Dual-probe mode satellite-borne magnetometer interference magnetic field test system and control method

Abstract

The application belongs to the technical field of satellite measurement, and particularly relates to a satellite-borne magnetometer interference magnetic field test system and control method in a double-probe mode, which comprises a double-probe satellite-borne magnetometer assembly, a ground magnetometer assembly, a satellite main body assembly, a support and turntable assembly, a uniformity test point assembly and a standard magnetic moment block; the double-probe satellite-borne magnetometer assembly is installed on the surface of the satellite main body assembly and is a matched component for attitude measurement of the satellite main body assembly; the support and turntable assembly comprises a non-magnetic turntable and a sensor support frame, and the non-magnetic turntable bears the satellite main body assembly and can adjust the attitude of the satellite main body assembly. The application integrates the ground magnetometer, the non-magnetic turntable and other components to form a "measurement-compensation-verification" integrated system, is designed according to the double-probe "cooperative measurement" characteristics, avoids the inconsistent problem of interference fields caused by gradient fields and orthogonal offset, and is suitable for the test requirements of the double-probe satellite-borne magnetometer.

Description

Technical Field

[0001] This invention belongs to the field of satellite measurement technology. Specifically, it relates to a system and control method for testing the interference magnetic field of a spaceborne magnetometer in dual-probe mode. This system is used to suppress the interference of residual magnetism of the satellite on the dual-probe spaceborne magnetometer during the satellite ground testing phase, improve its measurement accuracy, and provide reliable data support for the satellite's on-orbit attitude control. Background Technology

[0002] Dual-probe spaceborne magnetometers, as key vector magnetic sensors in satellite attitude control systems, primarily function to determine the magnitude and direction of the Earth's magnetic field at the satellite's location. By comparing the measured data signals with a geomagnetic field model, satellite attitude information is calculated. These magnetometers possess significant advantages such as light weight, small size, low power consumption, no moving parts, and no field-of-view limitations. Their measurement accuracy is the core source of error transmission in satellite attitude measurement information, directly affecting the stability and reliability of on-orbit attitude control.

[0003] In the field of satellite residual magnetism interference suppression, existing technologies mainly fall into two categories: First, a strut-mounted structure is used to fix the onboard magnetometer to the top of the strut. By increasing the distance between the magnetometer and the satellite's magnetic field source, the interference of the satellite's magnetic field on the magnetometer's measurement is reduced. However, this approach has significant limitations: it can only weaken the interference from the magnetometer measurement and cannot eliminate the disturbance caused by the interaction between the satellite's residual magnetic moment and the Earth's magnetic field on the satellite's attitude maneuvering or maintenance. Furthermore, constrained by the satellite's dynamic characteristics (weight, stiffness), the length and weight of the strut are difficult to further optimize; otherwise, it may disrupt the satellite's overall mechanical balance, leading to a bottleneck in interference suppression. Second, residual magnetism interference control is achieved through a combination of magnetic compensation and ground testing. Patent CN108802653A, "A Ground Calibration Method and System for an Onboard Magnetometer," is a representative technical solution in this direction. This patent constructs a calibration system that includes a magnetic measurement device and a non-magnetic turntable. It uses the near-field method to measure and compensate for the remanent magnetic moment of the entire satellite. At the same time, it calibrates the core parameters of the satellite magnetometer, such as zero bias and sensitivity. This effectively improves the ground calibration accuracy of the single-probe satellite magnetometer and alleviates the interference of the satellite's remanent magnetization on the magnetometer measurement to a certain extent.

[0004] However, existing technologies (including patent CN108802653A) still have the following key technical defects in interference control for dual-probe spaceborne magnetometers, making it difficult to meet the requirements of high-precision satellite attitude measurement:

[0005] 1. Insufficient technical adaptability: The calibration scheme of patent CN108802653A is based on a single-probe spaceborne magnetometer, failing to consider the "dual-probe collaborative measurement" characteristics of dual-probe spaceborne magnetometers. It neglects the issue of interference field consistency caused by differences in gradient field distribution and sensor orthogonality bias in the dual-probe region. In practical applications, the interference field control at the two probes cannot achieve complete consistency, leading to asynchronous output data from the two probes, directly affecting the accuracy of attitude measurement.

[0006] 2. Incomplete compensation hierarchy: Existing technologies (including patent CN108802653A) only achieve coarse compensation for remanent magnetization at the whole-satellite level, lacking fine compensation for sensitive local areas of the dual-probe system. The measurement bias of the spaceborne magnetometer mainly originates from the remanent magnetic field of the satellite (rather than its own zero-bias noise, which is significantly smaller after ground calibration). Existing coarse compensation schemes cannot accurately suppress the local interference field at the dual-probe system to the threshold required for high-precision attitude measurement (typically ≤5nT).

[0007] 3. Lack of consistency assessment and on-orbit prediction mechanism: Patent CN108802653A and other existing solutions only focus on the calibration of the magnetometer's own parameters or the measurement of the remanence of the entire satellite. They have not established a standardized test method for the uniformity of the interference field in the dual-probe region, and cannot quantify the interference field deviation between the two probes. Furthermore, they have not designed an on-orbit prediction calculation link for the consistency deviation of the interference field, resulting in a lack of effective attitude correction data support during the satellite's on-orbit phase. There is still a risk of attitude loss of control caused by the measurement deviation of the two probes.

[0008] In summary, in the current field of satellite measurement technology, there is an urgent need for an integrated testing system and control method that can adapt to the characteristics of dual probes, achieve "whole satellite-local" hierarchical compensation, and complete interference field consistency assessment and on-orbit prediction for the control of interference magnetic fields of dual-probe spaceborne magnetometers. This would solve the technical pain points of existing technologies (including patent CN108802653A), such as poor adaptability, insufficient compensation accuracy, and lack of consistency prediction, and ensure the measurement accuracy of dual-probe spaceborne magnetometers and the long-term reliable operation of the satellite in orbit. Summary of the Invention

[0009] To address the shortcomings of existing technologies, the purpose of this invention is to provide a system and control method for testing the interference magnetic field of a spaceborne magnetometer in dual-probe mode.

[0010] According to the present invention, a dual-probe mode spaceborne magnetometer interference magnetic field testing system includes a dual-probe spaceborne magnetometer assembly, a ground magnetometer assembly, a satellite main body assembly, a support and turntable assembly, a uniformity testing point assembly, and a standard magnetic moment block.

