Magnetometer steering difference correction method and magnetometer

Abstract

The invention relates to a magnetometer correction method and a magnetometer, the magnetometer comprises a shell and a magnetic sensor arranged in the shell, and the magnetic sensor is provided with an attitude sensing module and a counterweight structure; the method comprises the following steps: performing steering difference test and debugging on a magnetic sensor of a magnetic measurement instrument to complete initialization setting of an attitude sensing module; when the magnetic measuring instrument is used subsequently, the magnetic sensor is taken out of the shell and installed on the rotary table for rotation operation, and when the posture deflection angle output by the posture sensing module exceeds the preset angle range after rotation operation, steering difference correction is conducted on the magnetic sensor by operating the balance weight structure. Tedious and complex operations can be reduced, and the steering difference correction efficiency of the magnetic sensor is improved.

Description

Technical Field

[0001] The present application relates to the technical field of magnetic measurement equipment, and specifically relates to a method for correcting the steering error of a magnetometer and a magnetometer. Background Art

[0002] A magnetometer is an instrument used to measure the magnetic field strength and direction, and has wide applications in fields such as geological exploration and aerospace. However, in actual use, the magnetometer may be affected by various factors, resulting in errors in the measurement results. Specifically, when the magnetometer rotates horizontally during the measurement process, the vertical magnetic flux due to the tilt detection will change, resulting in a deviation in the measurement results. This deviation is called the steering error.

[0003] Since the magnetometer needs to be tested for steering error before use, if the steering error does not meet the requirements, the steering error needs to be adjusted. In the current technical solutions, during the process of testing and adjusting the steering error of the magnetometer, it is necessary to repeatedly disassemble the housing of the magnetometer, adjust the weights of the screw and the fastening nut, and completely rely on the experience of the operator for blind operation. The process is cumbersome and complex, with low efficiency, greatly affecting the convenience of installation and use of the magnetometer, and limiting the application of large-scale equipment. Summary of the Invention

[0004] Based on the above description, the present application provides a method for correcting the steering error of a magnetometer and a magnetometer to solve the problems of cumbersome and complex correction process and low efficiency of the current magnetometer steering error.

[0005] In a first aspect, the present application provides a method for correcting a magnetometer. The magnetometer includes a housing and a magnetic sensor disposed in the housing. An attitude sensing module and a weight structure are provided on the magnetic sensor. The method includes: Performing a steering error test and adjustment on the magnetic sensor of the magnetometer to complete the initialization setting of the attitude sensing module; When the magnetometer is used subsequently, taking out the magnetic sensor from the housing and installing it on a turntable for rotation operation. When the attitude deflection angle output by the attitude sensing module after the rotation operation exceeds a preset angle range, the steering error of the magnetic sensor is corrected by operating the weight structure.

[0006] In one or more embodiments, the attitude deflection angle includes the tilt angle generated by the sensitive axis of the magnetic sensor relative to a preset detection direction, and the tilt angle includes a pitch angle and a roll angle.

[0007] In one or more embodiments, when correcting the steering error of the magnetic sensor, by adjusting the weights in four horizontal directions around the sensitive axis of the magnetic sensor, the attitude deflection angle output by the attitude sensing module in real time is made to satisfy the preset angle range.

[0008] In one or more embodiments, it further includes: After the attitude deflection angle output in real time by the attitude sensing module satisfies a preset angle range, the magnetic sensor is installed in the housing and magnetic field detection is performed to measure the magnetic field data at multiple symmetric measuring point positions around the sensitive axis of the magnetic sensor, so as to verify the steering difference correction result.

[0009] In one or more embodiments, when performing steering difference correction on the magnetic sensor, the attitude sensing module is connected to an upper computer, and the attitude deflection angle output in real time by the attitude sensing module is displayed through the upper computer to visually calibrate the magnetic sensor.

[0010] In one or more embodiments, when performing initialization settings on the attitude sensing module, the attitude sensing module is connected to an upper computer, and the output data of the attitude sensing module is displayed through the upper computer and zero setting is performed.

