Extension rod attitude monitoring method and system, storage medium and computer program product

Abstract

The invention discloses a stretching rod attitude monitoring method and system, a storage medium and a computer program product, and relates to the technical field of satellite attitude measurement, the method is applied to a single-coil stretching rod attitude monitoring system or a double-coil stretching rod attitude monitoring system, and the method comprises the following steps: under the condition that the optimal stretching rod placement attitude is determined in advance, determining the optimal stretching rod placement attitude; selecting a magnetic field vector or total magnetic field intensity as a positioning element; determining a regional magnetic map according to the positioning elements, and obtaining magnetic field data collected by a magnetic sensor arranged on the extension rod; determining position coordinates of the magnetic sensor based on the regional magnetic map and the magnetic field data; and carrying out coordinate system conversion on the position coordinates to obtain posture position coordinates so as to carry out stretching rod posture monitoring. Through dimension reduction positioning of the coil and extension rod installation attitude optimization, low-cost, high-sensitivity and high-precision extension rod attitude monitoring is realized.

Description

Technical Field

[0001] This application relates to the field of satellite attitude measurement technology, and in particular to pole attitude monitoring methods, systems, storage media, and computer program products. Background Technology

[0002] Current satellite mast attitude monitoring technologies are mainly divided into two categories: star sensors and coil positioning. The star sensor approach relies on precision optical equipment, which, while offering high accuracy, is costly and complex. The coil approach, although less expensive, suffers from redundancy in three-dimensional positioning and insufficient sensitivity. Micro-vibrations of the mast alter the inherent coordinate system of the magnetic sensor, introducing errors in magnetic field vector conversion. When superimposed with interference from the satellite platform's magnetic field, this severely restricts the quality of space magnetic field data, while high-precision magnetic measurement is a core requirement for deep space exploration missions.

[0003] Therefore, how to achieve high sensitivity and high accuracy rod attitude monitoring at low cost has become an urgent problem to be solved in this application.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this application is to provide a method, system, storage medium, and computer program product for monitoring pole attitude, aiming to solve the technical problem of how to achieve high sensitivity and high accuracy in pole attitude monitoring at low cost.

[0006] To achieve the above objectives, this application proposes a method for monitoring the attitude of a rod extension, which is applied to a single-coil rod extension attitude monitoring system or a dual-coil rod extension attitude monitoring system. The method includes: Under the condition of pre-determining the optimal posture for the extension rod placement, the magnetic field vector or total magnetic field strength is selected as the positioning element; The region's magnetic map is determined based on the positioning elements, and the magnetic field data collected by the magnetic sensor mounted on the extension rod is obtained. The position coordinates of the magnetic sensor are determined based on the regional magnetograph and the magnetic field data. The position coordinates are transformed to obtain the attitude position coordinates for rod attitude monitoring.

[0007] In one embodiment, the step of selecting the magnetic field vector or total magnetic field strength as the positioning element under the condition of pre-determining the optimal orientation of the extension rod further includes: Obtain the spatial distribution of the magnetic field vector generated by each energized coil in the dual coil on a preset first curved surface; or... Obtain the spatial distribution of the magnetic field vector generated by a energized single coil on a preset first curved surface; The optimal posture for setting up the extension rod is determined based on the spatial distribution of the magnetic field vector and the actual motion area of ​​the magnetic sensor.

[0008] In one embodiment, the step of determining the optimal posture for the extension rod based on the spatial distribution of the magnetic field vector and the actual motion area of ​​the magnetic sensor includes: Obtain the preset maximum angle of extension rod vibration, and determine the actual movement area of ​​the magnetic sensor based on the maximum angle of extension rod vibration; Based on the spatial distribution of the magnetic field vector, a sub-region for rod placement is selected from the actual motion region of the magnetic sensor; The optimal posture for deploying the pole is determined based on the position coordinates of the center area of ​​the pole deployment sub-region.

[0009] In one embodiment, the step of determining the region magnetograph based on the positioning features includes: If the dual-coil extension pole attitude monitoring system is selected for extension pole attitude monitoring, the first spatial distribution of the magnetic field vector or total magnetic field strength generated by each coil in the extension pole placement sub-region is calculated based on the physical parameters of the dual coils. If the single-coil extension pole attitude monitoring system is selected for extension pole attitude monitoring, the second spatial distribution of the magnetic field vector generated by the single coil in the extension pole placement sub-region is calculated based on the physical parameters of the single coil. The first spatial distribution or the second spatial distribution is used as a regional magnetograph.

[0010] In one embodiment, the step of determining the position coordinates of the magnetic sensor based on the regional magnetograph and the magnetic field data includes: If the dual-coil extension attitude monitoring system is selected for extension attitude monitoring, then the magnetic field information of each coil originating from the dual coils is extracted from the magnetic field data. The magnetic field information of each coil is compared with the regional magnetic map to determine the position coordinates of the magnetic sensor; If the single-coil extension attitude monitoring system is selected for extension attitude monitoring, then magnetic field information originating from the single coil is extracted from the magnetic field data; The magnetic field information of the single coil is compared with the regional magnetic map to determine the position coordinates of the magnetic sensor.

[0011] In one embodiment, the step of performing coordinate system transformation on the position coordinates to obtain attitude position coordinates for rod attitude monitoring includes: Convert the position coordinates into attitude position coordinates in the reference coordinate system; The extension pole attitude is monitored based on the preset reference value and the attitude position coordinates.

[0012] In one embodiment, the step of converting the position coordinates into attitude position coordinates in a reference coordinate system further includes: Select a reference coordinate system, and record the first polar angle and the first azimuth angle of the extension rod in its static initial posture as the reference values ​​according to the reference coordinate system.

[0013] In addition, to achieve the above objectives, this application also proposes a pole extension attitude monitoring device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the pole extension attitude monitoring method as described above.

[0014] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the pole attitude monitoring method described above.

[0015] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the pole extension attitude monitoring method described above.

[0016] One or more technical solutions proposed in this application have at least the following technical effects: Under the condition of pre-determining the optimal posture of the extension rod, the magnetic field vector or total magnetic field strength is selected as the positioning element; the regional magnetic map is determined according to the positioning element, and the magnetic field data collected by the magnetic sensor installed on the extension rod is obtained; the position coordinates of the magnetic sensor are determined based on the regional magnetic map and the magnetic field data; the coordinate system is transformed on the position coordinates to obtain the posture position coordinates for extension rod posture monitoring. First, by using a single-coil extension rod posture monitoring system or a dual-coil extension rod posture monitoring system, under the condition of pre-determining the optimal posture of the extension rod, the magnetic field vector or total magnetic field strength is selected as the positioning element, reducing the number of coils from the three required for traditional three-dimensional positioning to two (or one), eliminating coil redundancy, and eliminating the high-cost optical components and redundant hardware required by traditional star sensors or triaxial coils, thereby minimizing hardware cost, weight, and power consumption. Simultaneously, by pre-determining the optimal posture for the extension rod installation, monitoring sensitivity is maximized. Furthermore, magnetic field data collected by the magnetic sensor provides a data foundation for subsequent precise magnetic sensor positioning, solving the problem of low positioning accuracy caused by the lack of a precise magnetic field distribution reference. Further, the position coordinates of the magnetic sensor are transformed to obtain the posture coordinates for extension rod posture monitoring. By converting the position of the magnetic sensor into the posture coordinates of the extension rod in a standard coordinate system, precise monitoring of the extension rod posture is achieved. In summary, this application achieves low-cost, high-sensitivity, and high-precision extension rod posture monitoring through dimensionality reduction positioning of the coil and optimization of the extension rod installation posture. Attached Figure Description

