Fluxgate magnetometer noise suppression method, system, device and medium

Abstract

The invention relates to the technical field of fluxgate magnetometer metering testing, in particular to a fluxgate magnetometer noise suppression method, system and device and a medium, which can further reduce signal noise and extract measured magnetic field information by performing data processing on acquired digital signals, are simple and rapid, and have a better noise suppression effect. According to the invention, the fluxgate sensor and the high-speed data acquisition system are combined, analog-to-digital conversion is carried out on the voltage signal of the magnetic sensor, data processing is carried out on the acquired digital signal, the signal noise is further reduced, the information of the measured magnetic field is further extracted, the method is simple and rapid, and the noise suppression effect is relatively good.

Description

Technical Field

[0001] The invention relates to the technical field of fluxgate magnetometer measurement and testing, and in particular to a fluxgate magnetometer noise suppression method, system, equipment and medium. Background Art

[0002] At the beginning of the last century, driven by the rapid progress of emerging electronic semiconductor technology, material science, optoelectronic science and atomic physics technology, many devices for magnetic field measurement using various special effects have been developed one after another. Among these magnetic measuring instruments, most of them have problems such as only being able to test scalars, large size, high power consumption, complex structure, and high price. The fluxgate magnetometer has the advantages of low requirements for the measurement environment, vector measurement, simplicity and reliability while ensuring a certain test accuracy. It has become one of the most widely used and reliable instruments in the field of magnetic measurement. The fluxgate magnetometer is a sensor that uses the fluxgate principle to measure weak magnetic fields. Using the three-component fluxgate magnetometer with three-dimensional orthogonal sensitive axis directions, it can accurately measure the component size of the measured magnetic field vector projected in each sensitive axis direction. The measurement result can be used to calculate the angle between the magnetometer and the local geomagnetic field vector, which can be used in application scenarios such as flight body attitude control. Compared with other principle magnetometers, the fluxgate magnetometer has low power consumption, small size and relatively simple and reliable physical structure, so it has a wide range of applications in the field of magnetic field measurement.

[0003] However, there is signal noise in the existing fluxgate magnetometer measurement, and the current effective noise processing method is relatively complicated. Summary of the invention

[0004] In view of this, the present invention provides a fluxgate magnetometer noise suppression method, system, device and medium, which can further reduce signal noise and extract measured magnetic field information by performing data processing on the collected digital signal. The method is simple and fast, and the noise suppression effect is relatively good.

[0005] To achieve the above purpose, the technical solution of the present invention is as follows:

[0006] A method for suppressing noise of a fluxgate magnetometer comprises the following steps:

[0007] Step 1: Collect the magnetic field signal measured by the fluxgate sensor to obtain the X-axis magnetic field raw data set;

[0008] Step 2: sort the magnetic field data from small to large;

[0009] Step 3: Remove the set number of maximum and minimum values ​​from the sorted data to obtain a new data set;

[0010] Step 4: Fit the magnetic field data in the new data set and calculate the variables to be corrected;

[0011] Step 5: Correct the magnetic field data based on the variable to be corrected to obtain the final result of the X-axis;

[0012] Similarly, the above steps are performed on the magnetic field data of the Y axis and the Z axis to obtain the final result of the Y axis and the final result of the Z axis respectively.

[0013] The data processing parameters used in step 4 are adjusted according to the signal characteristics to optimize the magnetic field data fitting process.

[0014] This further includes verifying the results after the magnetic field data is corrected to ensure that the corrected magnetic field data meets the preset quality standards.

[0015] The present invention also provides a fluxgate magnetometer noise suppression system, comprising a fluxgate sensor, a data acquisition system and a data processing system, wherein the fluxgate sensor is used to output magnetic field voltage signals in three directions of X, Y and Z; the data acquisition system is responsible for converting the voltage signal into a digital signal; the data processing system is responsible for performing data processing on the digital signal after AD conversion to execute the noise suppression method as described in any one of claims 1 to 3.

[0016] Wherein, the fluxgate sensor is a three-component fluxgate probe.

[0017] Wherein, the data acquisition system includes an AD conversion chip for converting analog voltage signals into digital signals.

[0018] The data processing system includes a microprocessor, a DSP or an FPGA, which is used to perform data sorting, extreme value removal, fitting and correction.

[0019] It also includes a storage unit for storing the collected original magnetic field data and the processed results; it also includes a communication interface for allowing data to be exchanged with external devices.

[0020] The present invention also provides an electronic device, which includes a processor and a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement the noise suppression method described in the present invention.