[0011] In one or more embodiments, performing a steering difference test on the magnetic sensor of the magnetometer includes: Taking out the magnetic sensor from the housing and installing it on a turntable for rotation operation; Installing the rotated magnetic sensor in the housing and performing magnetic field detection to measure the magnetic field data at multiple symmetric measuring point positions around the sensitive axis of the magnetic sensor; Determining whether there is a steering difference in the magnetic sensor according to the difference magnitude of the magnetic field data at multiple symmetric measuring point positions around the magnetic sensor.

[0012] In a second aspect, the present application provides a magnetometer, including: A housing and a magnetic sensor, an attitude sensing module, and a counterweight structure disposed in the housing; the attitude sensing module is fixedly connected to one end of the magnetic sensor; the counterweight structure is disposed on a side of the attitude sensing module away from the magnetic sensor; Wherein, after initializing the attitude sensing module, the attitude sensing module is configured to output an attitude deflection angle after performing a rotation operation on the magnetic sensor; according to the attitude deflection angle and a preset angle range, the magnetic sensor is subjected to steering difference correction by operating the counterweight structure.

[0013] In one or more embodiments, the attitude sensing module is composed of a MEMS gyroscope and a MEMS accelerometer; or The attitude sensing module is any one of a laser rangefinder, an integrated inclinometer, and an integrated infrared laser locator.

[0014] In one or more embodiments, the attitude sensing module is configured to be connectable to a host computer, which is used to display the attitude deflection angle output by the attitude sensing module in real time to visually calibrate the magnetic sensor.

[0015] Compared with the prior art, the technical solution of the present application has the following beneficial technical effects: In the magnetic field measuring instrument steering error correction method and the magnetic field measuring instrument of the present application, when the tester is used for the first time, the steering error test and debugging of the tester need to be carried out, and then the initialization settings of the attitude sensing module are completed. When the tester is used subsequently, by rotating the magnetic sensor and then outputting the attitude deflection angle through the attitude sensing module, the operator or the terminal device can judge whether there is a steering error in the magnetic sensor according to the attitude deflection angle and the preset angle range. If there is, the operator can adjust the weights in each horizontal direction of the sensitive axis of the magnetic sensor by operating the weight structure, and combined with the attitude deflection angle output by the attitude sensing module in real time, so that the operator can quickly adjust the attitude of the magnetic sensor, realize the steering error correction of the magnetic sensor, avoid repeatedly disassembling and assembling the magnetic sensor and the housing during the correction process, reduce the cumbersome and complex operations, and improve the steering error correction efficiency of the magnetic sensor. Description of the Drawings

[0016] Figure 1 It is a schematic structural diagram of a magnetic field measuring instrument in the related art; Figure 2 is Figure 1 a schematic diagram of the magnetic sensor of the magnetic field measuring instrument in Figure 3 It is a schematic structural diagram of a magnetic field measuring instrument provided by an embodiment of the present application; Figure 4 It is a schematic diagram of the magnetic sensor having a steering error in an embodiment of the present application; Figure 5 It is a schematic flowchart of the magnetic field measuring instrument steering error correction method provided by an embodiment of the present application; Figure 6 It is a schematic diagram of adjusting the weight structure in a specific embodiment of the present application; Figure 7 It is a method flowchart of step S10 in an embodiment of the present application. Detailed Embodiments

[0017] To facilitate the understanding of the present application, the present application will be described more comprehensively below with reference to the relevant drawings. Embodiments of the present application are shown in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used in the description of this application herein are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0019] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element or connected to the other element through an intermediate element. In the following embodiments, "connection", if there is a transfer of electrical signals or data between the connected circuits, units, units, etc., should be understood as "electrical connection", "connection", etc.