[0017] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating the first embodiment of the rod attitude monitoring method of this application. Figure 2 This is a flowchart illustrating the second embodiment of the rod attitude monitoring method of this application. Figure 3 This is a flowchart illustrating the third embodiment of the rod attitude monitoring method of this application. Figure 4 This is a flowchart illustrating the fifth embodiment of the rod attitude monitoring method of this application. Figure 5This is a schematic diagram of the module structure of the rod attitude monitoring device according to an embodiment of this application; Figure 6 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the pole attitude monitoring method in this application embodiment.

[0020] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0021] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0022] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0023] The main solution of this application embodiment is as follows: under the condition of pre-determining the optimal posture of the extension rod, select the magnetic field vector or the total magnetic field strength as the positioning element; determine the regional magnetic map according to the positioning element, and obtain the magnetic field data collected by the magnetic sensor installed on the extension rod; determine the position coordinates of the magnetic sensor based on the regional magnetic map and the magnetic field data; perform coordinate system transformation on the position coordinates to obtain the posture position coordinates for extension rod posture monitoring.

[0024] This application's embodiments take into account that current satellite boom attitude monitoring technologies are mainly divided into two categories: star sensors and coil positioning. The star sensor approach relies on precision optical equipment, which, while offering high accuracy, is costly and complex. The coil approach, although less expensive, suffers from redundancy in three-dimensional positioning and insufficient sensitivity. Micro-vibrations of the boom can alter the inherent coordinate system of the magnetic sensor, introducing errors in magnetic field vector conversion. When superimposed with interference from the satellite platform's magnetic field, this severely restricts the quality of space magnetic field data, while high-precision magnetic measurement is a core requirement for deep space exploration missions.

[0025] Therefore, this application provides a solution for a single-coil or dual-coil extension rod attitude monitoring system. Under the condition of a pre-determined optimal extension rod placement posture, a magnetic field vector or total magnetic field strength is selected as a positioning element. A regional magnetic map is determined based on the positioning element, and magnetic field data collected by the magnetic sensor mounted on the extension rod is acquired. The position coordinates of the magnetic sensor are determined based on the regional magnetic map and the magnetic field data. The position coordinates are then transformed to obtain the attitude position coordinates for extension rod attitude monitoring. Firstly, by using a single-coil or dual-coil extension rod attitude monitoring system, under the condition of a pre-determined optimal extension rod placement posture, a magnetic field vector or total magnetic field strength is selected as a positioning element, reducing the number of coils from the three required for traditional three-dimensional positioning to two (or one), eliminating coil redundancy, and eliminating the high-cost optical components and redundant hardware required by traditional star sensors or triaxial coils, thereby minimizing hardware cost, weight, and power consumption. Simultaneously, by pre-determining the optimal posture for the extension rod installation, monitoring sensitivity is maximized. Furthermore, actual magnetic field data is collected using a magnetic sensor, providing a data foundation for subsequent precise magnetic sensor positioning and resolving the low positioning accuracy issue caused by the lack of a precise magnetic field distribution reference. Further, the position coordinates of the magnetic sensor are transformed to obtain the posture coordinates for extension rod posture monitoring. By converting the position of the magnetic sensor into the posture coordinates of the extension rod in a specific reference coordinate system, precise monitoring of the extension rod posture is achieved. In summary, this application, through dimensionality reduction positioning of the coil and optimization of the extension rod installation posture, can achieve low-cost, high-sensitivity, and high-precision extension rod posture monitoring.

[0026] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device or pole extension attitude monitoring system capable of performing the above functions. The following description uses a pole extension attitude monitoring system as an example to illustrate this embodiment and the subsequent embodiments.

[0027] Based on this, embodiments of this application provide a method for monitoring the attitude of a pole extension, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the pole posture monitoring method of this application.

[0028] In this embodiment, the rod attitude monitoring method includes steps S10 to S40: Step S10: Under the condition of pre-determining the optimal posture of the extension rod, select the magnetic field vector or total magnetic field strength as the positioning element; The optimal mounting posture of the extension rod refers to the distribution pattern of the magnetic field generated by each coil of a single or double coil on the plane where the magnetic sensor is located when the extension rod vibrates, and the selection of the extension rod installation angle or posture that maximizes the monitoring sensitivity.

[0029] The magnetic field vector refers to the vector representation in space of the direction and magnitude of the magnetic field generated by the two coils in a dual-coil extension pole attitude monitoring system; or, in a single-coil extension pole attitude monitoring system, it refers to the vector representation in space of the direction and magnitude of the magnetic field generated by a single coil.

[0030] Total magnetic field strength refers to the magnitude of the total magnetic field generated by the two coils in a dual-coil extension rod attitude monitoring system.

[0031] The positioning element refers to the physical quantity used to determine the position of the magnetic sensor on the extension rod placement sub-region D. The magnetic field vector or the total magnetic field strength can be selected as the positioning element.

[0032] Given that the optimal position of the extension rod has been determined, a suitable physical quantity is selected as the basis for subsequent positioning. The approach is to comprehensively consider the characteristics of the dual-coil or single-coil system and the magnetic field distribution law, and select a positioning element that can uniquely determine the position of the magnetic sensor and has a sufficiently large spatial difference. By selecting a suitable positioning element, the foundation for accurate monitoring of the extension rod's attitude can be laid, thereby improving the accuracy and reliability of attitude monitoring.

[0033] In one possible implementation, for a dual-coil system, the magnetic field vector can be selected as the positioning element based on information such as the coil's size, shape, and current, because the magnetic field vector contains direction and magnitude information and can more comprehensively reflect the spatial distribution characteristics of the magnetic field. In another possible implementation, for a dual-coil system, the total magnetic field strength can also be selected as the positioning element. For a single-coil system, since the total magnetic field strength generated by the coil has axial symmetry in spatial distribution, the magnetic field vector is selected as the positioning element in order to uniquely determine the position of the magnetic sensor.

[0034] Additionally, it should be noted that when selecting positioning elements, it is necessary to ensure that their spatial differences within the rod placement sub-region D are sufficiently large to meet the requirements for rod attitude monitoring accuracy. At the same time, it is necessary to ensure that the specific location of the magnetic sensor in region D can be uniquely determined based on the selected positioning elements to avoid positioning ambiguity.

[0035] For example, in one specific implementation, after determining the optimal posture for the extension rod placement, for a dual-coil system, based on the information that the dimensions and shapes of the two coils are both circular and the magnitude of the current is known, the system analyzes and finds that the spatial distribution of the magnetic field vectors generated by each coil of the dual coils is significantly different in region D, which can uniquely determine the position of the magnetic sensor. Therefore, the magnetic field vector is selected as the positioning element.

