Electronic digital compass equipment

Abstract

The invention discloses electronic digital compass equipment, which comprises a vector sensing module, a data processing module, a trigger module, a result output module and a storage module, and is characterized in that the vector sensing module is used for acquiring original vector data required by geological survey, and ensuring the accuracy and environmental adaptability of data acquisition; the data processing module is used for receiving original data of the vector sensing module and calculating geological elements through coordinate transformation, vector operation and a calibration algorithm, the trigger module is used for controlling measurement starting time and ensuring that equipment collects data in a stable state, and the result output module is used for displaying the geological elements of a measurement surface in real time in a digital mode. The storage module is used for storing data according to a geological survey format to avoid artificial transcription errors; according to the invention, through an electronic and digital measurement mode, accurate measurement of geological elements of field geological levels or sections is realized, and the precision and efficiency of measurement of geological elements such as tendency and trend in geological survey are effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of geological survey, and particularly relates to an electronic digital compass device. BACKGROUND

[0002] In the geological survey work, the geological element measurement is a key link for obtaining basic geological information, and the traditional measurement tool is a mechanical compass, which needs to read the scale manually and record the data, and has the following defects: firstly, the measurement accuracy is greatly affected by the human reading error, and the deviation of the inclination and strike angle often exceeds ±1°; secondly, the data recording depends on the paper manual, and the subsequent manual input into the computer is prone to transcription errors and low efficiency; thirdly, the mechanical compass is difficult to place in the measurement position due to the complex field geological environment.

[0003] Although some existing electronic compasses realize data digitization, they still have the problems of poor sensor coordination, weak environmental adaptability, and non-optimized algorithm for the geological survey scene, so that the measurement accuracy and efficiency are low in the complex field geological environment, and it is difficult to meet the demand of high-precision and high-efficiency geological mapping. SUMMARY

[0004] In view of the above problems, the purpose of the present application is to provide an electronic digital compass device, which directly reads the data through the cooperation of multiple sensors and the application of calibration algorithm, and has improved accuracy and efficiency compared with the traditional mechanical compass, and greatly reduces the human reading error.

[0005] In order to achieve the purpose of the present application, the present application realizes the following technical solutions: an electronic digital compass device, comprising a vector sensing module, a data processing module, a triggering module, a result output module and a storage module, the vector sensing module is used for collecting original vector data required for geological measurement, ensuring the accuracy and environmental adaptability of data collection, the data processing module is used for receiving original data of the vector sensing module, calculating geological elements through coordinate transformation, vector operation and calibration algorithm, the triggering module is used for controlling the measurement starting time, ensuring that the device collects data in a stable state, providing an intelligent triggering mechanism to improve measurement reliability, the result output module is used for displaying the geological elements of the measurement surface in a digital manner in real time, and the storage module is used for storing data in accordance with the geological survey format, avoiding manual transcription errors.

[0006] Further improvement lies in that the vector sensing module comprises a three-axis magnetic force sensor, a three-axis gravity sensor and an inclination sensor, the three-axis magnetic force sensor is used for providing a magnetic field direction vector, determining an azimuth reference of a geological layer, the three-axis gravity sensor is used for obtaining a gravity plumb direction vector, establishing a coordinate system and calculating an inclination, ensuring that the measurement is aligned with the gravity reference, and the inclination sensor is used for sensing an inclination vector of the device relative to the measurement surface, directly supporting inclination angle calculation.

[0007] Further improvement lies in that the axes of the three-axis magnetic force sensor and the three-axis gravity sensor are orthogonal, and the orthogonal plane of the two is used for measuring the reference.

[0008] Further improvement lies in that the data processing module comprises a main processor unit and a vector calibration unit, the main processor unit is used for processing data, performing coordinate transformation matrix operation, and converting vector data to a coordinate system with the measurement surface as the reference, and the vector calibration unit is used for positioning the position to be measured and calculating the magnetic declination angle, performing magnetic declination angle compensation to improve the precision, and calculating based on real-time data of the three-axis gravity sensor.

[0009] Further improvement lies in that the triggering module comprises a stability detection unit and a hardware triggering unit, the stability detection unit is used for monitoring the vector data fluctuation rate in real time, automatically determining that the device is placed stably to send a starting signal, and the hardware triggering unit is used for manually triggering measurement by personnel, as a supplement to the stability detection.