[0011] The dual-probe type spaceborne magnetometer assembly is installed on the surface of the satellite main body assembly and is a supporting component for attitude measurement of the satellite main body assembly, used to collect magnetic field signals;

[0012] The dual-probe type spaceborne magnetometer assembly includes a dual-probe type spaceborne magnetometer sensor and a dual-probe type spaceborne magnetometer control box;

[0013] The dual-probe type spaceborne magnetometer sensor is divided into a first dual-probe type spaceborne magnetometer sensor and a second dual-probe type spaceborne magnetometer sensor, both of which are three-component magnetometer sensors.

[0014] The support and turntable assembly includes a non-magnetic turntable and a sensor support frame. The non-magnetic turntable carries the satellite main body assembly and can adjust the attitude of the satellite main body assembly. The sensor support frame fixes the ground magnetometer assembly and can adjust the relative position of the ground magnetometer assembly, the satellite main body assembly, and the dual-probe type spaceborne magnetometer assembly.

[0015] The ground magnetometer assembly is used to measure the overall remanent magnetic moment of the satellite main assembly and the local interference magnetic field of the dual-probe spaceborne magnetometer assembly. It can also be moved to various points of the uniformity test measurement point assembly to collect interference magnetic field data.

[0016] The uniformity test point assembly is arranged around the dual-probe area of ​​the dual-probe spaceborne magnetometer assembly, providing standardized test points for the ground magnetometer assembly to evaluate the consistency of the interference field of the dual-probe spaceborne magnetometer assembly.

[0017] The uniformity test point assembly includes a top-level measuring point group and a lower-level measuring point group arranged vertically along the dual-probe region of the dual-probe type spaceborne magnetometer assembly.

[0018] The top-level measurement point group includes the first instrument-borne magnetometer sensor gradient field top-level measurement point, the second instrument-borne magnetometer sensor gradient field top-level measurement point, the third instrument-borne magnetometer sensor gradient field top-level measurement point, the fourth instrument-borne magnetometer sensor gradient field top-level measurement point, and the fifth instrument-borne magnetometer sensor gradient field top-level measurement point.

[0019] The lower layer measuring point group includes the top layer measuring point of the gradient field of the sixth instrument-borne magnetometer sensor, the top layer measuring point of the gradient field of the seventh instrument-borne magnetometer sensor, the top layer measuring point of the gradient field of the eighth instrument-borne magnetometer sensor, the top layer measuring point of the gradient field of the ninth instrument-borne magnetometer sensor, and the top layer measuring point of the gradient field of the tenth instrument-borne magnetometer sensor.

[0020] The standard magnetic moment block is used to offset the residual magnetic moment of the entire satellite main component and the local interference magnetic field of the dual-probe type on-board magnetometer component. Its compensation amount and deployment position are determined based on the measurement data of the ground magnetometer component.

[0021] Furthermore, the first dual-probe type spaceborne magnetometer sensor and the second dual-probe type spaceborne magnetometer sensor serve as backups for each other and are installed in parallel on the satellite surface of the main satellite component at intervals of 50mm to 100mm.

[0022] The dual-probe type spaceborne magnetometer control box is electrically connected to the first dual-probe type spaceborne magnetometer sensor and the second dual-probe type spaceborne magnetometer sensor respectively via cables, and is used to collect and preprocess the magnetic field measurement signals of the first dual-probe type spaceborne magnetometer sensor and the second dual-probe type spaceborne magnetometer sensor.

[0023] Furthermore, the ground magnetometer assembly includes a three-component ground magnetometer magnetic sensor, a ground magnetometer sensor array, and a ground magnetometer electrical control box;

[0024] The three-component magnetic sensor of the ground magnetometer is used to accurately measure the local interference magnetic field of the dual-probe spaceborne magnetometer assembly;

[0025] The ground magnetometer sensor array is used to measure the remanent magnetic moment of the entire satellite's main components;

[0026] The three-component magnetic sensor and the sensor array of the ground magnetometer are both electrically connected to the ground magnetometer control box via cables. The ground magnetometer control box is used for data processing, calibration, and display.

[0027] Furthermore, the main satellite component includes the satellite and the satellite's geometric equatorial plane;

[0028] The satellite is the object to be tested. The surface of the satellite has a pre-set installation interface for a dual-probe type onboard magnetometer assembly. The reference marks and functional interfaces of the satellite's geometric equatorial plane are avoided in the sparse area of ​​the equipment, and a standard magnetic moment block pasting area is reserved.

[0029] The satellite's geometric equatorial plane serves as a reference plane, used to locate the placement of the ground magnetometer components and as a reference for the attitude adjustment of the support and turntable components.

[0030] Furthermore, the support and turntable assembly includes a non-magnetic turntable and a sensor support frame;

[0031] The non-magnetic turntable includes a horizontally moving trolley and a platform that rotates around a vertical axis. The satellite is fixed on the platform. The non-magnetic turntable can drive the satellite to achieve horizontal movement and 0°-360° angle adjustment.

[0032] The top of the sensor support frame is used to fix the three-component magnetic sensor of the ground magnetometer assembly and the ground magnetometer sensor array.

[0033] Furthermore, the top layer measuring point group and the lower layer measuring point group are located 50mm to 100mm above and 50mm to 100mm below the plane where the first dual-probe type spaceborne magnetometer sensor and the second dual-probe type spaceborne magnetometer sensor are located, respectively, and the measuring points in each layer are distributed in a "cross shape" along the connecting line direction of the first dual-probe type spaceborne magnetometer sensor and the second dual-probe type spaceborne magnetometer sensor and the perpendicular connecting line direction;

[0034] The top-level measurement points of the gradient field of the first and fifth onboard magnetometer sensors are located directly above the first dual-probe type spaceborne magnetometer sensor and the second dual-probe type spaceborne magnetometer sensor, respectively. The top-level measurement point of the gradient field of the third onboard magnetometer sensor is located directly above the midpoint of the line connecting the two probes. The top-level measurement points of the gradient field of the second and fourth onboard magnetometer sensors are located on both sides of the line perpendicular to the line connecting the probes. The lower-level measurement point group corresponds vertically to the top-level measurement points.

