Three-way orthogonal coil receiving and signal merging method and system for rotary permanent magnet mechanical antenna
By using a three-way orthogonal coil receiving structure and signal combining algorithm, the directional sensitivity and anti-interference problems of the rotating permanent magnet mechanical antenna receiver are solved, realizing full-space reception and adaptive compensation of signal amplitude and phase, thus improving communication stability and robustness.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-01-08
- Publication Date
- 2026-03-31
AI Technical Summary
Existing strategies for signal acquisition and processing at the receiver of rotating permanent magnet mechanical antennas suffer from problems such as directional sensitivity, weak anti-interference performance, and poor signal robustness, making it difficult to fully utilize the omnidirectional magnetic field and achieve stable communication.
A three-dimensional orthogonal coil receiving structure is adopted. Instantaneous phase information is extracted through analog conditioning, analog-to-digital conversion and Hilbert transform. Combined with amplitude and phase coherence estimation, weighting coefficients are determined and signals are combined to achieve full-space reception and amplitude-phase adaptive compensation.
It improves the signal amplitude and signal-to-noise ratio of the receiver signal, enhances the directional robustness and communication reliability of the system in complex environments, and reduces computational complexity and power consumption.
Smart Images
Figure CN121770540A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of magnetic induction communication, and more specifically, relates to a method and system for receiving and combining signals using a three-dimensional orthogonal coil facing a rotating permanent magnet mechanical antenna. Background Technology
[0002] Low-frequency electromagnetic waves, with a frequency range of 3Hz to 300kHz, possess characteristics such as long propagation distance and high signal stability, enabling effective propagation in complex media such as seawater, soil, coal seams, and metal shielding. Therefore, low-frequency electromagnetic waves are widely used in underwater and underground communications, geological exploration, pipeline monitoring, and other fields.
[0003] Traditional low-frequency (LHF) transmitters employ electrically small antenna structures, generating electromagnetic waves through the oscillation of current in conductive elements. However, according to the Chu-Harrington limit, there is an inherent constraint between antenna size and radiation efficiency, resulting in LHF antennas often being bulky and inefficient, thus limiting their application in low-frequency communication. To overcome this limitation, researchers have proposed the concept of mechanical antennas. These antennas generate time-varying magnetic or electric dipoles through mechanical movement, thereby achieving low-frequency electromagnetic radiation while maintaining high radiation efficiency and significantly reducing antenna size and power consumption.
[0004] Based on the excitation medium (charge or equivalent magnetic charge) and the form of motion (vibration or rotation), mechanical antennas can be classified into four types: vibrating electret antennas, rotating electret antennas, rotating permanent magnet antennas, and vibrating permanent magnet antennas. Mechanical antennas achieve decoupling of physical size and electromagnetic wavelength through mechanical motion, providing a new approach for miniaturized low-frequency radiation. Among them, electret-based mechanical antennas can generate strong surface charge density and have high radiation performance, but their materials are prone to performance degradation in complex electromagnetic or humid environments. Vibrating permanent magnet mechanical antennas typically utilize piezoelectric elements to generate vibration under external field drive, thereby achieving electromagnetic radiation. They have advantages such as compact structure and high frequency, but their radiation intensity is limited, with the magnetic field strength at a distance of 1 meter only reaching the nT order of magnitude. In contrast, permanent magnets can maintain stable magnetism over a long period. Rotating permanent magnet mechanical antennas generate time-varying magnetic fields by driving the permanent magnet to rotate via a motor, offering advantages such as stable radiation, long lifespan, low power consumption, and strong environmental adaptability.