[0020] A magnetometer is an instrument used to measure the magnetic field strength and direction, and has wide applications in fields such as geological exploration and aerospace. However, in actual use, the magnetometer may be affected by various factors, resulting in errors in the measurement results. Specifically, when the magnetometer rotates or tilts during the measurement process, the magnetic flux inside it will change, resulting in a deviation in the measurement result, and this deviation is called the turning error.

[0021] In a related technology, as Figure 1 shown, the magnetometer 100 is applied to underwater vertical magnetic field measurement and mainly consists of a magnetic sensor 11 and a metal cylinder 12. The magnetic sensor 11 is suspended in the metal cylinder 12, and a compass structure 13 with universal balance is adopted above the magnetic sensor 11, which is similar to a pendulum and can achieve vertical balance by relying on its own gravity. A balance device 14 is provided at the lower end of the magnetic sensor 11. Around the extension direction of the sensitive axis of the magnetic sensor 11, adjusting screws 15 and fastening nuts 16 are provided around the balance device 14. Through the weight adjustment of the adjusting screws 15 and the fastening nuts 16, the direction of the gravity of the structure is made consistent with the direction of the sensitive axis of the magnetic sensor 11, so as to ensure that the magnetic sensor 11 can maintain the vertical direction to measure the vertical magnetic field in the case of the inclination of the outer shell of the metal cylinder 12. Before using the magnetometer 100 for measurement, it is necessary to measure the turning error performance of the magnetometer 100. The magnetic sensor 11 is taken out of the metal cylinder 12 and rotated, and then the magnetic sensor 11 is installed into the metal cylinder 12. Through the magnetic field detection data in each horizontal direction of the sensitive axis of the magnetic sensor 11, it is determined whether there is a turning error in the magnetic sensor 11. If there is a turning error in the magnetic sensor 11, it is necessary to perform turning error debugging on the magnetic sensor 11.

[0022] As Figure 2As shown, the steering difference is actually caused by the fact that the actual direction B of the sensitive axis of the magnetic sensor 11 does not coincide with the vertical direction A (i.e., the detection direction), and there is an inclination angle α between the two. If the steering difference is too large, it will seriously affect the accuracy of the measurement result, and may even mislead subsequent decisions and judgments. Therefore, when using the magnetic measuring instrument for measurement, it is necessary to fully consider and minimize the influence of the steering difference, ensure that the magnetic measuring instrument remains horizontal and stable during installation and use, and avoid rotation or inclination. Regular calibration of the magnetic measuring instrument can detect and correct errors such as the steering difference in time to ensure the accuracy of the measurement result.

[0023] In the current steering difference debugging scheme, the shell of the magnetic measuring instrument 100 needs to be repeatedly disassembled, the weights of the adjusting screw 15 and the fastening nut 16 are adjusted, and then the steering difference of the magnetic sensor 11 is measured and analyzed. Moreover, the weights of the adjusting screw 15 and the fastening nut 16 are blindly operated entirely based on the experience of the operator. The process is cumbersome and complex, and the operation efficiency is low, which greatly affects the convenience of installation and use of the magnetic measuring instrument 100, resulting in limited large-scale equipment application of the magnetic measuring instrument 100.

[0024] Based on this, the embodiment of the present application provides a method and a magnetic measuring instrument for correcting the steering difference of the magnetic measuring instrument to solve the problems of cumbersome and complex correction process and low efficiency of the current magnetic measuring instrument steering difference.

[0025] Refer to Figure 3 and Figure 4 , Figure 3 shows a schematic structural diagram of a magnetic measuring instrument provided by an embodiment of the present application. Figure 4 shows a schematic diagram of the steering difference of the magnetic sensor in an embodiment of the present application, and only shows the parts related to this embodiment.

[0026] A magnetic measuring instrument 200 provided by an embodiment of the present application includes: a housing 21 and a magnetic sensor 22, an attitude sensing module 23 and a weight structure 24 arranged in the housing 21; the attitude sensing module 23 is fixedly connected to one end of the magnetic sensor 22; the weight structure 24 is arranged on the side of the attitude sensing module 23 away from the magnetic sensor 22. Wherein, after initializing the attitude sensing module 23, the attitude sensing module 23 is used to output an attitude deflection angle after rotating the magnetic sensor 22; according to the attitude deflection angle and a preset angle range, the steering difference of the magnetic sensor 22 is corrected by operating the weight structure 24.