[0035] Furthermore, the standard magnetic moment block is made of high intrinsic coercivity neodymium iron boron permanent magnet material, and is divided into coarse compensation stage and fine compensation stage according to the magnitude of magnetic moment;

[0036] The coarse compensation-level standard magnetic moment block is attached to a non-magnetic area on the satellite surface;

[0037] The fine compensation-level standard magnetic moment block is attached to the non-magnetic bracket of the first dual-probe type spaceborne magnetometer sensor and the second dual-probe type spaceborne magnetometer sensor, or to the outer shell of the satellite's surrounding body, without obstructing the normal direction of the two sensor probes.

[0038] Furthermore, the three-component magnetic sensor of the ground magnetometer assembly can be moved to 10 measurement points of the uniformity test measurement point assembly via the sensor support frame of the turntable assembly.

[0039] Furthermore, after the standard magnetic moment block is pasted, it needs to be re-measured at 10 measuring points using a three-component magnetic sensor of a ground magnetometer to verify the change in the gradient of the interference field after compensation.

[0040] A method for controlling the interference magnetic field of a spaceborne magnetometer in dual-probe mode, comprising the following steps:

[0041] Step S1: Whole-satellite remanent magnetic moment test and coarse compensation

[0042] 1.1 Device Deployment: Fix the satellite onto the non-magnetic turntable platform using tooling, adjust the horizontal moving trolley to ensure that the distance between the satellite and the ground magnetometer sensor array meets the requirements of the near-field method test; adjust the height of the ground magnetometer sensor array using the sensor support frame to ensure that the three-component magnetic sensors of the ground magnetometer cover the key magnetic field area around the satellite;

[0043] 1.2 Magnetic field measurement: Start the ground magnetometer assembly and control the vertical rotating platform of the non-magnetic turntable to rotate at 0°, 90°, 180° and 270° intervals. Collect the magnetic field data of the ground magnetometer sensor array once for each rotation angle, and calculate the remanent magnetic moment of the whole satellite using the near-field method calculation formula.

[0044] 1.3 Coarse Compensation Judgment and Execution: If the calculated remanent magnetic moment of the entire satellite is less than or equal to the preset index, then the coarse compensation of the entire satellite is completed and proceed to step 2; if it exceeds the index, select an appropriate number of large-scale standard magnetic blocks and attach them to the remanent magnetic cancellation area on the surface of the satellite, and repeat steps 1.2 to 1.3 until the remanent magnetic moment of the entire satellite meets the index.

[0045] Step S2: Dual-probe interference magnetic field test and fine compensation

[0046] 2.1 Test preparation: Remove the dual-probe type onboard magnetometer sensor from the dual-probe type onboard magnetometer assembly already installed on the satellite, while retaining the connection interface of the dual-probe type onboard magnetometer control box to avoid damaging the satellite surface structure;

[0047] 2.2 Local Interference Measurement: Using a sensor support frame, the three-component magnetic sensor of the ground magnetometer assembly is fixed to the installation position of the first dual-probe spaceborne magnetometer sensor, ensuring that the sensor coordinate system is consistent with the original sensor; the ground magnetometer is activated to collect the interference magnetic field values ​​in the three orthogonal directions at this location and calculate the magnetic field magnitude; similarly, the three-component magnetic sensor of the ground magnetometer is moved to the installation position of the second dual-probe spaceborne magnetometer sensor to complete the interference magnetic field measurement;

[0048] 2.3 Fine Compensation Judgment and Execution: If the interference magnetic field magnitude of the three-component magnetic sensor of the ground magnetometer at the location of the dual-probe spaceborne magnetometer sensor is ≤ the accuracy index of the spaceborne magnetometer, then fine compensation is completed and proceed to step 3; if any location exceeds the standard, select a small-scale standard magnetic block and attach it to a non-critical area near the sensor, and measure the interference magnetic field value again; repeat this process until the interference magnetic field value of the three-component magnetic sensor of the ground magnetometer at the location of the dual-probe spaceborne magnetometer sensor meets or is close to the accuracy index, and the interference field deviation between the two probes is ≤1nT;

[0049] Step S3: Dual-probe region interference field uniformity test and consistency prediction

[0050] 3.1 Initial value acquisition: Reinstall the dual-probe spaceborne magnetometer sensor, and acquire the remaining interference magnetic field values ​​at the two probes through the dual-probe spaceborne magnetometer control box. Record these values ​​as the initial benchmark values ​​for consistency evaluation.

[0051] 3.2 Site Selection and Background Measurement: A vertical double-layer site selection method was adopted. Using the plane where the dual-probe spaceborne magnetometer sensor is located as the reference plane, one layer of parallel test planes was set up upwards and downwards. Each layer was evenly divided into 5 measurement points along the "direction connecting the two probes" and "perpendicular to the direction of the connection," forming a measurement grid covering the dual-probe area. The non-magnetic turntable was moved out of the test site, and the ground magnetometer was activated to measure the background magnetic field values ​​at 10 measurement points for subsequent data correction.

[0052] 3.3 Interference Field Measurement: Reset the non-magnetic turntable to the initial test position, move the three-component magnetic sensors of the ground magnetometer assembly to 10 measurement points one by one, collect the interference magnetic field value of each measurement point in the three orthogonal directions, subtract the background magnetic field value of the corresponding measurement point, and obtain the net interference magnetic field data.

[0053] 3.4 Consistency Deviation Calculation: Based on the net interference magnetic field data from 10 measuring points, key parameters were calculated using the following method:

[0054] Non-uniform gradient magnetic field deviation: Compare the magnetic field magnitude values ​​of 10 measuring points, take the difference between the maximum and minimum values, divide it by the average distance between the measuring points, and obtain the magnetic field gradient deviation of the dual-probe area;

[0055] Angular orthogonality error: Based on the three orthogonal magnetic field components of each measuring point, fit an ideal orthogonal coordinate system, and calculate the angular deviation between the actual measured coordinate system and the ideal coordinate system, which is the angular orthogonality error;

[0056] 3.5 On-orbit prediction determination: Through weighted analysis, the on-orbit prediction of the consistency deviation of the dual-probe interference field is calculated. This value is written into the satellite's on-orbit attitude control algorithm for real-time correction of magnetometer measurement data.