[0010] Further improvement lies in that the calculation process of the data processing module comprises the following steps:

[0011] Step one, establishing a three-dimensional coordinate system with the measurement surface as the object, converting the magnetic field direction vector, the gravity plumb direction vector and the inclination vector to the three-dimensional coordinate system through the coordinate transformation matrix;

[0012] Step two, based on the spatial orthogonal characteristics of the magnetic field direction vector and the gravity plumb direction vector, combined with the projection angle of the tendency vector in the XY plane, the inclination angle of the measurement surface is calculated by trigonometric function operation;

[0013] Step three, according to the spatial perpendicular relationship between the inclination angle and the strike angle, the strike angle of the measurement surface is automatically derived.

[0014] Further improvement lies in that the calculation method of the strike angle in step three is:

[0015] Strike angle = inclination angle ± 90°.

[0016] The beneficial effects of the present application are: through the cooperative work of multiple sensors and the application of calibration algorithm, direct reading, compared with the traditional mechanical compass, the precision and efficiency are improved, and the error of human reading is greatly reduced. The whole process of measurement, storage and transmission is realized, and the errors that may occur in the process of manual recording and transcription are avoided, and the data processing efficiency is improved. It can adapt to complex field geological environment for geological element measurement. It can be linked with geological mapping system. With the standard data format, it supports direct import into digital mapping platform, provides accurate basic data for geological map compilation, and promotes the digitization of the whole process of geological survey. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 The system architecture diagram of the present application. DETAILED DESCRIPTION

[0018] In order to deepen the understanding of the present application, the present application will be further described in combination with embodiments, and the present embodiment is only used to explain the present application, and does not constitute a limitation on the protection scope of the present application.

[0019] Geological survey is a comprehensive and basic work that takes geological phenomena as the research object, and uses comprehensive technical means such as field observation, geophysical exploration, geochemical analysis, remote sensing interpretation and engineering exposure to systematically find out regional geological characteristics, resource distribution and environmental geological conditions, compile basic geological map and report, and provide scientific basis for mineral resource exploration, ecological environment protection, disaster prevention, national space planning and natural resource management. Its core content includes regional geological mapping, mineral potential evaluation, hydrogeological environmental geological survey, three-dimensional geological modeling and dynamic monitoring, which serves not only the strategic reserve of mineral resources, but also the social needs of city planning, agriculture and disaster warning, and promotes the transformation of geological data to digitization and intelligence;

[0020] An electronic compass is a device that measures direction based on electronic sensor technology. By integrating core components such as magnetometers, accelerometers, and gyroscopes, and combining algorithm processing, it can accurately output orientation information such as heading angle, pitch angle, and roll angle. Its core function is to determine the orientation of an object in space by sensing the direction of the Earth's magnetic field and combining attitude compensation technology. It is widely used in navigation, geological exploration, aerospace, intelligent devices, and other fields. In geological surveys, it integrates MEMS technology such as three-axis magnetic sensors, accelerometers, and gyroscopes to achieve high-precision azimuth angle, inclination angle, and tool face angle measurement, significantly improving the efficiency and safety of collecting rock layer occurrence and structural orientation. Its functions include: non-contact measurement of geological parameters in dangerous areas, avoiding personnel approaching risks; combined with laser ranging function, quickly obtaining section size, volume, and slope data to assist resource assessment; real-time correction of magnetic declination and dynamic compensation to reduce magnetic interference errors. The use method needs to follow the following steps: first, complete three-dimensional calibration in a safe area, then attach the device to the rock surface or lock the target through laser collimation, the system automatically solves and stores the data, and supports exporting to maps or tables for subsequent analysis. Compared with traditional compasses, it has strong anti-interference and high automation, especially suitable for complex environments such as underground and steep slopes.

[0021] Based on this, according to Figure 1 The embodiment provides an electronic digital compass device, which includes a vector sensing module, a data processing module, a trigger module, a result output module, and a storage module. The vector sensing module is used to collect original vector data required for geological measurement, ensuring the accuracy and environmental adaptability of data collection. The data processing module receives the original data from the vector sensing module and calculates geological elements through coordinate transformation, vector operation, and calibration algorithms. The data processing module uses an STM32F407 microprocessor with a high-performance ARM Cortex-M4 core and a main frequency of up to 168MHz, which can efficiently process the original data transmitted by the vector sensing module and complete a series of complex calculations such as coordinate transformation, vector operation, and calibration. The trigger module is used to control the measurement start time and ensure that the device collects data in a stable state, providing an intelligent triggering mechanism to improve measurement reliability. The result output module displays the geological elements of the measurement surface in a digital manner in real time. The result output module uses a 2.4-inch TFT liquid crystal display screen with a resolution of 320x240, which can clearly display digital and graphical information. The storage module stores data in accordance with the geological survey format to avoid manual transcription errors. The storage module uses an 8GB SD card to support data storage in accordance with the industry standard format of the geological survey industry.

