step length to scan the Z direction current within this range, and within this range, each time the Z current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the X direction corresponds to a fixed current value I x After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. y Scan to the next step size, and scan the Z and X direction currents in turn in the above manner. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but its direction rotates continuously. This is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory.

[0036] According to a fifth embodiment of the present invention, a method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space is provided. The method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space comprises: step one, building a multi-layer magnetic shielding barrel to shield the three-axis magnetoresistive sensor from external magnetic field interference; step two, designing a three-directional magnetic field coil and a coil skeleton; step three, winding a three-dimensional coil, and fixing the sensitive center of the three-axis magnetoresistive sensor at the center position of the three-dimensional coil; step four, through a current control strategy, realizing that the direction of the magnetic field continuously rotates and changes when the total magnetic field size remains unchanged, simulating the state of the sensor continuously rotating during an external field test, and completing the acquisition of the calibration parameters of the indoor sensor; step four specifically comprises: according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 Ensure that the total field generated by the three-axis coil is always the preset magnetic field value, where B(x), B(y), and B(z) represent the magnetic fields generated by the three-axis coil in the X, Y, and Z directions respectively, and B represents the total field synthesized by the three. Calculate the current value I required to generate the B magnetic field in the Z direction based on the magnetic field coefficient of the Z-direction coil zmax , change the Z direction current from -I zmax To Izmax Start scanning at fixed step intervals; set the Y direction current to positive current, and the Z direction current scans each point according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the X-direction current has a current value range, and a fixed step size is set to scan the X-direction current within this range. Within this range, each time the X current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Y direction corresponds to a fixed current value I y After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. z Scan to the next step length, scan the X and Y direction currents in turn according to the above method. Each time a three-direction current is fixed, the total magnetic field generated remains unchanged, and the direction rotates continuously, which is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, so as to obtain the calibration parameters in the laboratory; set the Y direction current to negative current, and scan a point in the Z direction according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the X-direction current has a current value range, and a fixed step size is set to scan the X-direction current within this range. Within this range, each time the X current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Y direction corresponds to a fixed current value I y After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. z Scan to the next step size, and scan the X and Y direction currents in turn in the above manner. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but its direction rotates continuously. This is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory.

[0037] According to the sixth embodiment of the present invention, a method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space is provided. The method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space comprises: step one, building a multi-layer magnetic shielding barrel to shield the three-axis magnetoresistive sensor from external magnetic field interference; step two, designing a three-directional magnetic field coil and a coil skeleton; step three, winding a three-dimensional coil, and fixing the sensitive center of the three-axis magnetoresistive sensor at the center position of the three-dimensional coil; step four, through a current control strategy, realizing that the direction of the magnetic field continuously rotates and changes while the total magnetic field size remains unchanged, simulating the state of the sensor continuously rotating during an external field test, and completing the acquisition of the calibration parameters of the indoor sensor; step four specifically comprises: according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 Ensure that the total field generated by the three-axis coil is always the preset magnetic field value, where B(x), B(y), and B(z) represent the magnetic fields generated by the three-axis coil in the X, Y, and Z directions respectively, and B represents the total field synthesized by the three. Calculate the current value I required to generate the B magnetic field in the Z direction based on the magnetic field coefficient of the Z-direction coil zmax , change the Z direction current from -I zmax To I zmax Start scanning at fixed step intervals; set the X-direction current to positive current, and the Z-direction current scans a point at each point according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the Y direction current has a current value range, set a fixed step size to scan the Y direction current within this range, and within this range, the Y current scans a point each time according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the X direction corresponds to a fixed current value I x After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. z Scan to the next step, scan the Y and X direction currents in turn according to the above method. Each time a three-direction current is fixed, the total magnetic field generated remains unchanged, and the direction rotates continuously, which is equivalent to the situation where the direction of the stable magnetic field remains unchanged under the external field condition while the three-axis magnetoresistive sensor rotates continuously, so as to obtain the calibration parameters in the laboratory; set the X direction current to negative current, and scan a point in the Z direction according to B 2 (x)+B 2 (y)+B 2 (z) = B 2, the Y direction current has a current value range, set a fixed step size to scan the Y direction current within this range, and within this range, the Y current scans a point each time according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the X direction corresponds to a fixed current value I x After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. z Scan to the next step size, and scan the Y and X direction currents in turn in the above manner. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but its direction rotates continuously. This is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory.

[0038] In order to further understand the present invention, the following Figures 1 to 4 The method for calibrating and acquiring parameters of the three-axis magnetoresistive sensor in indoor space provided by the present invention is described in detail.