[0057] Compared with the prior art, the present invention has the following beneficial effects:

[0058] 1. This invention integrates ground magnetometers, non-magnetic turntables and other components to form an integrated "measurement-compensation-verification" system. It is designed for the "cooperative measurement" characteristics of dual probes to avoid the problem of inconsistent interference fields caused by gradient field and orthogonality bias, and is suitable for the testing requirements of dual-probe spaceborne magnetometers.

[0059] 2. This invention constructs a graded process of "whole satellite coarse compensation - dual probe fine compensation". Coarse compensation controls the residual magnetic moment of the whole satellite to meet the standard, while fine compensation uses a small-scale magnetic block to reduce the interference field of the dual probes to ≤5nT and the deviation between the two probes to ≤1nT, which significantly improves the measurement accuracy of the magnetometer and meets the requirements of high-precision attitude measurement.

[0060] 3. This invention measures the uniformity of the interference field by using a double-layer "cross-shaped" measurement point layout, calculates the gradient deviation and orthogonality error, obtains the on-orbit prediction value, and writes it into the attitude algorithm to provide data support for on-orbit correction and reduce the risk of attitude runaway.

[0061] 4. This invention uses commonly used equipment for satellite ground testing, eliminating the need for customized special equipment and adapting to different satellite models; the adhesive compensation process is simple, with a single satellite testing cycle of ≤3 days, and can be quickly extended to the testing of various dual-probe spaceborne magnetic sensors. Attached Figure Description

[0062] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0063] Figure 1 This is a schematic diagram of the structure of the dual-probe spaceborne magnetometer of the present invention;

[0064] Figure 2 This is a schematic diagram of the ground magnetometer structure of the present invention;

[0065] Figure 3 This is a schematic diagram of the near-field magnetic moment testing layout of the present invention;

[0066] Figure 4 This is a schematic diagram of the test layout for calibrating the interference magnetic field of the spaceborne magnetometer according to the present invention.

[0067] Figure 5 This is a schematic diagram of the gradient interference field measurement point layout of the dual-layer spaceborne magnetometer sensor of the present invention.

[0068] The following are the labeling elements in the figure:

[0069] Detailed Implementation

[0070] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0071] like Figure 1 - Figure 5As shown, this invention discloses a dual-probe mode spaceborne magnetometer interference magnetic field testing system, including a dual-probe spaceborne magnetometer assembly, a ground magnetometer assembly, a satellite main body assembly, a support and turntable assembly, a uniformity testing point assembly, and a standard magnetic moment block. The dual-probe spaceborne magnetometer assembly is mounted on the surface of the satellite main body assembly and is an attitude measurement component of the satellite main body assembly. The non-magnetic turntable of the support and turntable assembly supports the satellite main body assembly and can adjust its attitude. The sensor support frame of the support and turntable assembly fixes the ground magnetometer assembly and adjusts its relative position with the satellite main body assembly and the dual-probe spaceborne magnetometer assembly. The uniformity test point assembly is used to measure the overall remanent magnetic moment of the satellite's main components and the local interference magnetic field of the dual-probe spaceborne magnetometer assembly. It can also be moved to various points of the uniformity test point assembly to collect interference magnetic field data. The uniformity test point assembly is deployed around the dual-probe area of ​​the dual-probe spaceborne magnetometer assembly. The uniformity test point assembly provides standardized test points for the ground magnetometer assembly and is used to evaluate the uniformity of the interference field of the dual-probe spaceborne magnetometer assembly. The standard magnetic moment block is used to cancel the overall remanent magnetic moment of the satellite's main components and the local interference magnetic field of the dual-probe spaceborne magnetometer assembly. Its compensation amount and deployment position need to be determined based on the measurement data of the ground magnetometer assembly.

[0072] The dual-probe spaceborne magnetometer assembly includes a dual-probe spaceborne magnetometer sensor 100 and a dual-probe spaceborne magnetometer control box 103. The dual-probe spaceborne magnetometer sensor 100 consists of a first dual-probe spaceborne magnetometer sensor 101 and a second dual-probe spaceborne magnetometer sensor 102. Both the first dual-probe spaceborne magnetometer sensor 101 and the second dual-probe spaceborne magnetometer sensor 102 are three-component magnetometers. Both the first dual-probe spaceborne magnetometer sensor 101 and the second dual-probe spaceborne magnetometer sensor 102 have an accuracy of 1 nT, a measurement range of -100,000 nT to 100,000 nT, and an orthogonality error ≤ 0.1°. Within the measurement range of 0 to ±100 μT (including the geomagnetic field), the system's range accuracy is better than 1%FS, and the resolution... <10nT, stability ≤10nT / 30min. The first dual-probe type spaceborne magnetometer sensor 101 and the second dual-probe type spaceborne magnetometer sensor 102 serve as backups for each other and are installed in parallel on the surface of the satellite main body component at intervals of 50mm to 100mm. The dual-probe type spaceborne magnetometer control box 103 is electrically connected to the first dual-probe type spaceborne magnetometer sensor 101 and the second dual-probe type spaceborne magnetometer sensor 102 respectively via cables to collect and preprocess the magnetic field measurement signals of the two sensors. When the local interference magnetic field of the first dual-probe type spaceborne magnetometer sensor 101 and the second dual-probe type spaceborne magnetometer sensor 102 exceeds the standard (>5nT), fine compensation-grade standard magnetic moment blocks can be pasted within a range of 5mm to 10mm around them to control the interference within 1nT through the magnetic field cancellation principle.

[0073] The ground magnetometer assembly includes a three-component ground magnetometer sensor 201, a ground magnetometer sensor array 202, and a ground magnetometer control box 203. The three-component ground magnetometer sensor 201 has an accuracy of 0.1 nT, a range of -100,000 nT to 100,000 nT, an accuracy of 0.5‰FS, a resolution of <0.5 nT, a noise of <0.5 nT, a stability of <0.15O, a sensor orthogonality error better than 0.1O, and an uncertainty of 0.02%. The three-component ground magnetometer sensor 201 is used to precisely measure the local interference magnetic field of the dual-probe type spaceborne magnetometer assembly. The ground magnetometer sensor array 202 is used to measure the overall remanent magnetic moment of the satellite's main body assembly. Both the three-component ground magnetometer sensor 201 and the ground magnetometer sensor array 202 are electrically connected to the ground magnetometer control box 203 via cables. The ground magnetometer control box 203 is used for data processing, calibration, and display.