[0027] It should be noted that the housing 21 can be a metal cylinder, which serves to carry and protect the magnetic sensor 22. The attitude sensing module 23 refers to a sensor or integrated device capable of measuring the attitude of the magnetic sensor 22. The weight structure 24 refers to a structure or component for adjusting the weights in multiple horizontal directions of the sensitive axis of the magnetic sensor 22. In this embodiment, the magnetometer 200 can be applied to underwater vertical magnetic field measurement. In other embodiments, the magnetometer 200 can also be applied to underground, aerospace and other fields. In this embodiment, a compass structure 26 with universal balance can be adopted above the magnetic sensor 22. Similar to a pendulum, it can achieve vertical balance relying on its own gravity. A high-precision attitude sensing module 23 is added below the magnetic sensor 22, and the two are fixedly connected. The attitude deflection angle of the magnetic sensor 22 is measured through the attitude sensing module 23.

[0028] In addition, in this embodiment, a balancing device 25 is installed on the side of the attitude sensing module 23 facing away from the magnetic sensor 22. The balancing device 25 is similar to a balance structure. A weight structure 24 is installed around the balancing device 25 and is arranged along the extension direction of the sensitive axis of the magnetic sensor 22. In this embodiment, the weight structure 24 includes an adjusting screw 241 and a fastening nut 242. By changing the moment through the adjusting screw 241 and the nut, the balance is tilted, thereby changing the attitude of the balancing device 25, that is, changing the attitude of the magnetic sensor 22. In other embodiments, the weight structure 24 can also adopt structures such as weight blocks to achieve weight adjustment.

[0029] It can be understood that as Figure 4 shown, theoretically, the magnetometer 200 needs to perform vertical magnetic field detection in the vertical direction A. In actual operation, since the magnetic sensor 22 cannot always remain vertically downward when the housing 21 is tilted, it may actually be in the tilted direction B, forming an angle α with the vertical direction. At this time, a magnetic field measurement steering error is formed.

[0030] In this embodiment, when the tester is used for the first time, it is necessary to perform a steering error test and debugging on the tester, and then complete the initialization settings of the attitude sensing module 23. When the tester is used subsequently, by rotating the magnetic sensor 22, and then the attitude sensing module 23 outputs the attitude deflection angle. The operator or the terminal device can judge whether there is a steering error of the magnetic sensor 22 according to the attitude deflection angle and the preset angle range. If there is, the operator can adjust the weights in each horizontal direction of the sensitive axis of the magnetic sensor 22 by operating the weight structure 24, and then combined with the attitude deflection angle output by the attitude sensing module 23 in real time, so that the operator can quickly adjust the attitude of the magnetic sensor 22, perform steering error correction on the magnetic sensor 22, avoid repeatedly disassembling and assembling the magnetic sensor 22 and the housing 21 during the correction process, reduce cumbersome and complex operations, and improve the steering error correction efficiency of the magnetic sensor 22.

[0031] In some embodiments, the attitude sensing module 23 is composed of a MEMS gyroscope and a MEMS accelerometer. Specifically, the high-precision attitude sensor is composed of a MEMS gyroscope and a MEMS accelerometer. The output data of the MEMS gyroscope and the output data of the MEMS accelerometer are fused through a multi-sensor fusion algorithm to obtain a stable and non-drifting attitude deflection angle. In this way, after the magnetic sensor 22 performs a rotation operation, the attitude deflection angle of the magnetic sensor 22 can be directly measured by the MEMS gyroscope and the MEMS accelerometer, and high-precision detection can be achieved.

