Aerial magnetic sensor angle adjusting device and method

Abstract

The invention discloses an aviation magnetic sensor angle adjusting device and method.The aviation magnetic sensor angle adjusting device comprises a first driving mechanism, a magnetic probe rod, a second driving mechanism, a sensor support and a controller, the fixed end of the first driving mechanism is installed on an aircraft, and the output end of the first driving mechanism is connected with the magnetic probe rod; the sensor support is rotatably arranged on the inner side of the magnetic probe rod, and the rotating center axis of the sensor support is perpendicular to the axis of the magnetic probe rod; and the first driving mechanism and the second driving mechanism are electrically connected with the controller. The controller controls the magnetic sensor to rotate by a proper angle through the first driving mechanism and the second driving mechanism, so that the magnetic sensor can be adjusted at any time along with the change of a measured geomagnetic inclination angle when the aircraft flies, and a proper included angle is kept between a magnetic sensor measuring optical system main shaft and a geomagnetic field; maximization of magnetic measurement signals in geomagnetic field measurement is facilitated, and magnetic measurement precision is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of aerial geophysical surveying, and in particular relates to an aerial magnetic sensor angle adjustment device and method. Background Art

[0002] An airborne magnetic survey system, mounted on an aircraft or other aircraft, uses magnetic sensors to measure the gradient of the Earth's magnetic field for prospecting and other geomagnetic-related activities. This system can reveal the distribution of local ore bodies and geological structures, providing insights into hydrological, environmental, and archaeological issues. Compared to manned aircraft, drone-based aeromagnetic geophysical prospecting offers advantages such as lower cost, greater safety, and reduced complexity, making it a widely used geophysical prospecting method in recent years.

[0003] In airborne magnetic surveys, the magnetic sensor must be separated from the aircraft by a certain distance, and non-magnetic materials must be used to connect the sensor and the aircraft. Due to the interaction of magnetic and conductive materials in the aircraft's engine and body, changes in the aircraft's attitude generate a certain magnetic interference field. The amplitude of this field is inversely proportional to the cube of the distance between the measurement point and the aircraft's center. Coupled with the Earth's magnetic field, the complexity of the magnetic interference field is also negatively correlated with the distance between the two. Therefore, generally speaking, the higher the required magnetic measurement accuracy, the further the sensor must be located from the aircraft.

[0004] After the magnetic sensor is fixed in position, it can only measure high-precision magnetic field values ​​within a certain angle range with the geomagnetic field. Under the same geomagnetic field strength, the strength of the signal obtained by the magnetic sensor depends on the angle between the main axis of the optical system and the geomagnetic field. The sensitive range of tracking optically pumped magnetometers is 0°±45°, while that of self-excited optically pumped magnetometers is approximately 45°±30°. Due to the varying geomagnetic inclination at different locations, the angle between the main axis of the optical system and the geomagnetic field measured by the optically pumped magnetometer sensor may exceed the sensitive range, directly affecting the accuracy of magnetic field measurements. There are two common solutions to this problem.

[0005] The first solution is to adjust the optical pumping magnetometer sensor to measure the main axis angle of the optical system according to the inclination of the geomagnetic field in the measurement area. Currently, the methods using this technical route can only be adjusted on the ground before entering the flight measurement. It is impossible to make any adjustments during the flight as the measured geomagnetic inclination changes, which limits the scope of use of the optical pumping magnetometer.

[0006] The second solution is to use a "dual optical system" optically pumped magnetometer design. Essentially, this involves installing two independent optically pumped magnetic sensors perpendicular to each other. These sensors work in relays at different magnetic inclinations, and the one with the lowest noise level is used as the measured magnetic field value. The problem with this approach is that if the optical systems of the two optically pumped sensors are too close together, their modulation frequencies will influence each other, increasing noise. If they are far apart, the magnetic field values ​​will differ significantly, resulting in poor consistency in magnetic field responses. Summary of the Invention

[0007] The object of the present invention is to provide an aerial magnetic sensor angle adjustment device and method for solving the above-mentioned problems existing in the prior art.

[0008] In order to achieve the above-mentioned purpose, in the first aspect, the present invention adopts the following technical solutions: an aerial magnetic sensor angle adjustment device, comprising a first drive mechanism, a magnetic probe rod, a second drive mechanism, a sensor bracket and a controller, the fixed end of the first drive mechanism is installed on the aircraft, the output end of the first drive mechanism is connected to the magnetic probe rod, and the first drive mechanism is used to drive the magnetic probe rod to rotate; the sensor bracket is rotatably arranged on the inner side of the magnetic probe rod, the sensor bracket is used to fix the magnetic sensor, and the second drive mechanism is used to drive the sensor bracket to rotate in the magnetic probe rod, and the rotation center axis of the sensor bracket is perpendicular to the axis of the magnetic probe rod; the first drive mechanism and the second drive mechanism are both electrically connected to the controller, and the electromagnetic components of the first drive mechanism and the second drive mechanism have an anti-interference distance from the magnetic sensor to prevent the electromagnetic components of the first drive mechanism and the second drive mechanism from interfering with the magnetic sensor.