[0039] like Figures 1 to 4 As shown, according to a specific embodiment of the present invention, a method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space is provided, which provides a convenient method for calibrating parameters of a three-axis magnetoresistive sensor.

[0040] The technical solution of the present invention:

[0041] 1. Build a large multi-layer magnetic shielding barrel, usually four or five layers, made of soft magnetic alloy 1J85, to calibrate the three-axis magnetoresistive sensor to shield external magnetic field interference;

[0042] 2. Through simulation, three non-uniform densely wound square coils of different sizes are designed to generate uniform magnetic fields with different magnetic field coefficients. The magnetic field space that meets the uniformity requirements should cover the sensitive area of ​​the three-axis magnetoresistive sensor, and the coil skeleton is designed and processed to ensure that the minimum internal space of the coil skeleton can place the three-axis magnetoresistive sensor;

[0043] 3. Wind three enameled wire coils on the coil, and fix the three coils concentrically and orthogonally through the tooling to provide magnetic field input for the calibration of the magnetoresistive sensor. Fix the three-axis magnetoresistive sensor through the fixing tooling so that the center of its sensitive area is located at the center of the coil;

[0044] 4. Control the current of the three-axis coils respectively to ensure that the total magnetic field remains unchanged and the direction of the magnetic field rotates continuously, so as to simulate the continuous rotation calibration of the three-axis magnetoresistive sensor in the external stable magnetic field environment. The specific control strategy is as follows:2 (x)+B 2 (y)+B 2 (z) = B 2 Ensure that the total field generated by the three-axis coil is always 50000nT, where B(x), B(y), and B(z) represent the magnetic fields generated by the three-axis coil in the X, Y, and Z directions respectively, and B represents the total field synthesized by the three. First, calculate the current value I required to generate a 50000nT magnetic field in the X direction based on the magnetic field coefficient of the coil in the X direction. x , change the X direction current from -I x To I x The scan starts at a fixed step length; each time the X-direction current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the Y direction current has a current value range, and a fixed step size is set to scan the Y direction current within this range. Within this range, each time the Y current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Z direction corresponds to a fixed current value I z (Set the Z direction current to positive current first). After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, send instructions to the three-axis magnetoresistive sensor. After receiving the instructions, store the current values ​​of the three directions and the output data of the three-axis magnetoresistive sensor at this moment, and then send instructions I to the current control end. x Scan to the next step, scan the Y and Z direction currents in sequence according to the above method. Each time a three-direction current is fixed, the total magnetic field generated remains unchanged, and the direction rotates continuously, which is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory. After the entire process is scanned, set the Z direction current to negative current, and repeat the above process to complete the entire parameter calibration acquisition process.

[0045] The beneficial effects of the present invention compared with the prior art are as follows:

[0046] The present invention proposes a method for obtaining calibration parameters of a three-axis magnetoresistive sensor in an indoor space. The main advantage of the method is that the calibration of the three-axis magnetoresistive sensor can be realized in a laboratory, avoiding the manpower and material resources required for calibration in a remote field.

[0047] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0048] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0049] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space, characterized in that: The indoor space three-axis magnetoresistive sensor parameter calibration acquisition method comprises: Step 1: Build a multi-layer magnetic shielding barrel to shield the external magnetic field interference for the calibration of the three-axis magnetoresistive sensor; Step 2: Design the three-directional magnetic field coil and coil frame; Step 3, winding a three-dimensional coil, and fixing the sensitive center of the three-axis magnetoresistive sensor at the center position of the three-dimensional coil; Step 4: Through the current control strategy, the direction of the magnetic field is continuously rotated and changed while the total magnetic field size remains unchanged, simulating the state of the sensor rotating continuously during the field test, and completing the acquisition of the indoor sensor calibration parameters; the step 4 specifically includes: According to B 2 (x)+B 2 (y)+B 2 (z) = B 2 Ensure that the total field generated by the three-axis coil is always the preset magnetic field value, where B(x), B(y), and B(z) represent the magnetic fields generated by the three-axis coil in the X, Y, and Z directions respectively, and B represents the total field synthesized by the three; According to the magnetic field coefficient of the coil in the X direction, the current value I required to generate the B magnetic field in the X direction is calculated. xmax , change the X direction current from -I xmax To I xmax Start scanning at fixed step intervals; Set the Z direction current to positive current, and the X direction current scans a point according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the Y direction current has a current value range, set a fixed step size to scan the Y direction current within this range, and within this range, the Y current scans a point each time according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Z direction corresponds to a fixed current value I z After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. x Scan to the next step length, scan the Y and Z direction currents in turn according to the above method. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but the direction rotates continuously, which is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory. Set the Z direction current to negative current, and the X direction current scans a point according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the Y direction current has a current value range, and a fixed step size is set to scan the Y direction current within this range. Within this range, each time the Y current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Z direction corresponds to a fixed current value I z After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. x Scan to the next step size, and scan the Y and Z direction currents in turn in the above manner. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but its direction rotates continuously. This is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory.