[0032] In other embodiments, the attitude sensing module 23 is any one of a laser rangefinder, an integrated inclinometer, and an integrated infrared laser locator. Or it can be other devices capable of realizing the attitude sensing function. For example, it can be integrated into the magnetic sensor or an external measurement device. In this way, a laser rangefinder, an integrated inclinometer, an integrated infrared laser locator, or other devices with an inclination detection function and involving a fusion algorithm can be selected, and the specific attitude sensing module 23 can be flexibly selected according to the detection requirements or cost requirements.

[0033] In some embodiments, the attitude deflection angle includes the inclination angle generated by the sensitive axis of the magnetic sensor 22 relative to the preset detection direction, and this inclination angle includes the pitch angle and the roll angle. Specifically, in this embodiment, the preset detection direction is the vertical direction to achieve vertical magnetic field detection. By measuring the pitch angle and the roll angle generated by the sensitive axis of the magnetic sensor 22 relative to the preset detection direction through the attitude sensing module 23, the deflection direction and deflection amplitude of the magnetic sensor 22 can be determined. In this way, it is convenient for the operator to adjust the weights in each horizontal direction of the sensitive axis of the magnetic sensor 22 to achieve precise calibration.

[0034] In some embodiments, the attitude sensing module 23 is configured to be connectable to a host computer, and the host computer is used to display the attitude deflection angle output by the attitude sensing module 23 in real time to visually calibrate the magnetic sensor 22. Specifically, the attitude sensing module 23 is communicatively connected to the host computer, and relevant software can be installed on the host computer to display the attitude deflection angle output by the attitude sensing module 23 in real time. In this way, during the process of the operator manually adjusting the weight structure 24, the weights in each horizontal direction of the sensitive axis of the magnetic sensor 22 can be reasonably changed according to the attitude deflection angle of the magnetic sensor 22 displayed by the host computer in real time, so as to visually calibrate the magnetic sensor 22 and improve the calibration efficiency of the steering difference of the magnetic sensor 22.

[0035] Refer to Figure 5 , Figure 5The figure shows a schematic flowchart of a method for correcting the steering error of a magnetic field measuring instrument provided by an embodiment of the present application. An embodiment of the present application provides a method for correcting the steering error of a magnetic field measuring instrument. The magnetic field measuring instrument 200 includes a housing 21 and a magnetic sensor 22 disposed inside the housing 21. An attitude sensing module 23 and a counterweight structure 24 are provided on the magnetic sensor 22. The method includes the following steps: S10. Perform a steering error test and debugging on the magnetic sensor 22 of the magnetic field measuring instrument 200 to complete the initialization settings of the attitude sensing module 23.

[0036] In some embodiments, when initializing the attitude sensing module 23, connect the attitude sensing module 23 to the host computer, and display the output data of the attitude sensing module 23 through the host computer and perform a zero setting.

[0037] Specifically, when the magnetic field measuring instrument 200 is used for the first time, take out the magnetic sensor 22 from the housing 21 for a steering error test. In this embodiment, the general steering error test includes a rotation operation and a magnetic field detection. If it is detected that the magnetic sensor 22 does not meet the steering error requirements, the magnetic sensor 22 can be debugged according to the traditional steering error debugging method to make the magnetic sensor 22 meet the steering error requirements. At this time, the sensitive axis direction of the magnetic sensor 22 is adjusted from the inclined direction B to the vertical direction A to complete the debugging. Then keep the magnetic sensor 22 stationary, power on the attitude sensing module 23 and connect it to the host computer. After stabilizing for a few minutes, read the attitude deflection angle output by the attitude sensing module 23 at this time. Finally, send an instruction through the host computer to set the attitude deflection angle to zero at this time to complete the initialization settings of the attitude sensing module 23.

[0038] S20. When the magnetic field measuring instrument 200 is used subsequently, take out the magnetic sensor 22 from the housing 21 and install it on a turntable for a rotation operation. When the attitude deflection angle output by the attitude sensing module 23 after the rotation operation exceeds a preset angle range, perform a steering error correction on the magnetic sensor 22 by operating the counterweight structure 24.