[0009] As an optional implementation of the above technical solution, the first driving mechanism includes a first servo, a fixed end of the first servo is installed on the aircraft, and an output end of the first servo is provided with an output shaft, which is connected to the magnetic probe rod.

[0010] As an optional implementation of the above technical solution, one end of the output shaft extends into the interior of the magnetic probe rod, and a plurality of fixed shafts are provided on the output shaft along the circumference, and the ends of the fixed shafts are connected to the magnetic probe rod.

[0011] As an optional implementation of the above technical solution, a plurality of fixed shaft groups are arranged at intervals on the output shaft, each fixed shaft group includes a plurality of fixed shafts, and the plurality of fixed shafts are arranged along the circumference of the output shaft.

[0012] As an optional implementation of the above technical solution, the second driving mechanism includes a second servo and a transmission assembly, and the second servo and the transmission assembly are both arranged inside the magnetic probe rod. The second servo drives the sensor bracket to rotate inside the magnetic probe rod through the transmission assembly.

[0013] As an optional implementation of the above technical solution, the transmission assembly includes a driving wheel, a transmission belt and a driven wheel, the driving wheel and the driven wheel are connected by a transmission belt, the driving wheel is connected to the output end of the second servo, and the driven wheel is connected to the sensor bracket.

[0014] As an optional implementation of the above technical solution, the sensor bracket includes a support, the top and bottom of the support are provided with a rotating shaft rotatably connected to the magnetic probe rod, the support is provided with a limit slot adapted to the magnetic sensor, and the support is provided with an arc-shaped opening, which is used to lead out the flexible cable of the magnetic sensor.

[0015] As an optional implementation of the above technical solution, a wind shield is provided at one end of the magnetic probe rod away from the first driving mechanism, and the wind shield is detachably connected to the magnetic probe rod.

[0016] As an optional implementation of the above technical solution, the controller is connected to a positioning module, which is used to obtain the spatial position data and flight direction of the aircraft. Based on the spatial position data and flight direction of the aircraft, the controller obtains the real-time magnetic inclination and declination of the aircraft through the international geomagnetic reference field. The real-time magnetic inclination of the aircraft is used to control the rotation angle θ1 of the first drive mechanism, θ1=θ(x,y)-θ0; the real-time magnetic declination of the aircraft is used to control the rotation angle θ2 of the second drive mechanism, θ2=Φ(x,y)-d; wherein the magnetic inclination θ(x,y) and the magnetic declination Φ(x,y) are functions uniquely determined by the geographic coordinate values ​​x and y, and are obtained from the international geomagnetic reference field; when the aircraft is placed horizontally and pointing to due north, the initial inclination and declination of the magnetic sensor are both 0°; θ0 represents the angle between the main axis of the measuring optical system and the geomagnetic field when the magnetic sensor signal is maximum; for a tracking magnetic sensor, the signal is maximum when θ0=0; for a self-excited oscillation magnetic sensor, The signal is maximum when x is the x-axis coordinate value of the aircraft, y is the y-axis coordinate value of the aircraft, and d is the direction value of the aircraft.

[0017] y(t) represents the y-axis coordinate value of the aircraft at time t, y(tt d ) represents the y-axis coordinate value of the aircraft at the last sampling time, x(t) represents the x-axis coordinate value of the aircraft at time t, and x(tt d ) represents the x-axis coordinate value of the aircraft at the last sampling time.

[0018] As an optional implementation of the above technical solution, the controller is connected to a fluxgate magnetometer, which is used to obtain the three-axis magnetic field components of the aircraft. The controller determines the angle between the initial sensitive axis direction of the magnetic sensor and the magnetic field lines of the earth's magnetic field through the three-axis magnetic field components, and then decomposes the angle into the rotation angle of the first drive mechanism and the second drive mechanism, so that the sensitive axis direction of the magnetic sensor is consistent with the magnetic field lines of the earth's magnetic field; set the parameter parameter parameter By deduction, the rotation angle θ3 of the first driving mechanism is obtained, The rotation angle θ4 of the second driving mechanism, Among them, T x 、T y 、T z are the x-, y-, and z-axis components of the fluxgate magnetometer, and T is the total magnetic field value measured by the fluxgate magnetometer. When the aircraft is placed horizontally and points to due north, the initial inclination and declination of the magnetic sensor are both 0°. θ0 represents the angle between the main axis of the measuring optical system and the Earth's magnetic field when the magnetic sensor signal is maximum. For tracking magnetic sensors, the signal is maximum when θ0=0. For self-oscillating magnetic sensors, The signal is maximum.