[0036] Step S20: Determine the regional magnetic map based on the positioning elements, and obtain the magnetic field data collected by the magnetic sensor installed on the extension rod; A regional magnetic map refers to a diagram or set of data showing the spatial distribution of the magnetic field vectors (or total magnetic field strength) of each coil in the sub-region D where the extension rod is placed.

[0037] A magnetic sensor mounted on the boom refers to a device installed on the boom for measuring magnetic field data or data related to a magnetic field. Specifically, the magnetic sensor can be a magnetic sensor for measuring a DC magnetic field, a magnetic sensor for measuring an alternating magnetic field, or an instrument for indirectly measuring the magnetic field through other means, such as indirectly measuring the magnetic field by inducing electromotive force. In one embodiment, the magnetic field data collected by the magnetic sensor mounted on the boom is acquired; in another embodiment, data related to the magnetic field collected by the magnetic sensor mounted on the boom is acquired.

[0038] Among them, magnetic field data refers to the magnetic field vector (or total magnetic field strength) information collected by the magnetic sensor from each coil, or the magnetic field vector (or total magnetic field strength) information indirectly calculated from the data measured by the magnetic sensor; data related to the magnetic field refers to information related to the magnetic field vector (or total magnetic field strength) from each coil.

[0039] The purpose of this step is to provide a reference and actual measurement data for the subsequent location of the magnetic sensor. By determining the regional magnetic map, the theoretical distribution of the magnetic field in region D can be clarified, while obtaining magnetic field data or data related to the magnetic field can provide information on the magnetic field actually sensed by the magnetic sensor. By combining the two and comparing them, the location of the magnetic sensor can be determined.

[0040] Step S30: Determine the position coordinates of the magnetic sensor based on the regional magnetograph and the magnetic field data; The position coordinates of a magnetic sensor refer to its specific spatial location within region D. Specifically, the position coordinates can be determined based on a regional magnetic map and the magnetic field information collected by the magnetic sensor, or they can be determined based on a regional magnetic map and data related to the magnetic field collected by the magnetic sensor.

[0041] The purpose of determining the position coordinates of a magnetic sensor based on regional magnetographs and magnetic field data, or data related to the magnetic field, is to compare and analyze the magnetic field information obtained by the magnetic sensor with the regional magnetograph to determine the accurate position of the magnetic sensor in region D, thus laying the foundation for subsequent conversion of the position into the extension rod attitude. The approach involves utilizing the correspondence between the magnetic field data acquired by the magnetic sensor and the magnetic field in the regional magnetograph to find the position on the magnetograph that best matches the acquired data; this position is the position coordinate of the magnetic sensor.

[0042] Additionally, it should be noted that during the comparison process, the influence of factors such as measurement errors needs to be considered. By setting a certain allowable error range, the accuracy of the positioning results can be ensured.

[0043] Step S40: Perform coordinate system transformation on the position coordinates to obtain attitude position coordinates for rod attitude monitoring.

[0044] Coordinate system transformation refers to the process of converting the position of the magnetic sensor in region D into the polar angle and azimuth angle of the extension rod in the reference coordinate system; attitude position coordinates refer to the polar angle θ and azimuth angle φ of the extension rod in the reference coordinate system; extension rod attitude monitoring refers to determining the attitude of the extension rod in the reference coordinate system.

[0045] The purpose of coordinate system transformation of the position coordinates is to convert the position information of the magnetic sensor into parameters that can intuitively reflect the attitude of the boom, thereby enabling the monitoring of the boom's attitude. The approach is to use the satellite coordinate system (or other reference coordinate system) as a reference, and convert the position of the magnetic sensor into the polar and azimuth coordinates of the boom through coordinate system transformation. These polar and azimuth coordinates can directly describe the attitude of the boom.

[0046] In one possible implementation, the reference coordinate system is chosen to be the satellite body coordinate system. Coordinate conversion is performed in the spherical coordinate system. Based on the position coordinates (r, θ, φ) of the magnetic sensor in region D, where r is the distance from the magnetic sensor to the origin, θ is the polar angle, and φ is the azimuth angle, the polar angle θ0 and azimuth angle φ0 when the extension rod does not vibrate are recorded as reference values. The changes in the extension rod attitude are monitored by calculating the difference between the current polar angle θ and the reference value θ0, and the difference between the current azimuth angle φ and the reference value φ0. In another possible implementation, the reference coordinate system can also be other custom coordinate systems, as long as they can accurately describe the attitude of the extension rod.

[0047] For example, in one specific implementation, the satellite body coordinate system is used as the reference coordinate system. In the spherical coordinate system, the polar angle θ0=30° and azimuth angle φ0=60° when the extension rod does not flutter are used as the reference values. After determining the position of the magnetic sensor in region D, the position is converted into a polar angle θ=32° and an azimuth angle φ=61°, thereby realizing the monitoring of the extension rod attitude. At this time, the polar angle of the extension rod changes by 2° relative to the reference value, and the azimuth angle changes by 1°.

[0048] This embodiment provides a method for monitoring the attitude of a boom extension. Using a single-coil or dual-coil boom extension attitude monitoring system, under the condition of pre-determining the optimal boom placement attitude, the magnetic field vector or total magnetic field strength is selected as the positioning element. This reduces the number of coils from the three required in traditional three-dimensional positioning to two (or one), eliminating coil redundancy and eliminating the need for high-cost optical components and redundant hardware required by traditional star sensors or triaxial coils, thereby minimizing hardware cost, weight, and power consumption. Simultaneously, by pre-determining the optimal boom placement attitude, monitoring sensitivity is maximized. Furthermore, actual magnetic field data or data related to the magnetic field are collected using a magnetic sensor, providing a data foundation for subsequent precise positioning by the magnetic sensor and solving the problem of low positioning accuracy due to the lack of accurate magnetic field distribution reference. Further, the position coordinates of the magnetic sensor are transformed to obtain the attitude position coordinates for boom attitude monitoring. By converting the position of the magnetic sensor into the attitude position coordinates of the boom in a specific coordinate system, precise monitoring of the boom attitude is achieved. In summary, this application achieves low-cost, high-sensitivity, and high-precision boom attitude monitoring through dimensionality reduction positioning of coils and optimization of boom installation attitude.

[0049] In one feasible implementation, step S20 of determining the regional magnetograph based on the positioning features may include steps S21-S23: Step S21: If the dual-coil extension pole attitude monitoring system is selected for extension pole attitude monitoring, then the first spatial distribution of the magnetic field vector or the total magnetic field strength generated by each coil in the extension pole placement sub-region is calculated based on the physical parameters of the dual coils. The physical parameters of a dual coil refer to the set of parameters that describe the inherent characteristics of each coil in the two coils, including the coil's dimensions (such as diameter and length), shape (such as circular or square), number of turns (the number of turns of the coil wire, N is at least 1), and current (the magnitude and direction of the current passing through the coil).