[0039] In some embodiments, the attitude deflection angle includes a pitch angle and a roll angle generated by the sensitive axis of the magnetic sensor 22 relative to a preset detection direction. Specifically, in this embodiment, the preset detection direction is the vertical direction to achieve vertical magnetic field detection. By measuring the pitch angle Pitch and roll angle Roll generated by the sensitive axis of the magnetic sensor 22 relative to the preset detection direction through the attitude sensing module 23, the deflection direction and deflection amplitude of the magnetic sensor 22 can be determined. In this way, it is convenient for the operator to adjust the counterweights in each horizontal direction of the sensitive axis of the magnetic sensor 22, which helps to achieve accurate correction.

[0040] In some embodiments, when performing steering error correction on the magnetic sensor 22, the attitude sensing module 23 is connected to the host computer, and the attitude deflection angle output by the attitude sensing module 23 in real time is displayed through the host computer to visually calibrate the magnetic sensor 22. Further, when performing steering error correction on the magnetic sensor 22, by adjusting the weights in each horizontal direction of the sensitive axis of the magnetic sensor 22, the attitude deflection angle output by the attitude sensing module 23 in real time is made to satisfy a preset angle range.

[0041] Specifically, during the subsequent use of the magnetometer 200, when judging the steering error performance of the magnetic sensor 22, the magnetic sensor 22 is taken out of the housing 21 and installed on a turntable for rotation operation. For example, in a specific embodiment, the magnetic sensor 22 is installed on a horizontal turntable and rotated one week. After the rotation operation, only the attitude sensing module 23 needs to be communicatively connected to the host computer, and the host computer can display the attitude deflection angle output by the attitude sensing module 23 in real time. In this embodiment, if the pitch angle Pitch and roll angle Roll output by the attitude sensing module 23 at this time do not satisfy |Pitch| ≤ ε, |Roll| ≤ ε, where ε is a preset angle value close to 0, that is, the attitude deflection angle exceeds the preset angle range, it can be determined that the magnetic sensor 22 has a steering error. The operator can adjust the weights in multiple horizontal directions around the sensitive axis of the magnetic sensor 22 through the weight structure 24, and pay attention to the attitude deflection angle displayed by the host computer in real time to visually calibrate the direction of the sensitive axis of the magnetic sensor 22, so that the pitch angle Pitch and roll angle Roll gradually approach the 0° angle position, that is, the vertical measurement of the magnetic sensor 22 is realized, and the purpose of steering error calibration is achieved.

[0042] Continue to refer to Figure 3 and Figure 4 and, in combination with referring to Figure 6 , Figure 6 shows a schematic diagram of adjusting the weight structure in a specific embodiment of the present application.

[0043] In a specific embodiment, the weight structure 24 includes an adjusting screw 241 and a fastening nut 242. Assuming that the top view of the attitude sensing module 23 from top to bottom is as shown in Figure 6 shown, an X-Y coordinate system is established. The adjustment scheme for the adjusting screw 241 and the fastening nut 242 is as follows: Pitch angle Pitch ≥ ε: Increase the weight in the -X direction or decrease the weight in the +X direction through the adjusting screw 241 and the fastening nut 242; Pitch angle Pitch ≤ -ε: Increase the weight in the +X direction or decrease the weight in the -X direction through the adjusting screw 241 and the fastening nut 242; Roll angle Roll ≥ ε: Increase the weight in the +Y direction or decrease the weight in the -Y direction through the adjusting screw 241 and the fastening nut 242; Roll angle RoIl ≤ -ε: Increase the counterweight in the -Y direction or decrease the counterweight in the +Y direction by adjusting the screw 241 and the fastening nut 242.

[0044] In this way, according to the pitch angle and roll angle output by the attitude sensing module 23, determine the deflection direction and deflection amplitude of the attitude sensing module 23 or the magnetic sensor 22. By the operator adjusting the adjusting screw 241 and the fastening nut, the counterweights in the four horizontal directions around the sensitive axis direction of the magnetic sensor 22 adjust the sensitive axis of the magnetic sensor 22 from the inclined direction B to the vertical direction A, achieving the purpose of steering error calibration and improving the calibration efficiency.