[0022] The vector perception module comprises a three-axis magnetic force sensor, a three-axis gravity sensor and an inclination sensor. The three-axis magnetic force sensor is used to provide a magnetic field direction vector and determine a position reference on a geological layer. The three-axis magnetic force sensor is a magnetoresistance sensor with a model of HMC5883L and a measurement range of ±8 gauss. The three-axis magnetic force sensor can accurately collect component data of the earth's magnetic field on the X, Y and Z axes. The three-axis gravity sensor is used to obtain a gravity plumb direction vector, establish a coordinate system and calculate an inclination, so as to ensure that the measurement is aligned with the gravity reference. The three-axis gravity sensor is an ADXL345 three-axis acceleration sensor, which can accurately measure the direction of the plumb gravity. The inclination sensor is used to perceive an inclination vector of the device relative to a measurement surface, directly support inclination angle calculation, and the axes of the three-axis magnetic force sensor and the three-axis gravity sensor are orthogonal, and the orthogonal plane of the two is used as a measurement reference. The gravity direction is used as the Z axis to establish a three-dimensional rectangular coordinate system, wherein the XY plane is perpendicular to the gravity direction. The three-axis gravity sensor collects a gravity direction vector (Gx, Gy, Gz). Since the Z axis coincides with the gravity direction, the gravity vector after preprocessing is (0, 0, Gz) in the coordinate system. The three-axis magnetic force sensor collects a magnetic field direction vector (Mx, My, Mz). When the angle between the measurement surface and the XY plane is determined, the normal direction of the measurement surface in the three-dimensional coordinate system can be determined by the relationship between the magnetic field direction vector and the gravity direction vector. According to the principle of spatial geometry, the inclination of the measurement surface is the angle between the measurement surface and the horizontal plane (XY plane).

[0023] The data processing module comprises a main processor unit and a vector calibration unit. The main processor unit is used to process data, perform coordinate transformation matrix operation, and convert vector data to a coordinate system with the measurement surface as a reference. The vector calibration unit is used to position the position to be measured and calculate the magnetic declination angle, compensate for the magnetic declination angle to improve the accuracy, and calculate based on the real-time data of the three-axis gravity sensor. The data processing module first performs calibration processing such as magnetic declination angle compensation to obtain the calibrated magnetic field vector (Mx', My', Mz'), and projects the calibrated magnetic field direction vector (Mx', My', Mz') onto the measurement surface to obtain the component (Mx'', My'') of the magnetic field vector in the measurement surface.

[0024] The trigger module comprises a stability detection unit and a hardware trigger unit. The stability detection unit is used to monitor the fluctuation rate of the vector data in real time, automatically determine that the device is placed stably, and send a start signal. The hardware trigger unit is used for manual triggering of measurement by personnel, as a supplement to stability detection. When the stability detection submodule monitors that the vector data fluctuation rate is ≤0.5% / s and the duration is ≥1s, it is determined that the device is placed stably, and a stability signal will be sent at this time. The technical personnel can also manually press the hardware trigger key to send a start instruction to the vector perception module to control it to start collecting vector data.

[0025] The calculation process of the data processing module comprises the following steps:

[0026] Step one, establish the measurement surface as the object, convert the magnetic field direction vector, the gravity plumb direction vector and the dip vector to the three-dimensional coordinate system through the coordinate transformation matrix;

[0027] Step two, based on the spatial orthogonal characteristics of the magnetic field direction vector and the gravity plumb direction vector, combined with the projection angle of the dip vector in the XY plane, calculate the dip angle of the measurement surface through the trigonometric function operation;

[0028] Step three, according to the spatial perpendicular relationship between the dip angle and the strike angle, automatically deduce the strike angle of the measurement surface, the calculation method is: strike angle = dip angle ± 90°, use the angle between the normal direction of the measurement surface and the gravity direction to determine the dip angle. Through the relationship between the component of the magnetic field vector in the measurement surface and the gravity vector, combined with the trigonometric function operation.