[0005] Currently, research on rotating permanent magnet mechanical antennas mainly focuses on radiation mechanism modeling, magnetic field distribution characteristics, and structural optimization at the transmitting end, while research on signal acquisition and processing strategies at the receiving end lags behind. However, in magnetic induction communication systems, the performance of the receiving end has a decisive impact on the signal-to-noise ratio, stability, and effective transmission distance of the overall communication link. Existing receiving schemes generally employ a single-coil antenna structure, which has significant limitations. First, a single coil has inherent directivity, capable of sensing only a single component of the magnetic field, making it extremely sensitive to changes in the magnetic field direction. When the spatial orientations of the transmitting and receiving ends are mismatched, the received signal amplitude attenuates significantly, leading to communication link instability. Second, a single-channel signal cannot reflect the three-dimensional omnidirectional magnetic field characteristics generated by the rotating permanent magnet antenna, making it difficult to fully utilize the omnidirectional magnetic field. Finally, due to environmental noise, single-channel reception also suffers from weak anti-interference performance and poor signal robustness. Summary of the Invention
[0006] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a method and system for receiving and combining signals using a three-dimensional orthogonal coil for a rotating permanent magnet mechanical antenna. This improves the system's reception robustness and communication reliability under different orientations and attitudes, enabling high stability and long-distance transmission in a low-frequency magnetic induction communication system.
[0007] To achieve the above objectives, according to a first aspect of the present invention, a method for receiving and combining signals using a three-dimensional orthogonal coil for a rotating permanent magnet mechanical antenna is provided, comprising: S1 receives signals during the time period via three orthogonal coils arranged in mutually perpendicular three-dimensional directions in space. Magnetic induction signals emitted in multiple spatial directions by a rotating permanent magnet; S2, simulates and conditions the received magnetic induction signals in each spatial direction to obtain analog signals in each spatial direction, and converts the analog signals in each spatial direction into digital signals; S3 performs Hilbert transform on the digital signals in each spatial direction to extract the instantaneous phase information of each channel and obtain the complex signals in each spatial direction; S4. Estimate the coherence of the amplitude and phase of the complex signals in each spatial direction, and determine the weighting coefficients for each spatial direction based on the coherence between the complex signals in each spatial direction. S5, based on the weighting coefficients of each spatial direction, merges the complex signals in each spatial direction to obtain the time period. The combined complex signal.
[0008] According to the above-described method for receiving and combining signals using a three-way orthogonal coil for a rotating permanent magnet mechanical antenna, the estimation of the coherence of the amplitude and phase of the complex signals in each spatial direction, and the determination of the weighting coefficients for each spatial direction based on the coherence between the complex signals in each spatial direction, specifically includes:
[0009] in, For time period Inner The weighting coefficients for each coil in the spatial direction. For time period The normalized coefficient, The number of sampling points in each time period. Indicates complex conjugation. It is the first Each coil corresponds to a spatial direction in the time period Complex signals, It is the number of coils in a three-way orthogonal coil.
[0010] Based on the above-described method for receiving and combining signals using a three-dimensional orthogonal coil oriented towards a rotating permanent magnet mechanical antenna, the time period normalized coefficients The weighting coefficients used to ensure that the conditions are met in each spatial direction are: .
[0011] According to the above-described method for receiving and combining signals using a three-directional orthogonal coil with a rotating permanent magnet mechanical antenna, the determination of the weighting coefficients for each spatial direction further includes: Phase-locking processing is performed on the weight coefficients of each spatial direction obtained from the calculation.
[0012] According to the above-described method for receiving and combining signals using a three-way orthogonal coil with a rotating permanent magnet mechanical antenna, the phase-locking process for the calculated weighting coefficients in each spatial direction specifically includes: like Then set ;like Then set ; in, This represents the weighting coefficient for the spatial direction corresponding to the first coil. This is the weighting coefficient for the spatial direction corresponding to the second coil.
[0013] Based on the aforementioned three-directional orthogonal coil reception and signal combining method for rotating permanent magnet mechanical antennas, the complex signals in each spatial direction are combined based on the weighting coefficients of each spatial direction to obtain the time period. The combined complex signals specifically include: The complex signals in each spatial direction are combined based on the following formula to obtain the time period. Combined complex signals:
[0014] in, It is a time period The combined complex signal, For the first Each coil corresponds to a spatial direction in the time period Complex signals.