[0045] In some embodiments, after the attitude deflection angle real-time output by the attitude sensing module 23 satisfies the preset angle range, the magnetic sensor 22 is installed in the housing 21 and magnetic field detection is performed to measure the magnetic field data at multiple symmetric measurement point positions around the sensitive axis of the magnetic sensor 22 to verify the steering error correction result.

[0046] Specifically, after the visual calibration is completed, the magnetic sensor 22 can be installed in the housing 21 for magnetic field detection, and the magnetic field data at multiple symmetric measurement point positions around the sensitive axis of the magnetic sensor 22 is measured. For example, measure the static magnetic field values at the four diagonal positions perpendicular to the sensitive axis of the magnetic sensor 22 (i.e., the measurement point positions), and then calculate the difference between the peak values of the static magnetic field values at the four symmetric measurement point positions. When the difference is less than the required threshold, it indicates that there is no steering error in the magnetic sensor 22 and the steering error correction effect is good.

[0047] Refer to Figure 7 , Figure 7 which shows the flowchart of the method in step S10 in the embodiment of the present application.

[0048] In some embodiments, the steering error test of the magnetic sensor 22 of the magnetometer 200 in step S10 includes: S11. Take out the magnetic sensor 22 from the housing 21 and install it on the turntable for rotation operation; S12. Install the rotated magnetic sensor 22 in the housing 21 and perform vertical magnetic field detection to measure the magnetic field data at multiple symmetric measurement point positions around the sensitive axis of the magnetic sensor 22; S13. Determine whether there is a steering error in the magnetic sensor 22 according to the difference in the magnetic field data at multiple symmetric measurement point positions around the magnetic sensor 22.

[0049] Specifically, before using the magnetic field measuring instrument 200 for measurement, it is necessary to test the turning difference performance of the magnetic field measuring instrument 200. Take out the magnetic sensor 22 from the housing 21 and install it on a horizontal turntable. Rotate the turntable one week, and then install the magnetic sensor 22 back into the housing 21. Measure the static magnetic field values at four positions of the vertical diagonal (i.e., the measuring point positions). Then calculate the difference between the peak values of the static magnetic field values at the four measuring points. When the difference exceeds the required threshold, it is determined that there is a turning difference in the magnetic sensor 22, and turning difference debugging is required.

[0050] In this embodiment, the specific method for turning difference debugging is as follows: Take out the magnetic sensor 22 from the housing 21 and place it on a horizontal table. Adjust the weights of the adjusting screw 241 and the fastening nut 242 to adjust the sensitive axis of the magnetic sensor 22 to be vertical. Each time an adjustment is made, it is necessary to reinstall the magnetic field measuring instrument 200 and measure the magnetic field data at multiple symmetric measuring point positions. If there is still a turning difference in the magnetic sensor 22, it is necessary to readjust the weights of the adjusting screw 241 and the fastening nut 242. In fact, it is to adjust the inclination angle of the sensitive axis of the magnetic sensor 22 to be close to 0°, so that the turning differences in all directions of the magnetic sensor 22 can meet the threshold requirements.

[0051] In summary, for the turning difference correction method of the magnetic field measuring instrument and the magnetic field measuring instrument 200 in this embodiment, by installing the attitude sensing module 23 on the magnetic sensor 22, and measuring the attitude deflection angle through the high-precision attitude sensing module 23, the operator adjusts the adjusting screw 241 and the fastening nut 242 in each direction of the sensitive axis of the magnetic sensor 22, so that the pitch angle and roll angle displayed on the upper computer are both displayed near 0°, and the turning difference performance debugging can be completed. By displaying the pitch angle and roll angle on the upper computer in real time, the operator can quickly adjust the weights of the adjusting screw 241 and the fastening nut 242, and there is no need to repeatedly disassemble the housing 21 of the magnetic field measuring instrument 200, which can meet the turning difference performance requirements of the magnetic sensor 22.