[0074] The main satellite components include satellite 301 and satellite geometric equatorial plane 302. Satellite 301 is the object to be tested. The surface of satellite 301 has a pre-set installation interface for a dual-probe type onboard magnetometer assembly. The reference marks and functional interfaces of the satellite geometric equatorial plane 302 are avoided in the sparse area of ​​the equipment, and a standard magnetic moment block pasting area is reserved. The coarse compensation-level standard magnetic moment block is pasted on the non-magnetic area of ​​the surface of satellite 301 to cancel the residual magnetic moment of the entire satellite, making it ≤1A. m²; fine compensation-grade standard magnetic moment blocks are attached to the non-magnetic brackets or surrounding satellite shells of the first dual-probe type spaceborne magnetometer sensor 101 and the second dual-probe type spaceborne magnetometer sensor 102, without obstructing the normal direction of the sensor probes; the satellite geometric equatorial plane 302 serves as a reference plane, used to locate the placement of ground magnetometer components and to support the attitude adjustment reference of the turntable components.

[0075] The support and turntable assembly includes a non-magnetic turntable 401 and a sensor support frame 402. The non-magnetic turntable 401 includes a horizontally moving trolley and a platform that rotates around a vertical axis. The satellite 301 is fixed on the platform. The non-magnetic turntable 401 has a load-bearing capacity of 5000 kg and an angular interval accuracy of 1°. The non-magnetic turntable 401 can drive the satellite 301 to achieve horizontal movement and 0°-360° angle adjustment. The height adjustment range of the sensor support frame 402 is 1500 mm to 6000 mm, and the load-bearing capacity is 20 kg. The top of the sensor support frame 402 is used to fix the ground magnetometer three-component magnetic sensor 201 and the ground magnetometer sensor array 202 of the ground magnetometer assembly 2. The sensor support frame 402 can adjust the relative positions of the ground magnetometer three-component magnetic sensor 201, the ground magnetometer sensor array 202 and the satellite 301 according to the test requirements.

[0076] The uniformity test measurement point assembly includes a top-level measurement point group and a lower-level measurement point group arranged vertically along the dual-probe region of the dual-probe type spaceborne magnetometer assembly. The top-level measurement point group includes top-level measurement point 501 of the gradient field of the first spaceborne magnetometer sensor, top-level measurement point 502 of the gradient field of the second spaceborne magnetometer sensor, top-level measurement point 503 of the gradient field of the third spaceborne magnetometer sensor, top-level measurement point 504 of the gradient field of the fourth spaceborne magnetometer sensor, and top-level measurement point 505 of the gradient field of the fifth spaceborne magnetometer sensor. The lower-level measurement point group includes top-level measurement point 506 of the gradient field of the sixth spaceborne magnetometer sensor, top-level measurement point 507 of the gradient field of the seventh spaceborne magnetometer sensor, and top-level measurement point 505 of the gradient field of the eighth spaceborne magnetometer sensor. The top layer measuring point 508 of the sensor gradient field, the top layer measuring point 509 of the ninth instrument magnetometer sensor gradient field, and the top layer measuring point 5010 of the tenth instrument magnetometer sensor gradient field are located 50mm to 100mm above and 50mm to 100mm below the plane where the first dual-probe type spaceborne magnetometer sensor 101 and the second dual-probe type spaceborne magnetometer sensor 102 are located, respectively. The measuring points in each layer are evenly distributed along the line connecting the first dual-probe type spaceborne magnetometer sensor 101 and the second dual-probe type spaceborne magnetometer sensor 102 and perpendicular to the line connecting the two probes, forming 10 test points covering the dual-probe area.

[0077] The top and bottom measuring point groups have five measuring points arranged in a cross shape. The top measuring point 501 of the gradient field of the first onboard magnetometer sensor and the top measuring point 505 of the gradient field of the fifth onboard magnetometer sensor are located directly above the first dual-probe type spaceborne magnetometer sensor 101 and the second dual-probe type spaceborne magnetometer sensor 102, respectively. The top measuring point 503 of the gradient field of the third onboard magnetometer sensor is located directly above the midpoint of the line connecting the two probes. The top measuring points 502 of the gradient field of the second onboard magnetometer sensor and the top measuring point 504 of the gradient field of the fourth onboard magnetometer sensor are located on both sides of the line perpendicular to the line connecting the probes. The bottom measuring point group corresponds vertically to the top measuring points, forming a three-dimensional grid coverage to ensure the comprehensive capture of the magnetic field gradient in the dual-probe area. After the standard magnetic moment block is pasted, it needs to be retested at 10 points of the uniformity test measuring point assembly by the three-component magnetic sensor 201 of the ground magnetometer to verify whether the consistency of the interference field after compensation meets the standard (gradient change ≤ 2nT / cm).

[0078] The three-component magnetic sensor 201 of the ground magnetometer assembly can be moved to 10 test points of the uniformity test point assembly via the sensor support frame 402 of the support and turntable assembly to collect the interference magnetic field values ​​at each point. At the same time, the non-magnetic turntable 401 can drive the satellite 301 to adjust its attitude so that the ground magnetometer sensor array 202 of the ground magnetometer assembly can cover the area around the satellite 301, realizing the measurement of the remanent magnetic moment of the whole satellite. After the measurement of the remanent magnetic moment of the whole satellite is completed, the total magnetic moment and direction of the required coarse compensation stage standard magnetic moment block are calculated based on the data of the ground magnetometer sensor array 202. The satellite 301 is adjusted to a horizontal attitude by the non-magnetic turntable 401, the magnetic block is pasted, and the measurement is repeated until the remanent magnetic moment of the whole satellite meets the standard.

[0079] The standard magnetic moment block uses high intrinsic coercivity neodymium iron boron permanent magnet material, and is divided into coarse compensation stage and fine compensation stage according to the magnetic moment order. Its size ranges from 1mm×5mm×5mm to 2mm×10mm×20mm, and the magnetic moment order is 0.1A·m. 2 Up to 5A·m 2 Within its scope, it adapts to the needs of satellite ground testing and on-orbit environment.