[0021] The present invention further provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the noise suppression method of the present invention.

[0022] Beneficial effects:

[0023] 1. The method of the present invention combines a fluxgate sensor with a high-speed data acquisition system to perform analog-to-digital conversion on the voltage signal of the magnetic sensor, and then processes the collected digital signal to further reduce signal noise and extract the measured magnetic field information. The method is simple and fast, and has a good noise suppression effect.

[0024] 2. The method of the present invention has a good noise suppression effect. A large number of sample values ​​are obtained through high-speed data acquisition, and the results after data processing are more accurate.

[0025] 3. The method of the present invention has good adaptability and can adapt to different magnetic field signals by adjusting data processing parameters.

[0026] 4. The system of the present invention is used to implement the method of the present invention. Based on the principle of traditional fluxgate sensor, the data acquisition system and the data processing system are optimized. The magnetic field signal measured by the fluxgate sensor is collected at high speed by the data acquisition system and combined with subsequent data processing, thereby suppressing the noise of the fluxgate magnetometer. The system has a simple structure and low cost.

[0027] 5. The device of the present invention is used to implement the method of the present invention. Based on the traditional fluxgate sensor principle, the data acquisition system and the data processing system are optimized. The magnetic field signal measured by the fluxgate sensor is collected at high speed by the data acquisition system and combined with subsequent data processing, thereby suppressing the noise of the fluxgate magnetometer. The device has a simple structure and low cost.

[0028] 6. The medium of the present invention is used to implement the method of the present invention. Based on the principle of the traditional fluxgate sensor, the data acquisition system and the data processing system are optimized. The magnetic field signal measured by the fluxgate sensor is collected at high speed by the data acquisition system and combined with subsequent data processing, thereby suppressing the noise of the fluxgate magnetometer. The structure is simple and the cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The figure is a flow chart of the method of the present invention.

[0030] Figure 2 It is a schematic diagram of the system composition of the present invention.

[0031] Figure 3 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0032] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0033] The present invention provides a method for suppressing fluxgate magnetometer noise. The core idea of ​​the method is to optimize the data acquisition system and the data processing system based on the principle of the traditional fluxgate sensor, and to combine the high-speed acquisition of the magnetic field signal measured by the fluxgate sensor by the data acquisition system with the subsequent data processing, thereby suppressing the fluxgate magnetometer noise. The process of the method of the present invention is as follows Figure 1 As shown, the following steps are included:

[0034] Step 1, magnetic field data collection. In this embodiment, (m+n) X-axis magnetic field raw data sets are obtained as follows:

[0035] X m+n =[x0,x1……x m+n-1 ] (1)

[0036] Step 2, sort the magnetic field data from small to large;

[0037] Step 3, after removing n / 2 maximum values ​​and n / 2 minimum values ​​respectively, a new data set is obtained; in this embodiment, the new data set is as follows:

[0038] X' m =[x'0,x'1……x' m-1 ] (2)

[0039] Step 4: Fit the magnetic field data to obtain the variable B to be corrected X0 , as follows:

[0040]

[0041] B X0 =X' m α X T (4)

[0042] i is the data sequence number in the new data set.

[0043] Step 5: Correct the magnetic field data to obtain the final result B X1 , as follows:

[0044] B X1 =μ·B X0 +ν (5)

[0045] Similarly, the magnetic field value B of the magnetic sensor Y and Z axis output under the magnetic field environment is obtained Y1 , B Z1 .

[0046] The α used in the above data processing X , μ, ν, etc. are all data processing parameters and can be adjusted according to signal characteristics.

[0047] Furthermore, the method also includes the step of verifying the result after the magnetic field data is corrected, so as to ensure that the corrected magnetic field data meets the preset quality standard.

[0048] The present invention also provides a fluxgate magnetometer noise suppression system for implementing the method of the present invention, the system composition is as follows Figure 2 As shown, it includes a fluxgate sensor, a data acquisition system and a data processing system; wherein the fluxgate sensor outputs magnetic field voltage signals in three directions of X, Y and Z; the data acquisition system is responsible for converting the voltage signal into a digital signal through the AD conversion chip in the data acquisition system hardware; and the data processing system is responsible for data processing of the digital signal after AD conversion.

[0049] In this embodiment, the fluxgate sensor is a three-component fluxgate probe, which can simultaneously measure the magnetic field strength in three orthogonal directions; the data acquisition system is a high-speed data acquisition system with high resolution and fast response characteristics, ensuring that the analog voltage signal can be accurately converted into a digital signal; the data processing system includes but is not limited to a microprocessor, a DSP (digital signal processor) or an FPGA (field programmable gate array), which is used to execute algorithms such as data sorting, de-escalation, fitting and correction.