[0052] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for correcting the steering error of a magnetic measuring instrument, characterized in that, The magnetic measuring instrument includes a housing and a magnetic sensor disposed within the housing. An attitude sensing module and a weight structure are provided on the magnetic sensor; the method includes: Performing a steering difference test and debugging on the magnetic sensor of the magnetic measuring instrument to complete the initialization setting of the attitude sensing module; When the magnetic measuring instrument is subsequently used, taking out the magnetic sensor from the housing and installing it on a turntable for rotation operation. When the attitude deflection angle output by the attitude sensing module after the rotation operation exceeds a preset angle range, performing steering difference correction on the magnetic sensor by operating the weight structure.

2. The magnetic field measuring instrument yaw correction method according to claim 1, wherein The attitude deflection angle includes the tilt angle generated by the sensitive axis of the magnetic sensor relative to a preset detection direction, and the tilt angle includes a pitch angle and a roll angle.

3. The magnetic field measurement instrument yaw error correction method according to claim 1, characterized in that When performing steering difference correction on the magnetic sensor, by adjusting the weights in four horizontal directions around the sensitive axis of the magnetic sensor, the attitude deflection angle output by the attitude sensing module in real time is made to satisfy the preset angle range.

4. The magnetic field measuring instrument steering error correction method according to claim 3, characterized in that, It further includes: After the attitude deflection angle output by the attitude sensing module in real time satisfies the preset angle range, installing the magnetic sensor in the housing and performing magnetic field detection, and measuring the magnetic field data at multiple symmetric measurement point positions around the sensitive axis of the magnetic sensor to verify the steering difference correction result.

5. The magnetic measurement instrument steering error correction method according to claim 3, characterized in that, When performing steering difference correction on the magnetic sensor, connecting the attitude sensing module to an upper computer, and displaying the attitude deflection angle output by the attitude sensing module in real time through the upper computer to visually calibrate the magnetic sensor.

6. The magnetic field measuring instrument yaw correction method according to claim 1, wherein When performing the initialization setting on the attitude sensing module, connecting the attitude sensing module to an upper computer, and displaying the output data of the attitude sensing module through the upper computer and performing a zeroing setting.

7. The magnetic field measuring instrument yaw error correction method according to any one of claims 1-6, characterized in that Performing a steering difference test on the magnetic sensor of the magnetic measuring instrument includes: Taking out the magnetic sensor from the housing and installing it on a turntable for rotation operation; Installing the rotated magnetic sensor in the housing and performing magnetic field detection to measure the magnetic field data at multiple symmetric measurement point positions around the sensitive axis of the magnetic sensor; Determining whether there is a steering difference in the magnetic sensor according to the difference in the magnetic field data at multiple symmetric measurement point positions around the magnetic sensor.

8. A magnetic measuring instrument, characterized in that, It includes: A housing and a magnetic sensor, an attitude sensing module, and a weight structure disposed within the housing; the attitude sensing module is fixedly connected to one end of the magnetic sensor; the weight structure is disposed on the side of the attitude sensing module away from the magnetic sensor; Wherein, after initializing the attitude sensing module, the attitude sensing module is configured to output an attitude deflection angle after performing a rotation operation on the magnetic sensor; according to the attitude deflection angle and the preset angle range, performing steering difference correction on the magnetic sensor by operating the weight structure.

9. The magnetometer according to claim 8, wherein, The attitude sensing module is composed of a MEMS gyroscope and a MEMS accelerometer; or The attitude sensing module is any one of a laser rangefinder, an integrated inclinometer, and an integrated infrared laser locator.

10. The magnetometer according to claim 8 or 9, characterized in that, The attitude sensing module is configured to be connectable to an upper computer, and the upper computer is used to display the attitude deflection angle output by the attitude sensing module in real time to visually calibrate the magnetic sensor.

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