[0050] The extension rod placement sub-region refers to a pre-determined region D, specifically the area within the curved surface region where the magnetic sensor is located during extension rod vibration, where the spatial difference in the magnetic field is sufficiently large to uniquely determine the sensor's position. The standard for sufficiently large difference can be understood from the following two aspects: First, the "difference is large enough" requirement ensures that the spatial distribution characteristics of the magnetic field can support the preset attitude monitoring accuracy. For example, when the extension rod experiences a slight vibration, the difference in the direction or intensity of the magnetic field vector corresponding to the change in the position of the magnetic sensor must be greater than the measurement noise threshold of the magnetic sensor in order to avoid misjudgment of position due to measurement error.

[0051] Secondly, the spatial difference in the magnetic field must ensure that the magnetic field parameters (vector direction and intensity) of any two points within region D are unique, meaning that no two different locations correspond to the same magnetic field vector or total magnetic field intensity. For example, in a single-coil system, the difference in magnetic field direction angle or the difference in total magnetic field intensity in a dual-coil system ensures that the information related to the magnetic field collected by the magnetic sensor corresponds one-to-one with the location within region D, avoiding positioning ambiguity.

[0052] The first spatial distribution refers to the variation law of the value and direction of the magnetic field vector or total magnetic field strength generated by each coil of the double coil at different spatial positions within the extension rod placement sub-region.

[0053] The purpose of calculating the first spatial distribution of the magnetic field vector of each coil or the total magnetic field strength of each coil in the extension rod placement sub-region based on the physical parameters of the dual coils is to provide a theoretical basis for the magnetic field distribution for dual coil positioning. By combining the physical parameters of the dual coils to calculate the spatial distribution of the magnetic field in the extension rod placement sub-region, a correspondence between the magnetic field and the position can be established, laying the foundation for subsequent comparison of the actual magnetic field data collected by the magnetic sensor or data related to the magnetic field. The implementation idea is based on the principles of electromagnetism, using the coil parameters to derive a mathematical model of the magnetic field distribution, or simulating the changing characteristics of the magnetic field in the target area.

[0054] In one possible implementation, the physical parameters of the dual coils can be obtained by directly reading the coil's geometric dimensions and number of turns from the satellite design drawings, and the energizing current can be determined by the parameters of the onboard power supply system. In another possible implementation, if there are errors in the coil parameters, the actual energizing current and the equivalent dimensions of the coils can be measured through ground calibration experiments to improve the calculation accuracy.

[0055] Additionally, it should be noted that when calculating the spatial distribution, the geometric constraints of the sub-region where the extension rod is placed must be considered to ensure that the calculation range of the magnetic field distribution is strictly limited to the area where the magnetic sensor may move, thus avoiding invalid calculations.

[0056] For example, in one specific implementation, if a dual-coil system is selected for pole attitude monitoring, the system acquires the physical parameters of the dual coils: coil 1 is circular with a diameter of 0.5 m, 100 turns, and a current of 2 A; coil 2 is square with a side length of 0.4 m, 80 turns, and a current of 1.5 A. Based on the Biot-Savart law, the system calculates the magnetic field vector at each point within the pole placement sub-region (region D), where region D is a hemispherical region with a radius of 0.3 m. Finally, the system outputs the three-dimensional spatial distribution data of the magnetic field vector within this region.

[0057] Step S22: If the single-coil extension pole attitude monitoring system is selected for extension pole attitude monitoring, then the second spatial distribution of the magnetic field vector generated by the single coil in the extension pole placement sub-region is calculated based on the physical parameters of the single coil. The physical parameters of a single coil refer to the set of parameters that describe the inherent characteristics of a single coil, including the coil's dimensions (such as diameter and length), shape (such as circular or square), number of turns (the number of turns of the coil wire, N is at least 1), and current (the magnitude and direction of the current passing through the coil).

[0058] The second spatial distribution refers to the variation pattern of the value and direction of the magnetic field vector of a single coil at different spatial positions within the extension rod placement sub-region.

[0059] The purpose of calculating the second spatial distribution of the magnetic field vector of a single coil in the extension rod placement sub-region based on the physical parameters of the single coil is to provide a theoretical basis for the magnetic field distribution for single coil positioning. Since the total magnetic field strength of the single coil is axially symmetric, it cannot meet the requirement of unique position determination. Therefore, positioning is achieved by the difference in the direction and magnitude of the magnetic field vector. The idea is to use the physical parameters of the single coil to establish a spatial distribution model of the magnetic field vector, and focus on analyzing the variation characteristics of the magnetic field direction in region D to ensure the unique identification of the magnetic sensor position.

[0060] In one possible implementation, the current in the physical parameters of a single coil can be an alternating current, and the alternating magnetic field signal can be collected by a magnetic sensor to reduce the interference of the DC magnetic field on the satellite platform. In another possible implementation, the coil shape is selected as an asymmetrical structure (such as an ellipse) to break the axial symmetry of the magnetic field distribution and further enhance the spatial difference of the magnetic field.

[0061] Additionally, it should be noted that when calculating the magnetic field vector of a single coil, the inherent coordinate system of the magnetic sensor can be used as a reference to ensure that the magnetic field direction description is consistent with the measurement coordinate system of the magnetic sensor, thus avoiding coordinate system transformation errors introduced during subsequent data comparison.

[0062] Step S23: Use the first spatial distribution or the second spatial distribution as a regional magnetograph.

[0063] The purpose of using the first spatial distribution or the second spatial distribution as a regional magnetograph is to transform the abstract spatial distribution of the magnetic field into structured data that can be directly used for positioning calculations. By establishing a regional magnetograph, a comparison benchmark can be provided for the magnetic field data actually collected by the magnetic sensor or data related to the magnetic field, so as to achieve rapid matching of magnetic field data and spatial location.

[0064] In one possible implementation, the regional magnetic map is stored as a three-dimensional array, with the array index corresponding to the spatial coordinates (x, y, z) within the sub-region where the extension rod is placed, and the array value being the magnetic field vector (B) at that coordinate. x B y B z(B) or total magnetic field strength; In another possible implementation, the regional magnetic map is represented by an interpolation function. By fitting the magnetic field data of a finite number of calculation points, a continuous mathematical model of magnetic field distribution is constructed to reduce data storage and support magnetic field value queries at any location.

[0065] Additionally, it should be noted that the accuracy of the regional magnetic map must match the measurement accuracy of the magnetic sensor. If the magnetic map resolution is too low, it may lead to increased positioning errors; if the resolution is too high, it will increase the consumption of onboard storage and computing resources. Therefore, the spatial sampling interval of the magnetic map needs to be dynamically adjusted according to the accuracy requirements of the boom attitude monitoring. At the same time, the regional magnetic map must include coordinate reference information (such as the origin of the satellite's body coordinate system) to ensure the consistency between the magnetic sensor's position coordinates and the magnetic map coordinates.

[0066] Based on the first embodiment of this application, a second embodiment of this application is proposed. In the second embodiment of this application, the same or similar content as the first embodiment can be referred to the above description, and will not be repeated hereafter.