2. The method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in indoor space according to claim 1, characterized in that: Each time the X-direction current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the Y direction current has a current value range, specifically including: the X direction current scans a point, and the X direction current at any set point is I xi , current I xi The corresponding magnetic field is B(x i ), assuming that the current in the Z direction is 0, the magnetic field range corresponding to the current in the Y direction is calculated as The current value range of the Y-direction current is obtained according to the magnetic field range corresponding to the Y-direction current.

3. The method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in indoor space according to claim 1, characterized in that: The multi-layer magnetic shielding barrel has four or five layers, and the material is the soft magnetic alloy 1J85.

4. The method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in indoor space according to claim 3, characterized in that: The step 2 specifically includes: designing three non-uniform densely wound square coils of different sizes through simulation to generate uniform magnetic fields with different magnetic field coefficients respectively. The magnetic field space that meets the uniformity requirements should cover the sensitive area of ​​the three-axis magnetoresistive sensor, and designing and processing the coil skeleton to ensure that the minimum internal space of the coil skeleton can place the three-axis magnetoresistive sensor.

5. The method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in indoor space according to claim 4, characterized in that: The step three specifically includes: winding three enameled wire coils on the coil frame respectively, assembling and fixing the three wound coils concentrically and orthogonally by tooling to provide magnetic field input for calibration of the magnetoresistive sensor, and fixing the three-axis magnetoresistive sensor by fixing the tooling so that the center of its sensitive area is located at the center of the three-directional magnetic field coil.

6. The method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in indoor space according to claim 5, characterized in that: The total magnetic field B is 50000 nT.

7. A three-axis magnetoresistive sensor, characterized in that: The three-axis magnetoresistive sensor is calibrated using the indoor space three-axis magnetoresistive sensor parameter calibration acquisition method as described in claims 1 to 6.

8. A method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space, characterized in that: The indoor space three-axis magnetoresistive sensor parameter calibration acquisition method comprises: Step 1: Build a multi-layer magnetic shielding barrel to shield the external magnetic field interference for the calibration of the three-axis magnetoresistive sensor; Step 2: Design the three-directional magnetic field coil and coil frame; Step 3, winding a three-dimensional coil, and fixing the sensitive center of the three-axis magnetoresistive sensor at the center position of the three-dimensional coil; Step 4: Through the current control strategy, the direction of the magnetic field is continuously rotated and changed while the total magnetic field size remains unchanged, simulating the state of the sensor rotating continuously during the field test, and completing the acquisition of the indoor sensor calibration parameters; the step 4 specifically includes: According to B 2 (x)+B 2 (y)+B 2 (z) = B 2 Ensure that the total field generated by the three-axis coil is always the preset magnetic field value, where B(x), B(y), and B(z) represent the magnetic fields generated by the three-axis coil in the X, Y, and Z directions respectively, and B represents the total field synthesized by the three; According to the magnetic field coefficient of the coil in the X direction, the current value I required to generate the B magnetic field in the X direction is calculated. xmax , change the X direction current from -I xmax To I xmax Start scanning at fixed step intervals; Set the Y direction current to positive current, and the X direction current scans a point according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the Z direction current has a current value range, set a fixed step length to scan the Z direction current within this range, and within this range, each time the Z current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Y direction corresponds to a fixed current value I y After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. x Scan to the next step length, scan the Z and Y direction currents in sequence according to the above method. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but the direction rotates continuously, which is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory. Set the Y direction current to negative current, and the X direction current scans a point according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the Z direction current has a current value range, set a fixed step length to scan the Z direction current within this range, and within this range, each time the Z current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Y direction corresponds to a fixed current value I y After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. x Scan to the next step size, and scan the Z and Y direction currents in turn in the above manner. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but its direction rotates continuously. This is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory.