[0080] Based on the aforementioned testing device, the control method of this invention follows the logic of "from overall to local, from coarse adjustment to fine adjustment, and from testing to prediction," and achieves interference magnetic field control in three levels. The specific steps are as follows:

[0081] Step S1: Whole-satellite remanent magnetic moment test and coarse compensation

[0082] 1.1 Device Deployment: Fix satellite 301 onto the platform of non-magnetic turntable 401 using tooling, adjust the horizontal moving trolley to ensure that the distance between satellite 301 and ground magnetometer sensor array 202 meets the requirements of near-field method testing; adjust the height of ground magnetometer sensor array 202 using sensor support frame 402 to ensure that the three-component magnetic sensor 201 of ground magnetometer covers the key magnetic field area around the satellite;

[0083] 1.2 Magnetic field measurement: Start the ground magnetometer assembly and control the vertical rotation platform of the non-magnetic turntable 401 to rotate at 0°, 90°, 180° and 270° intervals. After each rotation, collect the magnetic field data of the ground magnetometer sensor array 202 and calculate the remanent moment of the whole satellite using the near-field method calculation formula.

[0084] 1.3 Coarse Compensation Judgment and Execution: If the calculated remanent magnetic moment of the entire satellite is less than or equal to the preset index, then the coarse compensation of the entire satellite is completed and proceed to step 2; if it exceeds the index, select an appropriate number of large-scale standard magnetic blocks and attach them to the remanent magnetic cancellation area on the surface of the satellite, and repeat steps 1.2 to 1.3 until the remanent magnetic moment of the entire satellite meets the index.

[0085] Step S2: Dual-probe interference magnetic field test and fine compensation

[0086] 2.1 Test preparation: Remove the dual-probe type onboard magnetometer sensor 100 from the dual-probe type onboard magnetometer assembly already installed on satellite 301, while retaining the connection interface of the dual-probe type onboard magnetometer control box 103 to avoid damaging the satellite surface structure;

[0087] 2.2 Local Interference Measurement: Using the sensor support frame 402, the three-component magnetic sensor 201 of the ground magnetometer assembly is fixed to the installation position of the first dual-probe type spaceborne magnetometer sensor 101, ensuring that the sensor coordinate system is consistent with the original sensor; the ground magnetometer is started to collect the interference magnetic field values ​​in the three orthogonal directions at this location and calculate the magnetic field magnitude; similarly, the three-component magnetic sensor 201 of the ground magnetometer is moved to the installation position of the second dual-probe type spaceborne magnetometer sensor 102 to complete the interference magnetic field measurement;

[0088] 2.3 Fine Compensation Judgment and Execution: If the interference magnetic field magnitude of the three-component magnetic sensor 201 of the ground magnetometer at the location of the dual-probe spaceborne magnetometer sensor 100 is ≤ the accuracy index of the spaceborne magnetometer, then fine compensation is completed and proceed to step 3; if any location exceeds the standard, select a small-scale standard magnetic block, attach it to a non-critical area near the sensor, and measure the interference magnetic field value again; repeat this process until the interference magnetic field value of the three-component magnetic sensor 201 of the ground magnetometer at the location of the dual-probe spaceborne magnetometer sensor 100 meets or is close to the accuracy index, and the interference field deviation between the two probes is ≤1nT.

[0089] Step S3: Dual-probe region interference field uniformity test and consistency prediction

[0090] 3.1 Initial value acquisition: Reinstall the dual-probe type spaceborne magnetometer sensor 100, and acquire the remaining interference magnetic field values ​​at the two probes through the dual-probe type spaceborne magnetometer control box 103, and record them as the initial benchmark values ​​for consistency evaluation;

[0091] 3.2 Site Layout and Background Measurement: A vertical double-layer layout method was adopted. Taking the plane where the dual-probe spaceborne magnetometer sensor 100 is located as the reference plane, one layer of parallel test planes was set up above and one layer below. Each layer was evenly divided into 5 measurement points along the "direction of the connection between the two probes" and "perpendicular to the direction of the connection" (a total of 10 measurement points, forming a measurement grid covering the area of ​​the two probes). The non-magnetic turntable 401 was moved out of the test site, and the ground magnetometer was started to measure the background magnetic field values ​​of the 10 measurement points for subsequent data correction.

[0092] 3.3 Interference field measurement: Reset the non-magnetic turntable 401 to the initial test position, move the three-component magnetic sensor 201 of the ground magnetometer assembly to 10 measurement points one by one, collect the interference magnetic field value of each measurement point in the three orthogonal directions, subtract the background magnetic field value of the corresponding measurement point, and obtain the net interference magnetic field data.

[0093] 3.4 Consistency Deviation Calculation: Based on the net interference magnetic field data from 10 measuring points, key parameters were calculated using the following method:

[0094] Non-uniform gradient magnetic field deviation: Compare the magnetic field magnitude values ​​of 10 measuring points, take the difference between the maximum and minimum values, divide it by the average distance between the measuring points, and obtain the magnetic field gradient deviation of the dual-probe area;

[0095] Angular orthogonality error: Based on the three orthogonal magnetic field components of each measuring point, fit an ideal orthogonal coordinate system, and calculate the angular deviation between the actual measured coordinate system and the ideal coordinate system, which is the angular orthogonality error;

[0096] 3.5 On-orbit prediction determination: Through weighted analysis, the on-orbit prediction of the consistency deviation of the dual-probe interference field is calculated. This value is written into the satellite's on-orbit attitude control algorithm for real-time correction of magnetometer measurement data.