[0067] Based on this, please refer to Figure 2 , Figure 2 The flowchart of the second embodiment provided in this application is as follows: Figure 2 As shown, before step S10, the rod attitude monitoring method further includes steps S01~S03: Step S01: Obtain the spatial distribution of the magnetic field vector generated by each energized coil in the dual coil on the preset first curved surface; or, Step S02: Obtain the spatial distribution of the magnetic field vector generated by the energized single coil on the preset first curved surface. The preset first surface refers to the two-dimensional surface A formed by the motion trajectory of the magnetic sensor on the extension rod when the extension rod vibrates. The spatial distribution of the magnetic field vector refers to the variation pattern of the direction and magnitude of the magnetic field vector generated by the corresponding coil at different positions on the preset first surface.

[0068] It is understandable that if the spatial distribution of the magnetic field vector generated by a single energized coil on a preset first curved surface is obtained, then only the magnetic field vector can be selected as the positioning element; if the spatial distribution of the magnetic field vector generated by each energized coil of a dual coil on a preset first curved surface is obtained, then either the magnetic field vector or the total magnetic field strength can be selected as the positioning element.

[0069] The purpose of obtaining the spatial distribution of the magnetic field vector generated by each energized coil of the dual coil on the preset first curved surface is to provide a theoretical basis for the magnetic field distribution of the dual coil system. By obtaining the spatial distribution of the magnetic field on the preset first curved surface, the correspondence between the magnetic field and the position can be established, laying the foundation for the subsequent selection of the sub-region for the placement of the extension rod. The implementation idea is based on the physical parameters of the dual coil (such as size, shape, number of turns, and energizing current), and through theoretical calculation or numerical simulation methods, the distribution characteristics of the magnetic field on the curved surface A are derived.

[0070] In one possible implementation, the physical parameters of the dual coils can be obtained directly from the satellite design documents, and the current can be determined by the output parameters of the onboard power system. In another possible implementation, if there are manufacturing errors in the coils, the actual inductance and equivalent resistance of the coils can be measured by ground experiments, and the number of coil turns and the effective value of the current can be deduced.

[0071] Additionally, it should be noted that the geometry of the first curved surface needs to be determined based on the mechanical structural characteristics of the extension rod. For example, when the extension rod rotates around a fixed point, the trajectory of the magnetic sensor may be part of a sphere or a cylinder. The type of surface (such as sphere or cylinder) and parameters (such as radius of curvature and central axis position) need to be determined through mechanical kinematic analysis.

[0072] The purpose of obtaining the spatial distribution of the magnetic field vector generated by a energized single coil on a preset first curved surface is to provide a theoretical basis for the magnetic field distribution of the single coil system. Since the total magnetic field strength of the single coil has axisymmetry, it cannot meet the requirement of unique position determination. Therefore, it is necessary to achieve positioning by the difference in the direction of the magnetic field vector. The idea is to analyze the distribution characteristics of the magnetic field vector on the curved surface A through numerical simulation based on the physical parameters of the single coil (such as size, shape, number of turns, and current). The focus is on the gradient of the change of the magnetic field direction angle.

[0073] In one possible implementation, the current flowing through the single coil can be an alternating current to reduce the interference of the DC magnetic field of the satellite platform by using the alternating signal acquired by the magnetic sensor; in another possible implementation, the coil shape can be designed as an ellipse to break the axial symmetry of the magnetic field and further enhance the spatial difference of the magnetic field.

[0074] Additionally, it should be noted that the calculation of the spatial distribution of the magnetic field vector can be performed using the inherent coordinate system of the magnetic sensor as a reference. This ensures that the description of the magnetic field direction is consistent with the measurement coordinate system of the magnetic sensor, avoiding coordinate system transformation errors introduced during subsequent data comparisons. Simultaneously, it is necessary to verify whether the directional differences of the magnetic field vectors on the preset first curved surface meet the monitoring accuracy requirements.

[0075] Step S03: Determine the optimal posture for placing the extension rod based on the spatial distribution of the magnetic field vector and the actual motion area of ​​the magnetic sensor.

[0076] The actual motion area of ​​the magnetic sensor refers to the range of motion of the magnetic sensor on the preset first curved surface when the extension rod experiences maximum angular vibration, denoted as region C.

[0077] By matching the magnetic field distribution with the motion area, the optimal installation posture of the extension rod is determined. The idea is to screen out sub-regions with sufficiently large magnetic field differences that can uniquely determine the position of the magnetic sensor based on the magnetic field vector space distribution, and then deduce the optimal installation angle of the extension rod based on the center position of the sub-region.

[0078] In one possible implementation, step S03 may include steps S031 to S033: Step S031: Obtain the preset maximum angle of extension rod vibration, and determine the actual movement area of ​​the magnetic sensor based on the maximum angle of extension rod vibration; The preset maximum angle of boom flutter refers to the maximum rotation angle that the boom may rotate during satellite operation. This angle is determined by factors such as the material properties of the boom, structural stiffness, and space environment disturbances (such as solar wind dynamic pressure). The actual motion area of ​​the magnetic sensor refers to the area swept by the magnetic sensor on the preset first curved surface when the boom moves at the maximum flutter angle, i.e., area C.

[0079] The purpose of determining the actual motion area of ​​the magnetic sensor is to clarify the motion boundary of the magnetic sensor and provide range constraints for subsequent selection of sub-regions. The idea is to determine the maximum vibration angle of the extension rod through mechanical dynamics analysis or ground vibration experiments, and then calculate the motion range of the magnetic sensor on the surface by combining the geometric parameters of the preset first surface.

[0080] In one possible implementation, the maximum angle of the extension rod's chatter can be obtained by consulting the mechanical design manual of the extension rod. For example, the maximum torsion angle of a certain type of extension rod is ±3° and the swing angle is ±4°. In another possible implementation, if there is no design manual data for the extension rod, the maximum amplitude of the extension rod under different frequency excitations can be measured through a ground sinusoidal frequency sweep experiment, and the chatter angle can be calculated.

[0081] Step S032: Select the extension rod placement sub-region from the actual motion area of ​​the magnetic sensor according to the spatial distribution of the magnetic field vector; The extension rod placement sub-region refers to the sub-region selected from the actual motion area of ​​the magnetic sensor (region C), which satisfies the requirement that the spatial difference of the magnetic field is large enough and can uniquely determine the position of the magnetic sensor, i.e., region D.

[0082] Screening refers to the process of extracting sub-regions that meet the requirements from region C based on the spatial distribution and uniqueness of the magnetic field vector. The purpose of screening region D from region C is to determine the monitoring area with the highest magnetic field sensitivity within the possible motion range of the magnetic sensor. The idea is to calculate the gradient of each component of the magnetic field in each sub-region within region C and screen out the sub-region with the largest gradient and a one-to-one correspondence between the magnetic field and the position.

[0083] In one possible implementation, the screening process can be carried out by calculating the gradient magnitude of each component of the magnetic field vector at each point in region C, and determining the continuous region with a gradient magnitude greater than a preset threshold as the pole placement sub-region; in another possible implementation, the magnetic field vector data in region C can be classified by machine learning algorithms, and the clustered region with unique magnetic field characteristics can be taken as the pole placement sub-region.