[0050] Furthermore, the system of the present invention also includes a storage unit for storing the collected raw magnetic field data and the processed results for subsequent analysis or transmission; and also includes a communication interface for allowing data exchange with external devices, such as uploading processed magnetic field data or receiving control instructions. By combining a three-component fluxgate probe, a data acquisition system and a data processing system, after the data processing process of magnetic field data acquisition, data sorting, data de-extreme value, data fitting and data correction, the noise in the obtained magnetic field data information can be better suppressed.

[0051] The embodiment of the present application also provides an electronic device, Figure 3The structure of the electronic device provided by the embodiment of the present invention is shown. For example, the electronic device 30 may include a processor 31, a memory 32 and a transmission device 33. The processor is used to execute the fluxgate magnetometer noise suppression method mentioned in the above embodiment, wherein the processor and the memory may be connected by a bus or other means, taking the bus connection as an example. The transmission device may be connected to the processor and the memory by wire or wirelessly. The memory, as a non-transient computer-readable storage medium, may be used to store non-transient software programs, non-transient computer executable programs and modules, such as program instructions / modules corresponding to the fluxgate magnetometer noise suppression method in the embodiment of the present application. The processor executes various functional applications and data processing of the processor by running the non-transient software programs, instructions and modules stored in the memory, that is, the fluxgate magnetometer noise suppression method in the above method embodiment is implemented. The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required by at least one function; the data storage area may store data created by the processor, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The one or more modules are stored in the memory, and when executed by the processor, the fluxgate magnetometer noise suppression method in the embodiment is executed.

[0052] As another aspect, the present application also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the device described in the above embodiment; or a computer-readable storage medium that exists independently and is not assembled into a device. The computer-readable storage medium may be a tangible storage medium, such as a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a floppy disk, a hard disk, a removable storage disk, a CD-ROM, or any other form of storage medium known in the technical field. The computer-readable storage medium stores one or more programs, and the programs are used by one or more processors to execute the fluxgate magnetometer noise suppression method described in the present application.

[0053] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for suppressing noise of a fluxgate magnetometer, characterized in that: The following steps are involved: Step 1: Collect the magnetic field signal measured by the fluxgate sensor to obtain the X-axis magnetic field raw data set; Step 2: sort the magnetic field data from small to large; Step 3: Remove the maximum and minimum values ​​of a set number from the sorted data to obtain a new data set; Step 4: Fit the magnetic field data in the new data set and calculate the variables to be corrected; Step 5: Correct the magnetic field data based on the variable to be corrected to obtain the final result of the X-axis; Similarly, the above steps are performed on the magnetic field data of the Y axis and the Z axis to obtain the final result of the Y axis and the final result of the Z axis respectively.

2. The method according to claim 1, characterized in that The data processing parameters used in step 4 are adjusted according to the signal characteristics to optimize the magnetic field data fitting process.

3. The method according to claim 1 or 2, characterized in that ,It further includes verifying the results after the magnetic field data is corrected to ensure that the corrected magnetic field data meets the preset quality standards.

4. A fluxgate magnetometer noise suppression system, characterized in that , including a fluxgate sensor, a data acquisition system and a data processing system, wherein the fluxgate sensor is used to output magnetic field voltage signals in three directions of X, Y and Z; the data acquisition system is responsible for converting the voltage signal into a digital signal; the data processing system is responsible for processing the digital signal after AD conversion to execute the noise suppression method as described in any one of claims 1 to 3.

5. The system according to claim 4, characterized in that The fluxgate sensor is a three-component fluxgate probe.

6. The system according to claim 4, characterized in that The data acquisition system includes an AD conversion chip, which is used to convert analog voltage signals into digital signals.

7. The system according to any one of claims 4 to 6, characterized in that: The data processing system includes a microprocessor, a DSP or an FPGA, and is used for executing data sorting, removing the extreme value, fitting and correction.

8. The system according to claim 4, characterized in that It also includes a storage unit for storing the collected raw magnetic field data and the processed results; and a communication interface for allowing data to be exchanged with external devices.

9. An electronic device, characterized in that: The electronic device includes a processor and a memory for storing executable instructions of the processor; the processor is used to read the executable instructions from the memory and execute the instructions to implement the noise suppression method described in any one of claims 1 to 3 above.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the noise suppression method described in any one of claims 1 to 3.

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