9. A method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space, characterized in that: The indoor space three-axis magnetoresistive sensor parameter calibration acquisition method comprises: Step 1: Build a multi-layer magnetic shielding barrel to shield the external magnetic field interference for the calibration of the three-axis magnetoresistive sensor; Step 2: Design the three-directional magnetic field coil and coil frame; Step 3, winding a three-dimensional coil, and fixing the sensitive center of the three-axis magnetoresistive sensor at the center position of the three-dimensional coil; Step 4: Through the current control strategy, the direction of the magnetic field is continuously rotated and changed while the total magnetic field size remains unchanged, simulating the state of the sensor rotating continuously during the field test, and completing the acquisition of the indoor sensor calibration parameters; the step 4 specifically includes: According to B 2 (x)+B 2 (y)+B 2 (z) = B 2 Ensure that the total field generated by the three-axis coil is always the preset magnetic field value, where B(x), B(y), and B(z) represent the magnetic fields generated by the three-axis coil in the X, Y, and Z directions respectively, and B represents the total field synthesized by the three; According to the Y direction coil magnetic field coefficient, calculate the current value I required to generate the B magnetic field in the Y direction ymax , change the Y direction current from -I ymax To I ymax Start scanning at fixed step intervals; Set the Z direction current to positive current, and the Y direction current scans a point according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the X-direction current has a current value range, and a fixed step size is set to scan the X-direction current within this range. Within this range, each time the X current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Z direction corresponds to a fixed current value I z After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. y Scan to the next step length, scan the X and Z direction currents in turn according to the above method. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but the direction rotates continuously, which is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory. Set the Z direction current to negative current, and the Y direction current scans a point according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the X-direction current has a current value range, and a fixed step size is set to scan the X-direction current within this range. Within this range, each time the X current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Z direction corresponds to a fixed current value I z After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. y Scan to the next step size, and scan the X and Z direction currents in turn in the above manner. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but its direction rotates continuously. This is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory.

10. A method for calibrating and acquiring parameters of a three-axis magnetoresistive sensor in an indoor space, characterized in that: The indoor space three-axis magnetoresistive sensor parameter calibration acquisition method comprises: Step 1: Build a multi-layer magnetic shielding barrel to shield the external magnetic field interference for the calibration of the three-axis magnetoresistive sensor; Step 2: Design the three-directional magnetic field coil and coil frame; Step 3, winding a three-dimensional coil, and fixing the sensitive center of the three-axis magnetoresistive sensor at the center position of the three-dimensional coil; Step 4: Through the current control strategy, the direction of the magnetic field is continuously rotated and changed while the total magnetic field size remains unchanged, simulating the state of the sensor rotating continuously during the field test, and completing the acquisition of the indoor sensor calibration parameters; the step 4 specifically includes: According to B 2 (x)+B 2 (y)+B 2 (z) = B 2 Ensure that the total field generated by the three-axis coil is always the preset magnetic field value, where B(x), B(y), and B(z) represent the magnetic fields generated by the three-axis coil in the X, Y, and Z directions respectively, and B represents the total field synthesized by the three; The B generated in the Z direction is calculated based on the magnetic field coefficient of the coil in the Z direction. 预设总场 Required current value I in magnetic field zmax , change the Z direction current from -I zmax To I zmax Start scanning at fixed step intervals; Set the Y direction current to positive current, and the Z direction current scans a point according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the X-direction current has a current value range, and a fixed step size is set to scan the X-direction current within this range. Within this range, each time the X current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Y direction corresponds to a fixed current value I y After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. z Scan to the next step length, scan the X and Y direction currents in turn according to the above method. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but the direction rotates continuously, which is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory. Set the Y direction current to negative current, and the Z direction current scans a point according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the X-direction current has a current value range, and a fixed step size is set to scan the X-direction current within this range. Within this range, each time the X current scans a point, according to B 2 (x)+B 2 (y)+B 2 (z) = B 2 , the current in the Y direction corresponds to a fixed current value I y After the three-directional currents are stabilized to the corresponding values ​​through closed-loop control, a command is sent to the three-axis magnetoresistive sensor. After receiving the command, the three-directional current values ​​and the output data of the three-axis magnetoresistive sensor are stored, and then a command I is sent to the current control end. z Scan to the next step size, and scan the X and Y direction currents in turn in the above manner. Each time a three-directional current is fixed, the total magnetic field generated remains unchanged, but its direction rotates continuously. This is equivalent to the situation where the direction of the stable magnetic field remains unchanged under external field conditions while the three-axis magnetoresistive sensor rotates continuously, thus achieving the acquisition of calibration parameters in the laboratory.

Images