[0015] According to a second aspect of the present invention, a three-dimensional orthogonal coil receiving and signal combining system for a rotating permanent magnet mechanical antenna is provided, comprising: Three-phase quadrature coil, analog conditioning circuit, analog-to-digital conversion module and digital signal processing module; The three-dimensional orthogonal coils are arranged in three mutually perpendicular directions in space to receive signals during the specified time period. Magnetic induction signals emitted in multiple spatial directions by a rotating permanent magnet; The analog conditioning circuit is used to perform analog conditioning on the received magnetic induction signals in various spatial directions to obtain analog signals in various spatial directions. The analog-to-digital converter module is used to convert analog signals in various spatial directions into digital signals; The digital signal processing module performs Hilbert transforms on digital signals in each spatial direction, extracts the instantaneous phase information of each channel, and obtains complex signals in each spatial direction. It then estimates the amplitude and phase coherence of the complex signals in each spatial direction and determines the weighting coefficients for each spatial direction based on the coherence. Finally, it merges the complex signals in each spatial direction based on these weighting coefficients to obtain the time segment. The combined complex signal.
[0016] According to a third aspect of the present invention, an electronic device is provided, comprising: a computer-readable storage medium and a processor; The computer-readable storage medium is used to store executable instructions; The processor is configured to read executable instructions stored in the computer-readable storage medium and execute the method as described in the first aspect.
[0017] According to a fourth aspect of the invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to perform the method as described in the first aspect.
[0018] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: By coordinating the spatial decoupling receiving structure and signal combining algorithm of three-way orthogonal coils, this invention performs analog conditioning and analog-to-digital conversion on the received magnetic induction signals in each spatial direction, and performs Hilbert transform on the digital signals in each spatial direction to extract the instantaneous phase information of each channel, obtaining complex signals in each spatial direction. Then, the amplitude and phase coherence of the complex signals in each spatial direction are estimated, and weighting coefficients for each spatial direction are determined based on the coherence. The complex signals in each spatial direction are then combined based on these weighting coefficients, achieving full-space reception of low-frequency magnetic field signals, adaptive amplitude and phase compensation, and multi-channel coherent superposition. This effectively improves the signal amplitude and signal-to-noise ratio at the receiving end. Compared with traditional single-coil receiving schemes, the method and system provided by this invention can reduce signal fluctuation amplitude under different attitude angles, significantly enhancing the directional robustness and communication reliability of the system in complex environments. Furthermore, the signal combining method provided by this invention can estimate and compensate for the amplitude differences and phase deviations of multi-channel received signals. By performing coherent combining of signals from each channel through an adaptive weighting method, it can effectively improve the signal-to-noise ratio while maintaining signal phase consistency, suppress distortion caused by phase drift and noise, and improve communication reliability in weak signal environments. At the same time, this signal combining method achieves coherent signal combining with low computational complexity and implementation difficulty. Compared with the traditional maximum ratio combining algorithm, it can reduce computational load and power consumption while ensuring performance, making it suitable for embedded or low-power platforms. Attached Figure Description
[0019] Figure 1 A flowchart illustrating the method for receiving and combining signals using a three-way orthogonal coil for a rotating permanent magnet mechanical antenna, provided in an embodiment of the present invention. Figure 2 A schematic diagram of the signal combining process provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the communication system provided in an embodiment of the present invention. Detailed Implementation
[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.
[0021] This invention provides a method for receiving and combining signals using a three-dimensional orthogonal coil for a rotating permanent magnet mechanical antenna, such as... Figure 1 As shown, it includes: S1 receives signals during the time period via three orthogonal coils arranged in mutually perpendicular three-dimensional directions in space. Magnetic induction signals emitted in multiple spatial directions by a rotating permanent magnet; S2, simulates and conditions the received magnetic induction signals in each spatial direction to obtain analog signals in each spatial direction, and converts the analog signals in each spatial direction into digital signals; S3 performs Hilbert transform on the digital signals in each spatial direction to extract the instantaneous phase information of each channel and obtain the complex signals in each spatial direction; S4. Estimate the coherence of the amplitude and phase of the complex signals in each spatial direction, and determine the weighting coefficients for each spatial direction based on the coherence between the complex signals in each spatial direction. S5, based on the weighting coefficients of each spatial direction, merges the complex signals in each spatial direction to obtain the time period. The combined complex signal.