[0029] The electronic digital compass device needs to be checked by the technician before field geological survey to ensure that each module is working properly. At the same time, the device is fully charged to ensure sufficient endurance during field work. The technician will attach the measurement reference surface of the electronic digital compass device to the field geological layer to be measured to ensure that the device is tightly attached to the measurement surface and avoid gaps that affect the measurement accuracy. When the stable detection sub-module monitors that the vector data fluctuation rate is less than or equal to 0.5% per second and the duration is greater than or equal to 1 second, it is determined that the device is stable, and a stable signal will be sent. The technician can also manually press the hardware trigger key to send a start instruction to the vector sensing module to control it to start collecting vector data. After receiving the start instruction, the three-axis magnetic force sensor, the gravity plumb sensor and the inclination sensor work synchronously to collect component data of the earth's magnetic field on the X, Y and Z axes, direction data of the plumb gravity and inclination direction parameters of the device and the measurement surface, and transmit these raw data to the data processing module. The data processing module receives and analyzes the vector raw data, and converts the magnetic field, gravity and inclination vector to a three-dimensional coordinate system with the measurement surface as the object by means of the coordinate transformation matrix. Based on the orthogonal characteristics of the magnetic field and the plumb gravity vector, combined with the projection angle of the inclination vector in the XY plane, the inclination angle of the measurement surface is calculated by trigonometric function operation, and the result is accurate to 0.1°. According to the 90° spatial perpendicular relationship between the inclination angle and the strike angle, the strike angle of the measurement surface is automatically derived. At the same time, the vector calibration sub-module of the data processing module locates the position to be measured and calculates the magnetic declination angle, compensates for the magnetic declination angle, and also uses the gravity plumb direction vector to correct the gravity direction vector based on the real-time data of the three-axis acceleration sensor, further improving the measurement accuracy. The display screen of the result output unit displays the inclination angle, strike angle and other geological elements of the measurement surface and the measurement state in a digital manner in real time. The storage module stores the measurement data in accordance with the geological survey industry standard format, and each piece of data contains information such as measurement surface type, inclination, dip angle and strike value. It also supports synchronous data with the geological mapping system.

[0030] The basic principles, main features and advantages of the present application are shown and described above. Those skilled in the art should understand that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. An electronic digital compass device, characterized in that: It includes a vector perception module, a data processing module, a trigger module, a result output module and a storage module. The vector perception module is used to collect the original vector data required for geological measurement to ensure the accuracy of data collection and environmental adaptability. The data processing module is used to receive the original data of the vector perception module and calculate the geological elements through coordinate transformation, vector operation and calibration algorithm. The trigger module is used to control the measurement start timing to ensure that the equipment collects data in a stable state and provide an intelligent trigger mechanism to improve measurement reliability. The result output module is used to display the geological elements of the measurement surface in real time in digital form. The storage module is used to store data in accordance with the geological survey format to avoid manual transcription errors.

2. The electronic digital compass device according to claim 1, characterized in that: The vector sensing module includes a three-axis magnetic sensor, a three-axis gravity sensor and an inclination sensor. The three-axis magnetic sensor is used to provide a magnetic field direction vector to determine the orientation reference of the geological layer. The three-axis gravity sensor is used to obtain the gravity plumb direction vector, establish a coordinate system and calculate the inclination angle to ensure that the measurement is aligned with the gravity reference. The inclination sensor is used to sense the inclination vector of the device relative to the measurement surface and directly support the calculation of the inclination angle.

3. The electronic digital compass device according to claim 2, characterized in that: The axes of the three-axis magnetic sensor and the three-axis gravity sensor are orthogonal, and the orthogonal plane of the two is used as the measurement reference.

4. The electronic digital compass device according to claim 1, characterized in that: The data processing module includes a main processor unit and a vector calibration unit. The main processor unit is used to process data, perform coordinate transformation matrix operations, and convert vector data into a coordinate system based on the measurement surface. The vector calibration unit is used to locate the position to be measured and calculate the magnetic declination, perform magnetic declination compensation to improve accuracy, and calculate based on real-time data from the three-axis gravity sensor.

5. The electronic digital compass device according to claim 1, characterized in that: The trigger module includes a stability detection unit and a hardware trigger unit. The stability detection unit is used to monitor the vector data fluctuation rate in real time, automatically determine whether the device is placed stably and send a start signal, and the hardware trigger unit is used for personnel to manually trigger measurement as a supplement to stability detection.

6. The electronic digital compass device according to claim 1, characterized in that: The calculation process of the data processing module includes the following steps: Step 1: Establish a measurement surface as the object, and transform the magnetic field direction vector, gravity plumb direction vector and inclination vector into a three-dimensional coordinate system through a coordinate transformation matrix; Step 2: Based on the spatial orthogonality of the magnetic field direction vector and the gravity plumb direction vector, and combined with the projection angle of the inclination vector in the XY plane, the inclination angle of the measuring surface is calculated through trigonometric operations; Step 3: Automatically derive the strike angle of the measuring surface based on the spatial vertical relationship between the dip angle and the strike angle.

7. The electronic digital compass device according to claim 3, characterized in that: The calculation method of the strike angle in step 3 is: Strike angle = inclination angle ± 90°.

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