[0019] In a second aspect, the present invention adopts the following technical solution: an airborne magnetic sensor angle adjustment method, applied to the above-mentioned airborne magnetic sensor angle adjustment device, the airborne magnetic sensor angle adjustment method comprising: obtaining spatial position data and flight direction of the aircraft, and based on the spatial position data and flight direction of the aircraft, obtaining the real-time magnetic inclination and declination of the aircraft through the international geomagnetic reference field, the real-time magnetic inclination of the aircraft is used to control the rotation angle θ1 of the first drive mechanism, θ1 = Θ(x, y) - θ0; the real-time magnetic declination of the aircraft is used to control the rotation angle θ2 of the second drive mechanism, θ2 = Φ(x, y) - d; wherein x represents the x-axis coordinate value of the aircraft, y represents the y-axis coordinate value of the aircraft, and d represents the direction value of the aircraft, y(t) represents the y-axis coordinate value of the aircraft at time t, y(tt d ) represents the y-axis coordinate value of the aircraft at the last sampling time, x(t) represents the x-axis coordinate value of the aircraft at time t, and x(tt d ) represents the x-axis coordinate value of the aircraft at the last sampling time; the magnetic inclination angle Θ(x,y) and the magnetic declination angle Φ(x,y) are functions uniquely determined by the geographic coordinate values ​​x and y, and are obtained from the International Geomagnetic Reference Field; when the aircraft is placed horizontally and pointing due north, the initial inclination and declination angles of the magnetic sensor are both 0°; θ0 represents the angle between the main axis of the measuring optical system and the geomagnetic field when the magnetic sensor signal is maximum; for tracking magnetic sensors, the signal is maximum when θ0 = 0; for self-excited oscillation magnetic sensors, The signal is maximum.

[0020] In a third aspect, the present invention adopts the following technical solution: a method for adjusting the angle of an airborne magnetic sensor, applied to the above-mentioned airborne magnetic sensor angle adjustment device, the method comprising: obtaining the three-axis magnetic field components of the aircraft, determining the angle between the initial sensitive axis direction of the magnetic sensor and the magnetic field lines of the earth's magnetic field through the three-axis magnetic field components, decomposing the angle into the rotation angle of the first drive mechanism and the second drive mechanism, so that the sensitive axis direction of the magnetic sensor is consistent with the magnetic field lines of the earth's magnetic field; setting parameters parameter parameter By deduction, the rotation angle θ3 of the first driving mechanism is obtained, The rotation angle θ4 of the second driving mechanism, Among them, T x 、T y 、T z are the x-, y-, and z-axis components of the fluxgate magnetometer, and T is the total magnetic field value measured by the fluxgate magnetometer. When the aircraft is placed horizontally and points to due north, the initial inclination and declination of the magnetic sensor are both 0°. θ0 represents the angle between the main axis of the measuring optical system and the Earth's magnetic field when the magnetic sensor signal is maximum. For tracking magnetic sensors, the signal is maximum when θ0=0. For self-oscillating magnetic sensors, The signal is maximum.

[0021] The beneficial effects of the present invention are:

[0022] The present invention provides an airborne magnetic sensor angle adjustment device and method. A controller controls the magnetic sensor to rotate to an appropriate angle via a first drive mechanism and a second drive mechanism, so that the magnetic sensor can be adjusted at any time as the measured geomagnetic inclination changes during flight. A suitable angle is maintained between the main axis of the magnetic sensor's measurement optical system and the geomagnetic field, which is beneficial for maximizing the magnetic measurement signal in geomagnetic field measurement and improving magnetic measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 2. It is a schematic diagram of the three-dimensional structure of an angle adjustment device for an aviation magnetic sensor according to one embodiment of the present invention;

[0024] Figure 2 2. It is a schematic diagram of the exploded structure of an aerial magnetic sensor angle adjustment device according to one embodiment of the present invention;

[0025] Figure 3 is a schematic structural diagram of a first driving mechanism in one embodiment of the present invention;

[0026] Figure 4 is a schematic structural diagram of a second driving mechanism in one embodiment of the present invention;

[0027] Figure 5 1 is a control block diagram of an aerial magnetic sensor angle adjustment device according to one embodiment of the present invention.

[0028] In the figure: 1-first driving mechanism; 2-magnetic probe rod; 3-second driving mechanism; 4-sensor bracket; 5-controller; 6-first servo; 7-output shaft; 8-fixed shaft; 9-second servo; 10-driving wheel; 11-transmission belt; 12-driven wheel; 13-windproof cover; 14-positioning module; 15-fluxgate magnetometer. DETAILED DESCRIPTION

[0029] like Figure 1-Figure 5 As shown, this embodiment provides an aerial magnetic sensor angle adjustment device, including a first drive mechanism 1, a magnetic probe rod 2, a second drive mechanism 3, a sensor bracket 4 and a controller 5. The fixed end of the first drive mechanism 1 is installed on the aircraft, and the output end of the first drive mechanism 1 is connected to the magnetic probe rod 2. The first drive mechanism 1 is used to drive the magnetic probe rod 2 to rotate. The rotation center of the magnetic probe rod 2 is consistent with the forward direction of the aircraft, so that the magnetic sensor rotates with the magnetic probe rod 2, thereby adjusting the angle between the main axis of the magnetic sensor measurement optical system and the earth's magnetic field.