[0022] Specifically, each coil of the three-way orthogonal coil corresponds to an orthogonal direction in the spatial coordinate system, and can independently sense the magnetic field component in that direction, thereby achieving a comprehensive acquisition of the three-dimensional magnetic field distribution generated by the rotating permanent magnet mechanical antenna. Through the joint measurement of the three induction signals, the spatial characteristics and temporal variation law of the magnetic field can be fully characterized.
[0023] In spherical coordinates, the magnetic field radiated by a rotating permanent magnet mechanical antenna in a uniform medium. It can be represented as:
[0024] in, These represent the magnetic induction intensity of the magnetic field in the radial, elevation, and azimuth directions, respectively. This is the transmission distance from the transmitter to the receiver coil; The vacuum permeability; The magnetic moment of the rotating permanent magnet; Wave number; The starting angle of the rotating permanent magnet; The imaginary unit; ω is the angular frequency of the rotating permanent magnet.
[0025] As can be seen from the above model, the rotating permanent magnet generates a periodically changing time-varying magnetic dipole field during rotation, and the three-dimensional orthogonal coil can synchronously sense the three-dimensional magnetic field components, thus providing complete spatial information support for subsequent signal fusion and phase compensation.
[0026] Subsequently, the magnetic induction signals from multiple spatial directions received and output by the three-way orthogonal coil are input to an analog conditioning circuit. This analog conditioning circuit is used to boost the amplitude, suppress noise, and limit the bandwidth of the magnetic induction signals from multiple spatial directions to ensure that the signals meet the input requirements of subsequent analog-to-digital conversion. In some embodiments, the analog conditioning circuit may include an amplifier circuit, a low-pass filter circuit, and a power frequency notch filter circuit. The magnetic induction signals from the three spatial directions are first amplified by the amplifier circuit to increase the signal amplitude and improve the signal-to-noise ratio; then, the high-frequency noise components are weakened by the low-pass filter circuit; and finally, the 50Hz power frequency interference is suppressed by the power frequency notch filter circuit to reduce the impact of environmental noise on signal quality. The analog signals after analog conditioning are sent to the analog-to-digital converter (ADC) module for synchronous sampling, thereby obtaining digital signals for each spatial direction for digital signal processing.
[0027] Since the algorithm for subsequently evaluating the weighting coefficients in each spatial direction (hereinafter referred to as the PS-SUMPLE algorithm) is based on a complex signal model, it is necessary to convert the digital signal into a complex form to preserve amplitude and phase information. Therefore, a Hilbert transform is applied to the digital signal obtained in step S2 to reconstruct its analytic signal form, the mathematical expression of which is as follows:
[0028] in, Represents the Hilbert transform. Let i be the complex signal in the spatial direction corresponding to coil i, and k represent the discrete-time index of the signal. For coil i, the digital signal corresponds to the spatial direction. This represents the imaginary part. The instantaneous phase information of the signal can be obtained through the above transformation, providing a basis for subsequent signal combining and phase compensation.
[0029] Subsequently, the coherence of amplitude and phase of the complex signals in each spatial direction is estimated, and the weighting coefficients for each spatial direction are determined based on the coherence between the complex signals in each spatial direction. By determining the coherence between the complex signals in each spatial direction, the consistency of amplitude and phase of the complex signals in each spatial direction can be simultaneously reflected. This allows for the allocation of greater weights to channels whose amplitude and phase are more consistent with the reference signal, thereby enhancing coherent signals and suppressing mismatched channels.