[0084] Step S033: Determine the optimal posture for the extension rod placement based on the position coordinates of the center area of ​​the extension rod placement sub-region.

[0085] The position coordinates of the center region of the extender placement sub-region refer to the three-dimensional coordinates of the geometric center of the extender placement sub-region (region D) on the preset first curved surface. The purpose of determining the optimal attitude of the extender placement based on the position coordinates of the center region of the extender placement sub-region is to convert the geometric center of the sub-region into the installation angle of the extender. The idea behind this is to use coordinate transformation to convert the center coordinates (x, y, z) of region D into the polar angle and azimuth angle relative to the satellite body coordinate system, which serves as the optimal installation attitude of the extender.

[0086] In one possible implementation, the center position coordinates can be obtained by calculating the center of the smallest circumcircle of the region D; in another possible implementation, if the region D is irregular in shape, the center position can be obtained by calculating the average of the coordinates of all sampling points within the region.

[0087] In this embodiment, by acquiring the spatial distribution of the magnetic field vector generated by each coil in a dual-coil or single-coil system on a preset first curved surface (the curved surface of the magnetic sensor's motion trajectory), and combining this with the actual motion area of ​​the magnetic sensor, a sub-region for rod placement with sufficiently large spatial differences in the magnetic field that can uniquely determine the position is selected. Finally, the optimal posture for rod placement is determined based on the position of the center of the sub-region, thereby optimizing the installation posture and maximizing the monitoring sensitivity. At the same time, the two-dimensional curved surface geometric constraints of rod vibration are used to reduce the number of coils (from 3 in traditional three-dimensional positioning to 1 or 2), effectively eliminating coil redundancy and reducing system complexity and cost.

[0088] Based on the first and / or second embodiments of this application, a third embodiment of this application is proposed. In the third embodiment of this application, the same or similar content as the above embodiments can be referred to the above description, and will not be repeated hereafter.

[0089] Based on this, please refer to Figure 3 , Figure 3 This is a schematic diagram of the process of the third embodiment of this application, as shown below. Figure 3 As shown, step S30, which determines the position coordinates of the magnetic sensor based on the regional magnetograph and the magnetic field data, may include steps S31 to S34: Step S31: If the dual-coil extension rod attitude monitoring system is selected for extension rod attitude monitoring, then extract the magnetic field information of each coil from the dual coils from the magnetic field data. The magnetic field information of each coil refers to the magnetic field vector or total magnetic field strength information generated by the corresponding coil, which is directly or indirectly separated from the magnetic field data. The purpose of extracting the magnetic field information of each coil originating from the dual coils from the collected magnetic field data is to provide a basis for the coil magnetic field for subsequent positioning. By extracting the magnetic field information of each coil, interference factors such as the satellite platform magnetic field can be eliminated, ensuring the accuracy of comparison with the regional magnetic map. The implementation idea is based on the characteristic differences of the magnetic field signals, and uses filtering and separation algorithms to extract the target signal from the original data.

[0090] In one possible implementation, if alternating current is applied to each coil in a dual-coil system, the alternating magnetic field component of the corresponding frequency can be extracted using a bandpass filtering algorithm to eliminate DC interference. In another possible implementation, if the coil magnetic field has a unique spatial distribution pattern, the coil magnetic field information can be inverted from the original data through magnetic field modeling (such as a theoretical model based on the Biot-Savart law).

[0091] Additionally, it should be noted that the extraction process needs to take into account the measurement noise of the magnetic sensor. The signal-to-noise ratio of the coil magnetic field information can be improved by methods such as multiple sampling averaging or Kalman filtering.

[0092] Step S32: Compare the magnetic field information of each coil with the regional magnetic map to determine the position coordinates of the magnetic sensor; The real-time position of the magnetic sensor is determined by matching the theoretical magnetic field distribution with the actual measured magnetic field. The idea is to compare the magnetic field information of each coil with the magnetic field data in the regional magnetic map point by point, and find the most matching magnetic map position as the position coordinate of the magnetic sensor.

[0093] In one possible implementation, the comparison process can use the least squares method to calculate the sum of squared residuals between the magnetic field information of the two coils and the magnetic field data of each point in the regional magnetic map. The point with the smallest residual is the position coordinate. In another possible implementation, if the regional magnetic map is represented by a mathematical model (such as an interpolation function), the magnetic field equation can be solved by an iterative optimization algorithm to obtain the position coordinates of the magnetic sensor.

[0094] Additionally, it should be noted that when making comparisons, it is necessary to ensure that the magnetic field information of each coil is consistent with the coordinate system of the regional magnetic map. If there are coordinate system differences (such as the inherent coordinate system of the magnetic sensor and the coordinate system of the satellite body), coordinate system transformation must be performed first.

[0095] Step S33: If the single-coil extension rod attitude monitoring system is selected for extension rod attitude monitoring, then the magnetic field information originating from the single coil is extracted from the magnetic field data. The magnetic field information of a single coil refers to the magnetic field vector signal generated solely by the single coil, separated from the magnetic field data. The purpose of extracting magnetic field information from the single coil from the magnetic field data is to provide a pure magnetic field vector basis for single-coil positioning. Since the total magnetic field strength of a single coil has directional ambiguity, positioning requires both the direction and magnitude of the vector. The approach is to utilize the vector characteristics of the single coil's magnetic field (such as direction angle and magnitude) and extract the target vector information from the raw data using signal processing algorithms.

[0096] In one possible implementation, when an alternating current is applied to a single coil, the amplitude and phase information of the magnetic field vector can be extracted using a synchronous demodulation algorithm. In another possible implementation, if the direction angle of the magnetic field vector of the single coil changes significantly within region D, the vector information can be directly extracted by matching the magnetic field direction angle with the regional magnetic map.

[0097] Additionally, it should be noted that when extracting the magnetic field vector of a single coil, both its direction and magnitude must be obtained simultaneously. Therefore, a triaxial magnetic sensor (such as a fluxgate magnetometer) can be selected, capable of measuring the three-dimensional magnetic field components in space (B). x B y B z At the same time, the magnetic sensor needs to be calibrated to eliminate installation errors between its inherent coordinate system and the satellite's coordinate system.

[0098] Step S34: Compare the magnetic field information of the single coil with the regional magnetic map to determine the position coordinates of the magnetic sensor.

[0099] The real-time position of the magnetic sensor is determined by matching the magnetic field vector of a single coil with the regional magnetic map. The idea is to use the dual characteristics of the direction and magnitude of the magnetic field vector to find the position in the regional magnetic map that best matches the magnetic field information of the single coil.

[0100] In this embodiment, by selectively extracting the magnetic field information of each coil from the magnetic field data collected by the magnetic sensor, which originates from the dual-coil system or the single-coil system, and comparing it with a pre-determined regional magnetic map, interference factors such as the satellite platform magnetic field and the geomagnetic field can be eliminated, enabling precise positioning of the magnetic sensor placement location. This provides accurate position data support for subsequent attitude coordinate conversion and ensures the reliability of attitude monitoring.