[0030] like Figure 2 As shown, the sensor bracket 4 is rotatably arranged on the inner side of the magnetic probe rod 2. The sensor bracket 4 is used to fix the magnetic sensor so that the magnetic sensor can rotate with the sensor bracket 4. The second driving mechanism 3 is used to drive the sensor bracket 4 to rotate within the magnetic probe rod 2, and the rotation center axis of the sensor bracket 4 is perpendicular to the axis of the magnetic probe rod 2. The rotation center axis of the sensor bracket 4 is perpendicular to the main axis of the magnetic sensor measurement optical system. By combining the first driving mechanism 1 and the second driving mechanism 3 to adjust the direction of the main axis of the magnetic sensor measurement optical system, the angle between the main axis of the magnetic sensor measurement optical system and the forward direction of the aircraft can be adjusted to any angle.

[0031] The first drive mechanism 1 and the second drive mechanism 3 are both electrically connected to the controller 5. The electromagnetic components of the first drive mechanism 1 and the second drive mechanism 3 are each separated from the magnetic sensor by an anti-interference distance to prevent interference with the magnetic sensor. The controller 5 controls the magnetic sensor through the first drive mechanism 1 and the second drive mechanism 3 to rotate to an appropriate angle, allowing the magnetic sensor to adjust to changes in the measured geomagnetic inclination during flight. Maintaining an appropriate angle between the main axis of the magnetic sensor's measurement optical system and the geomagnetic field facilitates maximizing the magnetic signal during geomagnetic field measurements and improving magnetic measurement accuracy.

[0032] In a specific embodiment, Figure 3As shown, the first driving mechanism 1 includes a first servo 6, the fixed end of the first servo 6 is installed on the aircraft, and the output end of the first servo 6 is provided with an output shaft 7, and the output shaft 7 is connected to the magnetic probe rod 2. One end of the output shaft 7 extends into the interior of the magnetic probe rod 2, and a plurality of fixed shafts 8 are provided on the output shaft 7 along the circumference, and the ends of the fixed shafts 8 are connected to the magnetic probe rod 2. Preferably, a plurality of fixed shaft groups are provided at intervals on the output shaft 7, each fixed shaft group includes a plurality of fixed shafts 8, and the plurality of fixed shafts 8 are arranged along the circumference of the output shaft 7 to ensure the fixing effect of the output shaft 7 and the magnetic probe rod 2.

[0033] In a specific embodiment, Figure 4 As shown, the second driving mechanism 3 includes a second servo 9 and a transmission assembly, both of which are arranged inside the magnetic probe rod 2. The second servo 9 drives the sensor bracket 4 to rotate inside the magnetic probe rod 2 through the transmission assembly. Specifically, the transmission assembly includes a driving wheel 10, a transmission belt 11 and a driven wheel 12. The driving wheel 10 and the driven wheel 12 are connected by the transmission belt 11. The driving wheel 10 is connected to the output end of the second servo 9, and the driven wheel 12 is connected to the sensor bracket 4, so that the second servo 9 maintains a suitable distance from the magnetic sensor.

[0034] In one embodiment, the sensor bracket 4 includes a support, the top and bottom of which are each provided with a rotating shaft rotatably connected to the magnetic probe rod 2, the support being provided with a limit slot adapted for the magnetic sensor, and the support being provided with an arc-shaped opening for leading out a flexible cable of the magnetic sensor. A wind shield 13 is provided at one end of the magnetic probe rod 2 away from the first drive mechanism 1, and the wind shield 13 is detachably connected to the magnetic probe rod 2.