[0097] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0098] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A system for testing the interference magnetic field of a spaceborne magnetometer in dual-probe mode, characterized in that, It includes a dual-probe spaceborne magnetometer assembly, a ground magnetometer assembly, a satellite main body assembly, a support and turntable assembly, a uniformity test point assembly, and a standard magnetic moment block; The dual-probe type spaceborne magnetometer assembly is installed on the surface of the satellite main body assembly and is a supporting component for attitude measurement of the satellite main body assembly, used to collect magnetic field signals; The dual-probe type spaceborne magnetometer assembly includes a dual-probe type spaceborne magnetometer sensor (100) and a dual-probe type spaceborne magnetometer control box (103). The dual-probe type spaceborne magnetometer sensor (100) is divided into a first dual-probe type spaceborne magnetometer sensor (101) and a second dual-probe type spaceborne magnetometer sensor (102), both of which are three-component magnetic sensors; The support and turntable assembly includes a non-magnetic turntable and a sensor support frame. The non-magnetic turntable carries the satellite main body assembly and can adjust the attitude of the satellite main body assembly. The sensor support frame fixes the ground magnetometer assembly and can adjust the relative position of the ground magnetometer assembly, the satellite main body assembly, and the dual-probe type spaceborne magnetometer assembly. The ground magnetometer assembly is used to measure the overall remanent magnetic moment of the satellite main assembly and the local interference magnetic field of the dual-probe spaceborne magnetometer assembly. It can also be moved to various points of the uniformity test measurement point assembly to collect interference magnetic field data. The uniformity test point assembly is arranged around the dual-probe area of ​​the dual-probe spaceborne magnetometer assembly, providing standardized test points for the ground magnetometer assembly to evaluate the consistency of the interference field of the dual-probe spaceborne magnetometer assembly. The uniformity test point assembly includes a top-level measuring point group and a lower-level measuring point group arranged vertically along the dual-probe region of the dual-probe type spaceborne magnetometer assembly. The top-level measurement point group includes the first instrument-borne magnetometer sensor gradient field top-level measurement point (501), the second instrument-borne magnetometer sensor gradient field top-level measurement point (502), the third instrument-borne magnetometer sensor gradient field top-level measurement point (503), the fourth instrument-borne magnetometer sensor gradient field top-level measurement point (504), and the fifth instrument-borne magnetometer sensor gradient field top-level measurement point (505). The lower-level measuring point group includes the top measuring point of the gradient field of the sixth instrument-borne magnetometer sensor (506), the top measuring point of the gradient field of the seventh instrument-borne magnetometer sensor (507), the top measuring point of the gradient field of the eighth instrument-borne magnetometer sensor (508), the top measuring point of the gradient field of the ninth instrument-borne magnetometer sensor (509), and the top measuring point of the gradient field of the tenth instrument-borne magnetometer sensor (5010). The standard magnetic moment block is used to offset the residual magnetic moment of the entire satellite main component and the local interference magnetic field of the dual-probe type on-board magnetometer component. Its compensation amount and deployment position are determined based on the measurement data of the ground magnetometer component.

2. The spaceborne magnetometer interference magnetic field testing system in dual-probe mode according to claim 1, characterized in that, The first dual-probe type spaceborne magnetometer sensor (101) and the second dual-probe type spaceborne magnetometer sensor (102) are backups of each other and are installed in parallel on the surface of the satellite (301) of the main satellite component at intervals of 50mm to 100mm. The dual-probe type spaceborne magnetometer control box (103) is electrically connected to the first dual-probe type spaceborne magnetometer sensor (101) and the second dual-probe type spaceborne magnetometer sensor (102) via cables, and is used to collect and preprocess the magnetic field measurement signals of the first dual-probe type spaceborne magnetometer sensor (101) and the second dual-probe type spaceborne magnetometer sensor (102).

3. The spaceborne magnetometer interference magnetic field testing system in dual-probe mode according to claim 1, characterized in that, The ground magnetometer assembly includes a three-component ground magnetometer magnetic sensor (201), a ground magnetometer sensor array (202), and a ground magnetometer electrical control box (203). The three-component magnetic sensor (201) of the ground magnetometer is used to precisely measure the local interference magnetic field of the dual-probe type spaceborne magnetometer assembly; The ground magnetometer sensor array (202) is used to measure the remanent magnetic moment of the entire satellite main body components; The three-component magnetic sensor (201) and the ground magnetometer sensor array (202) are both electrically connected to the ground magnetometer control box (203) via cables. The ground magnetometer control box (203) is used for data processing, calibration and display.

4. The spaceborne magnetometer interference magnetic field testing system in dual-probe mode according to claim 1, characterized in that, The main satellite components include the satellite (301) and the satellite geometric equatorial plane (302). The satellite (301) is the object to be tested. The surface of the satellite (301) is pre-set with the installation interface of the dual-probe type on-board magnetometer assembly. The reference mark and functional interface of the satellite's geometric equatorial plane (302) are avoided in the sparse area of ​​the equipment, and a standard magnetic moment block pasting area is reserved. The satellite geometric equatorial plane (302) serves as a reference plane, used to locate the placement of the ground magnetometer components and as a reference for the attitude adjustment of the support and turntable components.

5. The spaceborne magnetometer interference magnetic field testing system in dual-probe mode according to claim 1, characterized in that, The support and turntable assembly includes a non-magnetic turntable (401) and a sensor support frame (402). The non-magnetic turntable (401) includes a horizontally moving trolley and a platform that rotates around a vertical axis. The satellite (301) is fixed on the platform. The non-magnetic turntable (401) can drive the satellite (301) to achieve horizontal movement and 0°-360° angle adjustment. The top of the sensor support frame (402) is used to fix the ground magnetometer three-component magnetic sensor (201) and the ground magnetometer sensor array (202) of the ground magnetometer assembly.

6. The spaceborne magnetometer interference magnetic field testing system in dual-probe mode according to claim 1, characterized in that, The top-level measuring point group and the lower-level measuring point group are located 50mm to 100mm above and 50mm to 100mm below the plane where the first dual-probe type spaceborne magnetometer sensor (101) and the second dual-probe type spaceborne magnetometer sensor (102) are located, respectively. The measuring points in each layer are distributed in a "cross shape" along the line connecting the first dual-probe type spaceborne magnetometer sensor (101) and the second dual-probe type spaceborne magnetometer sensor (102) and the vertical line connecting the two. The top-level measurement point (501) of the gradient field of the first onboard magnetometer sensor and the top-level measurement point (505) of the gradient field of the fifth onboard magnetometer sensor are located directly above the first dual-probe type spaceborne magnetometer sensor (101) and the second dual-probe type spaceborne magnetometer sensor (102), respectively. The top-level measurement point (503) of the gradient field of the third onboard magnetometer sensor is located directly above the midpoint of the line connecting the two probes. The top-level measurement points (502) of the gradient field of the second onboard magnetometer sensor and the top-level measurement point (504) of the gradient field of the fourth onboard magnetometer sensor are located on both sides of the vertical direction of the line connecting the probes, respectively. The lower-level measurement point group corresponds vertically to the top-level measurement point.