[0101] Based on the above embodiments of this application, a fourth embodiment of this application is proposed. In the fourth embodiment of this application, the same or similar contents as those in the above embodiments can be referred to the above description, and will not be repeated hereafter.

[0102] In this embodiment, step S40, which involves performing coordinate system transformation on the position coordinates to obtain the attitude position coordinates for pole attitude monitoring, includes steps S41 to S42: Step S41: Convert the position coordinates into attitude position coordinates in the reference coordinate system; Position coordinates refer to the spatial coordinates of the magnetic sensor within the sub-region where the extender is placed; reference coordinate system refers to the coordinate system used to describe the attitude of the extender, such as the satellite body coordinate system; attitude position coordinates refer to the spherical coordinate parameters of the extender in the reference coordinate system, namely the polar angle θ (the angle between the extender axis and the Z-axis) and the azimuth angle φ (the angle between the projection of the extender axis onto the XY plane and the X-axis).

[0103] The purpose of converting the position coordinates to attitude position coordinates in the reference coordinate system is to convert the spatial position of the magnetic sensor into angular parameters that intuitively reflect the attitude of the extension rod. The idea behind this is to use coordinate transformation formulas to convert the position coordinates from the rectangular coordinate system to spherical coordinates (r, θ, φ) in the reference coordinate system.

[0104] Additionally, it should be noted that the coordinate measurement error of the position coordinates directly affects the accuracy of the attitude position coordinates. Therefore, it is necessary to ensure that the positioning error of the position coordinates is less than a preset threshold. At the same time, the origin of the reference coordinate system must be considered when converting coordinates. For example, if the origin is the satellite's center of mass, the relative coordinates of the magnetic sensor (relative to the extension rod's fixed point) need to be converted to absolute coordinates (relative to the satellite's center of mass).

[0105] Step S42: Monitor the pole attitude based on the preset reference value and the attitude position coordinates.

[0106] The preset reference values ​​refer to the first polar angle θ0 and the first azimuth angle φ0 under the static initial attitude of the extension rod; the attitude position coordinates refer to the polar angle θ and the azimuth angle φ of the extension rod in the reference coordinate system; the extension rod attitude monitoring refers to calculating the attitude deviation by comparing the attitude position coordinates with the preset reference values, thereby determining whether the extension rod has vibrated and the magnitude of the vibration.

[0107] The purpose of monitoring the extension pole attitude based on the preset reference value and the attitude position coordinates is to achieve quantitative monitoring of the extension pole attitude. By measuring the magnitude and direction of the attitude deviation, the micro-vibration state of the extension pole can be evaluated, providing a basis for magnetic field data correction. The implementation idea is to calculate the difference Δθ between the real-time polar angle θ and the reference value θ0, and the difference Δφ between the real-time azimuth angle φ and the reference value φ0. If Δθ or Δφ exceeds the preset threshold, it is determined that the extension pole has abnormal vibration.

[0108] In one possible implementation, attitude monitoring can be achieved by displaying numerical curves of Δθ and Δφ for observation by the ground control center; in another possible implementation, an automatic alarm mechanism can be set up to trigger an onboard alarm signal and record abnormal attitude data when Δθ or Δφ exceeds a threshold.

[0109] Additionally, it should be noted that the preset threshold should be determined based on the mechanical properties of the extension rod and the required accuracy of the magnetic field measurement. For example, if a deep space exploration mission requires the extension rod's attitude stability to be ≤0.05°, then the threshold can be set to ±0.05°. Furthermore, the attitude monitoring results must be stored synchronously with the magnetic field data collected by the magnetic sensor to facilitate subsequent correction of magnetic field vector conversion errors.

[0110] In this embodiment, by converting the magnetic sensor placement position into attitude position coordinates (polar angle θ and azimuth angle φ) in a reference coordinate system and comparing it with a preset benchmark value, the attitude change of the extension rod can be quantified in real time, realizing dynamic monitoring of extension rod vibration. This provides attitude parameter basis for the magnetic field data correction of the spaceborne magnetometer, thereby ensuring the quality of magnetic field scientific data products.

[0111] Based on the above embodiments of this application, a fifth embodiment of this application is proposed. In the fifth embodiment of this application, the same or similar contents as those in the above embodiments can be referred to the above description, and will not be repeated hereafter.

[0112] Based on this, please refer to Figure 4 , Figure 4 This is a flowchart illustrating the fifth embodiment of this application, as shown below. Figure 4 As shown, before step S41 of converting the position coordinates to attitude position coordinates in the reference coordinate system, step S341 is also included: Step S341: Select a reference coordinate system, and record the first polar angle and the first azimuth angle of the extension rod in the static initial posture as the reference values ​​according to the reference coordinate system.

[0113] The reference coordinate system refers to the three-dimensional coordinate system used to describe the attitude of the extension rod, usually the satellite body coordinate system; the static initial attitude refers to the initial installation attitude when the extension rod does not vibrate; the first polar angle refers to the angle (θ0) between the extension rod axis and the Z-axis of the reference coordinate system in the spherical coordinate system; the first azimuth angle refers to the angle (φ0) between the projection of the extension rod axis onto the XY plane of the reference coordinate system and the X-axis; the reference values ​​refer to the first polar angle θ0 and the first azimuth angle φ0 under the static initial attitude, which serve as reference benchmarks for subsequent attitude monitoring.

[0114] The purpose of determining the baseline value is to provide a quantitative reference for the change of the extension pole attitude. By setting the baseline value, the real-time attitude coordinates can be compared with the initial state, and the attitude deviation can be reflected intuitively. The idea is to measure the polar angle and azimuth angle of the extension pole in the static initial attitude through ground calibration or on-board self-test before satellite launch or after the extension pole is deployed, and store them as baseline values.

[0115] In one possible implementation, the reference value can be obtained by precise measurement on the ground using a laser tracker. For example, the static initial attitude reference value of a satellite's extension rod is θ0=30° and φ0=60°. In another possible implementation, if the satellite is already in orbit, the initial attitude of the extension rod can be measured with the assistance of instruments such as a star sensor or a sun sensor, and used as the reference value. Alternatively, the initial attitude of the extension rod can be obtained by analyzing the monitoring data of the magnetic sensor and using statistical methods.

[0116] In this embodiment, by selecting a reference coordinate system and recording the first polar angle and the first azimuth angle under the static initial attitude of the extension rod as the reference value, a quantitative reference benchmark is provided for the change of the extension rod attitude. This allows the amplitude and direction of the extension rod's vibration to be intuitively reflected by comparing the real-time attitude coordinates with the reference value during subsequent attitude monitoring, thus ensuring the consistency and traceability of the attitude monitoring results.

[0117] This application also provides a rod extension attitude monitoring device, please refer to... Figure 5 The rod attitude monitoring device includes: The positioning element selection module 10 is used to select the magnetic field vector or total magnetic field strength as the positioning element under the condition that the optimal posture of the extension rod is determined in advance. The regional magnetic map determination module 20 is used to determine the regional magnetic map based on the positioning elements and to acquire the magnetic field data collected by the magnetic sensor installed on the extension rod. The position coordinate determination module 30 is used to determine the position coordinates of the magnetic sensor based on the regional magnetograph and the magnetic field data. The coordinate conversion module 40 is used to perform coordinate system transformation on the position coordinates to obtain the attitude position coordinates for pole attitude monitoring.