[0035] In a specific embodiment, Figure 5 As shown, the controller 5 is connected to a positioning module 14, which is used to obtain the spatial position data and flight direction of the aircraft. Based on the spatial position data and flight direction of the aircraft, the controller 5 obtains the real-time magnetic inclination and declination of the aircraft through the international geomagnetic reference field. The real-time magnetic inclination of the aircraft is used to control the rotation angle θ1 of the first drive mechanism, θ1=θ(x,y)-θ0; the real-time magnetic declination of the aircraft is used to control the rotation angle θ2 of the second drive mechanism, θ2=Φ(x,y)-d; wherein x represents the x-axis coordinate value of the aircraft, y represents the y-axis coordinate value of the aircraft, and d represents the direction value of the aircraft. Both x and y are given by the positioning module 14. y(t) represents the y-axis coordinate value of the aircraft at time t, y(tt d ) represents the y-axis coordinate value of the aircraft at the last sampling time, x(t) represents the x-axis coordinate value of the aircraft at time t, and x(tt d) represents the x-axis coordinate value of the aircraft at the last sampling time; the magnetic inclination angle Θ(x,y) and the magnetic declination angle Φ(x,y) are functions uniquely determined by the geographic coordinate values ​​x and y, and are obtained from the International Geomagnetic Reference Field; when the aircraft is placed horizontally and pointing due north, the initial inclination and declination angles of the magnetic sensor are both 0°; θ0 represents the angle between the main axis of the measuring optical system and the geomagnetic field when the magnetic sensor signal is maximum; for tracking magnetic sensors, the signal is maximum when θ0 = 0; for self-excited oscillation magnetic sensors, The positioning module 14 uses a GNSS or BeiDou positioning device. In this mode, since the positioning information of the GNSS or BeiDou positioning device cannot provide the attitude information of the aircraft, the first and second servos repeatedly adjust and track with a time delay, so the change cannot be too drastic.

[0036] In a specific embodiment, the controller 5 is connected to a fluxgate magnetometer 15, which is used to obtain the three-axis magnetic field components of the aircraft. The controller 5 determines the angle between the initial sensitive axis direction of the magnetic sensor and the magnetic field lines of the earth's magnetic field through the three-axis magnetic field components, and then decomposes the angle into the rotation angle of the first drive mechanism and the second drive mechanism, so that the sensitive axis direction of the magnetic sensor is consistent with the magnetic field lines of the earth's magnetic field; set the parameter parameter parameter By deduction, the rotation angle θ3 of the first driving mechanism is obtained, The rotation angle θ4 of the second driving mechanism, Among them, T x 、T y 、T z are the x-, y-, and z-axis components of the fluxgate magnetometer 15, respectively; T is the total magnetic field value measured by the fluxgate magnetometer 15; when the aircraft is placed horizontally and points to due north, the initial inclination and declination of the magnetic sensor are both 0°; θ0 represents the angle between the main axis of the measuring optical system and the Earth's magnetic field when the magnetic sensor signal is maximum; for tracking magnetic sensors, the signal is maximum when θ0=0; for self-oscillating magnetic sensors, The signal is maximum.

[0037] In the present invention, the magnetic probe rod 2, the driving wheel 10, the transmission belt 11 and the driven wheel 12 are all made of non-magnetic materials, and the first servo 6 and the second servo 9 are both far away from the location of the magnetic sensor (front end). The magnetic probe rod 2 is a hollow cylinder, and the front end is designed with a hemispherical structure to reduce wind resistance. The magnetic sensor of the optical pump magnetometer is mounted on the sensor bracket 4 at the front end of the magnetic probe rod 2, and the sensor bracket 4 is controlled to rotate by the second servo 9. The second servo 9 is fixed to the magnetic probe rod 2 by two screws, and the magnetic probe rod 2 is connected to the output shaft 7 of the first servo 6 by a fixed shaft 8, so it can be controlled to rotate by the first servo 6. The first servo 6 and the second servo 9 are both controlled by a controller 5 (single-chip microcomputer) installed in the aircraft cabin, and a low-precision fluxgate magnetometer 15 is fixed in the aircraft cabin.

[0038] The hollowed-out rear portion of the first servo 6 is fixed to the aircraft's mounting point or other vehicle mounting point, and the output shaft 7 extending from the front is connected to the magnetic probe 2. Because the first servo 6 controls the magnetic probe 2 and the second servo 9 is fixed to the magnetic probe 2, the rotation of the magnetic probe 2 driven by the first servo 6 will also affect the second servo 9. The first servo 6 controls the magnetic probe 2 and drives the second servo 9 and the sensor bracket 4 to rotate with the aircraft's forward direction as the axis.

[0039] The second servo 9 is mounted on the magnetic probe 2, at a distance of no less than 4 meters from the magnetic sensor of the high-precision optically pumped magnetometer. The second servo 9 is secured to the outer wall of the magnetic probe 2 via two fixing rods on the side wall (or adhesively fixed thereto). The driving pulley 10 of the second servo 9 rotates the driven pulley 12 via a transmission belt 11, controlling the gear angle of the sensor bracket 4 to achieve different angles between the magnetic sensor and the magnetic probe 2.

[0040] The sensor bracket 4 and the driven wheel 12 are connected by four nylon screws, which respectively fix the upper and lower coaxial nylon bearings. The nylon bearings are connected to the outer wall of the front end of the magnetic probe rod 2 using bolts. The limit slot of the support is used to install the magnetic sensor, and the magnetic sensor is fixed to the support using nylon Velcro (also known as magic tape). When the support is in a horizontal state, the lower surface of the magnetic sensor is tightly fitted with the surface of the limit slot. After the Velcro passes around the lower surface of the support and the upper surface of the magnetic sensor, it is tightened and bonded to provide binding force for the magnetic sensor and the support. The arc-shaped opening on the support is used to lead out the flexible cable of the magnetic sensor. The flexible cable should have sufficient margin to ensure the flexible rotation of the support. The driven wheel 12 is controlled by the second servo 9 through the transmission belt 11, thereby driving the magnetic sensor and the sensor bracket 4 to rotate synchronously.