7. The spaceborne magnetometer interference magnetic field testing system in dual-probe mode according to claim 1, characterized in that, The standard magnetic moment block uses high intrinsic coercivity neodymium iron boron permanent magnet material, and is divided into coarse compensation stage and fine compensation stage according to the magnitude of magnetic moment; The coarse compensation standard magnetic moment block is attached to the non-magnetic area on the surface of the satellite (301); The fine compensation-level standard magnetic moment block is attached to the non-magnetic bracket of the first dual-probe type spaceborne magnetometer sensor (101) and the second dual-probe type spaceborne magnetometer sensor (102) or the outer shell of the satellite (301), without obstructing the normal direction of the two sensor probes.

8. The spaceborne magnetometer interference magnetic field testing system in dual-probe mode according to claim 2, characterized in that, The three-component magnetic sensor (201) of the ground magnetometer assembly can be moved to 10 measurement points of the uniformity test measurement point assembly via the sensor support frame (402) of the support and turntable assembly.

9. The dual-probe mode under satellite-borne magnetometer interference magnetic field test system according to claim 8, characterized in that, After the standard magnetic moment block is pasted, it needs to be re-measured at 10 measuring points using a three-component magnetic sensor (201) of a ground magnetometer to verify the change in the gradient of the interference field after compensation.

10. A method for controlling the interference magnetic field of a satellite-borne magnetometer in dual-probe mode based on the system of any one of claims 1-9, characterized in that, The specific steps include: Step S1: Whole-satellite remanent magnetic moment test and coarse compensation 1.1 Device Deployment: The satellite (301) was fixed on the platform of the non-magnetic turntable (401) using tooling. The horizontal moving trolley was adjusted so that the distance between the satellite (301) and the ground magnetometer sensor array (202) met the requirements of the near-field method test. The height of the ground magnetometer sensor array (202) was adjusted using the sensor support frame (402) to ensure that the three-component magnetic sensor (201) of the ground magnetometer covers the key magnetic field area around the satellite. 1.2 Magnetic field measurement: Start the ground magnetometer assembly and control the vertical rotation platform of the non-magnetic turntable (401) to rotate at 0°, 90°, 180° and 270° intervals. Collect the magnetic field data of the ground magnetometer sensor array (202) once for each rotation angle, and calculate the remanent moment of the whole satellite using the near-field method calculation formula. 1.3 Coarse Compensation Judgment and Execution: If the calculated remanent magnetic moment of the entire satellite is less than or equal to the preset index, then the coarse compensation of the entire satellite is completed and proceed to step 2; if it exceeds the index, select an appropriate number of large-scale standard magnetic blocks and attach them to the remanent magnetic cancellation area on the surface of the satellite, and repeat steps 1.2 to 1.3 until the remanent magnetic moment of the entire satellite meets the index. Step S2: Dual-probe interference magnetic field test and fine compensation 2.1 Test preparation: Remove the dual-probe type onboard magnetometer sensor (100) of the dual-probe type onboard magnetometer assembly already installed on the satellite (301), and retain the connection interface of the dual-probe type onboard magnetometer control box (103) to avoid damaging the satellite surface structure; 2.2 Local Interference Measurement: Using the sensor support frame (402), the three-component magnetic sensor (201) of the ground magnetometer assembly is fixed at the installation position of the first dual-probe type spaceborne magnetometer sensor (101) to ensure that the sensor coordinate system is consistent with the original sensor; the ground magnetometer is started to collect the interference magnetic field values ​​in the three orthogonal directions at this location and calculate the magnetic field magnitude; similarly, the three-component magnetic sensor (201) of the ground magnetometer is moved to the installation position of the second dual-probe type spaceborne magnetometer sensor (102) to complete the interference magnetic field measurement; 2.3 Fine Compensation Judgment and Execution: If the interference magnetic field magnitude of the three-component magnetic sensor (201) of the ground magnetometer at the location of the dual-probe spaceborne magnetometer sensor (100) is ≤ the accuracy index of the spaceborne magnetometer, then fine compensation is completed and proceed to step 3; if any location exceeds the standard, select a small-scale standard magnetic block, attach it to a non-critical area near the sensor, and measure the interference magnetic field value again; repeat this process until the interference magnetic field value of the three-component magnetic sensor (201) of the ground magnetometer at the location of the dual-probe spaceborne magnetometer sensor (100) meets or is close to the accuracy index, and the interference field deviation between the two probes is ≤1nT; Step S3: Dual-probe region interference field uniformity test and consistency prediction 3.1 Initial value acquisition: Restore the installation of the dual-probe type spaceborne magnetometer sensor (100), and collect the residual interference magnetic field values ​​at the two probes through the dual-probe type spaceborne magnetometer control box (103), and record them as the initial reference values ​​for consistency evaluation; 3.2 Point Layout and Background Measurement: A vertical double-layer layout method was adopted. The plane where the dual-probe type spaceborne magnetometer sensor (100) is located was used as the reference plane, and one layer of parallel test planes was set up above and below. Each layer was evenly divided into 5 measurement points along the "direction of the connection between the two probes" and "perpendicular to the direction of the connection", forming a measurement grid covering the area of ​​the two probes. The non-magnetic turntable (401) was moved out of the test site, and the ground magnetometer was started to measure the background magnetic field value of 10 measurement points for subsequent data correction. 3.3 Interference field measurement: Reset the non-magnetic turntable (401) to the initial test position, move the three-component magnetic sensor (201) of the ground magnetometer assembly to 10 measurement points one by one, collect the interference magnetic field value of each measurement point in the three orthogonal directions, subtract the background magnetic field value of the corresponding measurement point, and obtain the net interference magnetic field data. 3.4 Consistency Deviation Calculation: Based on the net interference magnetic field data from 10 measuring points, key parameters were calculated using the following method: Non-uniform gradient magnetic field deviation: Compare the magnetic field magnitude values ​​of 10 measuring points, take the difference between the maximum and minimum values, divide it by the average distance between the measuring points, and obtain the magnetic field gradient deviation of the dual-probe area; Angular orthogonality error: Based on the three orthogonal magnetic field components of each measuring point, fit an ideal orthogonal coordinate system, and calculate the angular deviation between the actual measured coordinate system and the ideal coordinate system, which is the angular orthogonality error; 3.5 In-orbit pre-estimation: Through weighted analysis, the in-orbit pre-estimation of the consistency deviation of the double-probe interference field is calculated, and the value is written into the satellite in-orbit attitude control algorithm to correct the magnetometer measurement data in real time.

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