[0118] The pole extension attitude monitoring device provided in this application, employing the pole extension attitude monitoring method described in the above embodiments, can solve the technical problem of pole extension attitude monitoring. Compared with the prior art, the beneficial effects of the pole extension attitude monitoring device provided in this application are the same as those of the pole extension attitude monitoring method provided in the above embodiments, and other technical features in the pole extension attitude monitoring device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0119] This application provides a pole attitude monitoring device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the pole attitude monitoring method in the above embodiment 1.

[0120] The following is for reference. Figure 6The diagram illustrates a structural schematic of a pole extension attitude monitoring device suitable for implementing embodiments of this application. The pole extension attitude monitoring device in this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 6 The pole attitude monitoring device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0121] like Figure 6 As shown, the pole attitude monitoring device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory 1002 or a program loaded from a storage device 1003 into a random access memory 1004. The random access memory 1004 also stores various programs and data required for the operation of the pole attitude monitoring device. The processing unit 1001, the read-only memory 1002, and the random access memory 1004 are interconnected via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems can be connected to the input / output interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the pole attitude monitoring device to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows pole attitude monitoring devices with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0122] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0123] The pole extension attitude monitoring device provided in this application, employing the pole extension attitude monitoring method described in the above embodiments, can solve the technical problem of pole extension attitude monitoring. Compared with the prior art, the beneficial effects of the pole extension attitude monitoring device provided in this application are the same as those of the pole extension attitude monitoring method provided in the above embodiments, and other technical features of this pole extension attitude monitoring device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0124] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0125] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0126] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, which are used to execute the pole attitude monitoring method in the above embodiments.

[0127] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0128] The aforementioned computer-readable storage medium may be included in the pole attitude monitoring device; or it may exist independently and not assembled into the pole attitude monitoring device.

[0129] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the pole attitude monitoring device, cause the pole attitude monitoring device to: select a magnetic field vector or total magnetic field strength as a positioning element under the condition of a pre-determined optimal pole placement attitude; determine a regional magnetic map based on the positioning element and acquire magnetic field data collected by the magnetic sensor mounted on the pole; determine the position coordinates of the magnetic sensor based on the regional magnetic map and the magnetic field data; and perform coordinate system transformation on the position coordinates to obtain attitude position coordinates for pole attitude monitoring.

[0130] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0131] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0132] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0133] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described pole extension attitude monitoring method, thereby solving the technical problem of pole extension attitude monitoring. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the pole extension attitude monitoring method provided in the above embodiments, and will not be repeated here.

[0134] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the pole attitude monitoring method described above.

[0135] The computer program product provided in this application can solve the technical problem of pole extension attitude monitoring. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the pole extension attitude monitoring method provided in the above embodiments, and will not be repeated here.

[0136] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for monitoring the attitude of a pole extension, characterized in that, The rod attitude monitoring method is applied to a single-coil rod attitude monitoring system or a dual-coil rod attitude monitoring system. The rod attitude monitoring method includes: Under the condition of pre-determining the optimal posture for the extension rod placement, the magnetic field vector or total magnetic field strength is selected as the positioning element; The region's magnetic map is determined based on the positioning elements, and the magnetic field data collected by the magnetic sensor mounted on the extension rod is obtained. The position coordinates of the magnetic sensor are determined based on the regional magnetograph and the magnetic field data. The position coordinates are transformed to obtain the attitude position coordinates for rod attitude monitoring.

2. The rod attitude monitoring method as described in claim 1, characterized in that, Before the step of selecting the magnetic field vector or total magnetic field strength as the positioning element under the condition of pre-determining the optimal orientation of the extension rod, the method further includes: Obtain the spatial distribution of the magnetic field vector generated by each energized coil in the dual coil on a preset first curved surface; or... Obtain the spatial distribution of the magnetic field vector generated by a energized single coil on a preset first curved surface; The optimal posture for setting up the extension rod is determined based on the spatial distribution of the magnetic field vector and the actual motion area of ​​the magnetic sensor.

3. The rod attitude monitoring method as described in claim 2, characterized in that, The step of determining the optimal posture for placing the extension rod based on the spatial distribution of the magnetic field vector and the actual motion area of ​​the magnetic sensor includes: Obtain the preset maximum angle of extension rod vibration, and determine the actual movement area of ​​the magnetic sensor based on the maximum angle of extension rod vibration; Based on the spatial distribution of the magnetic field vector, a sub-region for rod placement is selected from the actual motion region of the magnetic sensor; The optimal posture for deploying the pole is determined based on the position coordinates of the center area of ​​the pole deployment sub-region.

4. The rod attitude monitoring method as described in claim 1, characterized in that, The step of determining the regional magnetograph based on the positioning features includes: If the dual-coil extension pole attitude monitoring system is selected for extension pole attitude monitoring, the first spatial distribution of the magnetic field vector or total magnetic field strength generated by each coil in the extension pole placement sub-region is calculated based on the physical parameters of the dual coils. If the single-coil extension pole attitude monitoring system is selected for extension pole attitude monitoring, the second spatial distribution of the magnetic field vector generated by the single coil in the extension pole placement sub-region is calculated based on the physical parameters of the single coil. The first spatial distribution or the second spatial distribution is used as a regional magnetograph.

5. The rod attitude monitoring method as described in claim 1, characterized in that, The step of determining the position coordinates of the magnetic sensor based on the regional magnetograph and the magnetic field data includes: If the dual-coil extension attitude monitoring system is selected for extension attitude monitoring, then the magnetic field information of each coil originating from the dual coils is extracted from the magnetic field data. The magnetic field information of each coil is compared with the regional magnetic map to determine the position coordinates of the magnetic sensor; If the single-coil extension attitude monitoring system is selected for extension attitude monitoring, then magnetic field information originating from the single coil is extracted from the magnetic field data; The magnetic field information of the single coil is compared with the regional magnetic map to determine the position coordinates of the magnetic sensor.

6. The rod attitude monitoring method as described in claim 1, characterized in that, The step of performing coordinate system transformation on the position coordinates to obtain the attitude position coordinates for rod attitude monitoring includes: Convert the position coordinates into attitude position coordinates in the reference coordinate system; The extension pole attitude is monitored based on the preset reference value and the attitude position coordinates.

7. The rod attitude monitoring method as described in claim 6, characterized in that, The step of converting the position coordinates into attitude position coordinates in the reference coordinate system includes the following prior steps: Select a reference coordinate system, and record the first polar angle and the first azimuth angle of the extension rod in its static initial posture as the reference values ​​according to the reference coordinate system.

8. A pole attitude monitoring system, characterized in that, The system includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the pole attitude monitoring method as described in any one of claims 1 to 7.

9. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the pole attitude monitoring method as described in any one of claims 1 to 7.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the pole attitude monitoring method as described in any one of claims 1 to 7.

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