[0041] The present invention provides an airborne magnetic sensor angle adjustment device that automatically maintains the magnetic sensor within the sensitive zone (effective measurement range) of magnetic measurement during flight as the geomagnetic field changes. This solves the problem of decreased magnetic signal sensitivity or even invalid measurements caused by changes in the angle between the geomagnetic field and the magnetic sensor during airborne magnetic measurement. The entire process can be completed automatically by the device during flight. Furthermore, the design of the driving wheel 10, transmission belt 11, and driven wheel 12 ensures a constant distance between the magnetic sensor and the magnetic material (second servo 9), thereby controlling the interference field value of the magnetic material on the aircraft to the geomagnetic measurement within an acceptable range.

[0042] This embodiment further provides an airborne magnetic sensor angle adjustment method, which is applied to the above-mentioned airborne magnetic sensor angle adjustment device. The airborne magnetic sensor angle adjustment method includes: obtaining spatial position data and flight direction of the aircraft through a GNSS or Beidou positioning device; based on the spatial position data and flight direction of the aircraft, a controller 5 obtains the real-time magnetic inclination and declination of the aircraft through the International Geomagnetic Reference Field; the real-time magnetic inclination of the aircraft is used to control the rotation angle θ1 of the first drive mechanism, θ1 = θ(x, y) - θ0; the real-time magnetic declination of the aircraft is used to control the rotation angle θ2 of the second drive mechanism, θ2 = Φ(x, y) - d; wherein x represents the x-axis coordinate value of the aircraft, y represents the y-axis coordinate value of the aircraft, and d represents the direction value of the aircraft. y(t) represents the y-axis coordinate value of the aircraft at time t, y(tt d ) represents the y-axis coordinate value of the aircraft at the last sampling time, x(t) represents the x-axis coordinate value of the aircraft at time t, and x(tt d ) represents the x-axis coordinate value of the aircraft at the previous sampling time; the magnetic inclination angle Θ(x,y) and the magnetic declination angle Φ(x,y) are functions uniquely determined by the geographic coordinate values ​​x and y and are obtained from the International Geomagnetic Reference Field; when the aircraft is placed horizontally and pointing due north, the initial inclination and declination of the magnetic sensor are both 0°; θ0 represents the angle between the main axis of the measuring optical system and the geomagnetic field when the magnetic sensor signal is maximum; for tracking magnetic sensors, the signal is maximum when θ0 = 0.

[0043] This embodiment also provides an airborne magnetic sensor angle adjustment method, which is applied to the above-mentioned airborne magnetic sensor angle adjustment device. The airborne magnetic sensor angle adjustment method includes: obtaining the three-axis magnetic field components of the aircraft through the fluxgate magnetometer 15, determining the angle between the initial sensitive axis direction of the magnetic sensor and the magnetic field lines of the earth's magnetic field through the three-axis magnetic field components, decomposing the angle into the rotation angles of the first drive mechanism and the second drive mechanism, so that the sensitive axis direction of the magnetic sensor is consistent with the magnetic field lines of the earth's magnetic field; setting parameters parameter parameter By deduction, the rotation angle θ3 of the first driving mechanism is obtained, The rotation angle θ4 of the second driving mechanism, Among them, T x 、T y 、T z are the x-, y-, and z-axis components of the fluxgate magnetometer 15, respectively; T is the total magnetic field value measured by the fluxgate magnetometer 15; when the aircraft is placed horizontally and points to due north, the initial inclination and declination of the magnetic sensor are both 0°; θ0 represents the angle between the main axis of the measuring optical system and the Earth's magnetic field when the magnetic sensor signal is maximum; for tracking magnetic sensors, the signal is maximum when θ0=0; for self-oscillating magnetic sensors, The signal is maximum.

[0044] The present invention controls the rotation angle of the two servos through the controller 5 according to the signal input or positioning signal input provided by the fluxgate magnetometer 15. The rotation of the two servos can drive the direction of the main axis of the magnetic sensor measurement optical system to change in any direction, ensuring that the main axis of the magnetic sensor measurement optical system and the direction of the earth's magnetic field maintain the angle required for the maximum value of the measurement signal.

[0045] In the description of the present invention, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, and may be fixedly connected, detachably connected, or integrated; may be mechanically connected or electrically connected; may be directly connected or indirectly connected through an intermediate medium; may be internal connectivity between two elements or an interaction relationship between two elements. Those skilled in the art can understand the specific meanings of the above terms in the present invention. In addition, the specific features, structures, etc. described in the embodiments are included in at least one embodiment. Under the condition that there is no contradiction, those skilled in the art may combine the features of different embodiments. The scope of protection of the present invention is not limited to the above-mentioned specific embodiments. According to the basic technical concept of the present invention, the embodiments that can be associated with by ordinary technicians in this field without creative work all fall within the scope of protection of the present invention.

Claims

1. An aerial magnetic sensor angle adjustment device, characterized in that: The invention comprises a first driving mechanism (1), a magnetic probe rod (2), a second driving mechanism (3), a sensor bracket (4) and a controller (5), wherein the fixed end of the first driving mechanism (1) is mounted on an aircraft, the output end of the first driving mechanism (1) is connected to the magnetic probe rod (2), and the first driving mechanism (1) is used to drive the magnetic probe rod (2) to rotate; the sensor bracket (4) is rotatably arranged on the inner side of the magnetic probe rod (2), the sensor bracket (4) is used to fix the magnetic sensor, and the second driving mechanism (3) is used to drive the sensor bracket (4) to rotate inside the magnetic probe rod (2), and the rotation center axis of the sensor bracket (4) is perpendicular to the axis of the magnetic probe rod (2); the first driving mechanism (1) and the second driving mechanism (3) are both electrically connected to the controller (5), and the electromagnetic components of the first driving mechanism (1) and the second driving mechanism (3) are both at an anti-interference distance from the magnetic sensor to prevent the electromagnetic components of the first driving mechanism (1) and the second driving mechanism (3) from interfering with the magnetic sensor.

2. The aerial magnetic sensor angle adjustment device according to claim 1, characterized in that: The first driving mechanism (1) comprises a first steering gear (6), the fixed end of the first steering gear (6) is mounted on the aircraft, and the output end of the first steering gear (6) is provided with an output shaft (7), and the output shaft (7) is connected to the magnetic probe rod (2).

3. The aerial magnetic sensor angle adjustment device according to claim 2, characterized in that: One end of the output shaft (7) extends into the interior of the magnetic probe rod (2), and a plurality of fixed shafts (8) are circumferentially arranged on the output shaft (7), and the ends of the fixed shafts (8) are connected to the magnetic probe rod (2); a plurality of fixed shaft groups are spaced apart on the output shaft (7), each fixed shaft group includes a plurality of fixed shafts (8), and the plurality of fixed shafts (8) are circumferentially arranged on the output shaft (7).

4. The aerial magnetic sensor angle adjustment device according to claim 1, characterized in that: The second driving mechanism (3) comprises a second steering gear (9) and a transmission assembly, wherein the second steering gear (9) and the transmission assembly are both arranged inside the magnetic probe rod (2), and the second steering gear (9) drives the sensor bracket (4) to rotate inside the magnetic probe rod (2) through the transmission assembly; the transmission assembly comprises a driving wheel (10), a transmission belt (11) and a driven wheel (12), wherein the driving wheel (10) and the driven wheel (12) are connected via the transmission belt (11), the driving wheel (10) is connected to the output end of the second steering gear (9), and the driven wheel (12) is connected to the sensor bracket (4).

5. The aerial magnetic sensor angle adjustment device according to claim 1, characterized in that: The sensor bracket (4) comprises a support, wherein the top and bottom of the support are provided with a rotating shaft rotatably connected to the magnetic probe rod (2), the support is provided with a limit slot adapted to the magnetic sensor, and the support is provided with an arc-shaped opening, and the arc-shaped opening is used to lead out the flexible cable of the magnetic sensor.

6. The aerial magnetic sensor angle adjustment device according to claim 1, characterized in that: A wind shield (13) is provided at one end of the magnetic probe rod (2) away from the first driving mechanism (1), and the wind shield (13) is detachably connected to the magnetic probe rod (2).

7. The aerial magnetic sensor angle adjustment device according to claim 1, characterized in that: The controller (5) is connected to a positioning module (14), and the positioning module (14) is used to obtain the spatial position data and flight direction of the aircraft. Based on the spatial position data and flight direction of the aircraft, the controller (5) obtains the real-time magnetic inclination and declination of the aircraft through the international geomagnetic reference field. The real-time magnetic inclination of the aircraft is used to control the rotation angle θ1 of the first drive mechanism, θ1=θ(x,y)-θ0; the real-time magnetic declination of the aircraft is used to control the rotation angle θ2 of the second drive mechanism, θ2=Φ(x,y)-d; wherein the magnetic inclination θ(x,y) and the magnetic declination Φ(x,y) are functions uniquely determined by the geographic coordinate values ​​x and y, and are obtained from the international geomagnetic reference field; when the aircraft is placed horizontally and points to due north, the initial inclination and declination of the magnetic sensor are both 0°; θ0 represents the angle between the main axis of the measuring optical system and the geomagnetic field when the magnetic sensor signal is maximum; for a tracking magnetic sensor, the signal is maximum when θ0=0; for a self-excited oscillation magnetic sensor, The signal is maximum when x is the x-axis coordinate value of the aircraft, y is the y-axis coordinate value of the aircraft, and d is the direction value of the aircraft. y(t) represents the y-axis coordinate value of the aircraft at time t, y(tt d ) represents the y-axis coordinate value of the aircraft at the last sampling time, x(t) represents the x-axis coordinate value of the aircraft at time t, and x(tt d ) represents the x-axis coordinate value of the aircraft at the last sampling time.

8. The aerial magnetic sensor angle adjustment device according to claim 1, characterized in that: The controller (5) is connected to a fluxgate magnetometer (15), which is used to obtain the three-axis magnetic field components of the aircraft. The controller (5) determines the angle between the initial sensitive axis direction of the magnetic sensor and the magnetic field lines of the earth's magnetic field through the three-axis magnetic field components, and then decomposes the angle into the rotation angle of the first drive mechanism and the second drive mechanism, so that the sensitive axis direction of the magnetic sensor is consistent with the magnetic field lines of the earth's magnetic field; set the parameter parameter parameter By deduction, the rotation angle θ3 of the first driving mechanism is obtained, The rotation angle θ4 of the second driving mechanism, Among them, T x 、T y 、T z are the x-, y- and z-axis components of the fluxgate magnetometer (15), respectively; T is the total magnetic field value measured by the fluxgate magnetometer (15); when the aircraft is placed horizontally and points to due north, the initial inclination and declination of the magnetic sensor are both 0°; θ0 represents the angle between the main axis of the measuring optical system and the earth's magnetic field when the magnetic sensor signal is maximum; for a tracking magnetic sensor, the signal is maximum when θ0=0; for a self-excited oscillation magnetic sensor, The signal is maximum.

9. A method for adjusting the angle of an aviation magnetic sensor, applied to the device for adjusting the angle of an aviation magnetic sensor according to any one of claims 1 to 8, characterized in that: The method for adjusting the angle of the airborne magnetic sensor includes: obtaining spatial position data and a flight direction of the aircraft; obtaining the real-time magnetic inclination and declination of the aircraft through the international geomagnetic reference field based on the spatial position data and the flight direction of the aircraft; the real-time magnetic inclination of the aircraft is used to control the rotation angle θ1 of the first driving mechanism, θ1=θ(x,y)-θ0; the real-time magnetic declination of the aircraft is used to control the rotation angle θ2 of the second driving mechanism, θ2=Φ(x,y)-d; wherein x represents the x-axis coordinate value of the aircraft, y represents the y-axis coordinate value of the aircraft, and d represents the direction value of the aircraft. y(t) represents the y-axis coordinate value of the aircraft at time t, y(tt d ) represents the y-axis coordinate value of the aircraft at the last sampling time, x(t) represents the x-axis coordinate value of the aircraft at time t, and x(tt d ) represents the x-axis coordinate value of the aircraft at the last sampling time; the magnetic inclination angle Θ(x,y) and the magnetic declination angle Φ(x,y) are functions uniquely determined by the geographic coordinate values ​​x and y, and are obtained from the International Geomagnetic Reference Field; when the aircraft is placed horizontally and pointing due north, the initial inclination and declination angles of the magnetic sensor are both 0°; θ0 represents the angle between the main axis of the measuring optical system and the geomagnetic field when the magnetic sensor signal is maximum; for tracking magnetic sensors, the signal is maximum when θ0 = 0; for self-excited oscillation magnetic sensors, The signal is maximum.

10. A method for adjusting the angle of an aviation magnetic sensor, applied to the device for adjusting the angle of an aviation magnetic sensor according to any one of claims 1 to 8, characterized in that: The method for adjusting the angle of the airborne magnetic sensor comprises: obtaining the three-axis magnetic field components of the aircraft, determining the angle between the initial sensitive axis direction of the magnetic sensor and the magnetic field lines of the earth's magnetic field through the three-axis magnetic field components, decomposing the angle into the rotation angles of the first drive mechanism and the second drive mechanism, so that the sensitive axis direction of the magnetic sensor is consistent with the magnetic field lines of the earth's magnetic field; setting the parameters parameter parameter By deduction, the rotation angle θ3 of the first driving mechanism is obtained, The rotation angle θ4 of the second driving mechanism, Among them, T x 、T y 、T z are the x-, y- and z-axis components of the fluxgate magnetometer (15), respectively; T is the total magnetic field value measured by the fluxgate magnetometer (15); when the aircraft is placed horizontally and points to due north, the initial inclination and declination of the magnetic sensor are both 0°; θ0 represents the angle between the main axis of the measuring optical system and the earth's magnetic field when the magnetic sensor signal is maximum; for a tracking magnetic sensor, the signal is maximum when θ0=0; for a self-excited oscillation magnetic sensor, The signal is maximum.

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