[0030] In some embodiments, the coherence assessment of complex signals in each spatial direction and the allocation of weighting coefficients can be achieved based on the following formula (i.e., the PS-SUMPLE algorithm):
[0031] in, For time period Inner The weighting coefficients for each coil in the spatial direction. For time period The normalized coefficient, The number of sampling points in each time period. Indicates complex conjugation. It is the first Each coil corresponds to a spatial direction in the time period Complex signals, It is the number of coils in a three-way orthogonal coil.
[0032] As can be seen from the above formula, Using the merged complex signal from the previous time period as a reference signal, the correlation between the signals in each spatial direction obtained after compensating the complex signal with corresponding weighting coefficients in the previous time period and the aforementioned reference signal is calculated to measure the coherence between the signal in any spatial direction and the reference signal. This simultaneously reflects the consistency of the complex signal in any spatial direction with the complex signals in other spatial directions in terms of amplitude and phase. Spatial directions with amplitude and phase more consistent with the reference signal will receive greater weight during the iteration process, thereby enhancing the coherent signal and suppressing mismatched channels.
[0033] Furthermore, to prevent the weight coefficients of each spatial direction from becoming increasingly large during the iteration process, a time period is set in the above formula. normalized coefficients This is used to ensure that the weighting coefficients in each spatial direction meet the following conditions: .
[0034] In other embodiments, a phase selection mechanism is introduced to ensure the phase consistency of the merged signals, performing phase-locking processing on the calculated weight coefficients for each spatial direction. This mechanism maintains signal phase consistency during the merging process, avoiding energy loss caused by phase drift. The phase selection mechanism can be expressed as:
[0035] That is, if Then set ;like Then set ;in, This represents the weighting coefficient for the spatial direction corresponding to the first coil. The weighting coefficients for the spatial direction corresponding to the second coil are given. The first and second coils can be coils corresponding to any two directions in three-dimensional space.
[0036] in, This is a decision indicator function used to determine whether the first coil contains a valid induced voltage. Since one coil may lack induced voltage when receiving a signal from a rotating permanent magnet, the presence of induced voltage in the corresponding coil can be determined using a calculated weighting coefficient. Because only one coil may lack induced voltage, the first and second coils can be considered as reference signals during the design process. By determining whether the first coil has an induced signal, the coil selected as the reference phase from the first and second coils is chosen. Then, by taking the absolute value, the corresponding complex signal is converted into a real signal, thereby achieving phase locking.
[0037] Through the above steps, the amplitude and phase differences of the complex signals in each spatial direction can be effectively compensated, providing accurate compensation weight parameters for subsequent signal combining steps, thereby improving the amplitude, signal-to-noise ratio, and stability of the combined signal at the receiving end. Specifically, signal combining can be achieved by weighting and summing the complex signals in each spatial direction according to the weight coefficients determined above, resulting in a time period. The combined complex signal.
[0038] Specifically, the signal merging process is as follows: Figure 2 As shown. After the instantaneous phase extraction in step S3 and the determination of the weighting coefficients for each spatial direction in step S4, the complex signals in each spatial direction are weighted and summed according to the determined weighting coefficients to obtain the merged complex signal. This process can be mathematically represented as:
[0039] in, It is a time period The combined complex signal, For the first Each coil corresponds to a spatial direction in the time period Complex signals.
[0040] This weighted merging method can effectively increase signal amplitude, improve signal-to-noise ratio, and ensure coherent superposition of signals from different coil directions, thereby enhancing the communication stability and robustness of the receiver.
[0041] In summary, the method provided by this invention, through the coordinated design of a spatially decoupled receiving structure with three-way orthogonal coils and a signal combining algorithm, performs analog conditioning and analog-to-digital conversion on the received magnetic induction signals in each spatial direction, and performs Hilbert transform on the digital signals in each spatial direction to extract the instantaneous phase information of each channel, obtaining complex signals in each spatial direction. Then, it estimates the amplitude and phase coherence of the complex signals in each spatial direction, and determines the weighting coefficients for each spatial direction based on the coherence between the complex signals. The complex signals in each spatial direction are then combined based on these weighting coefficients, achieving full-space reception of low-frequency magnetic field signals, adaptive amplitude and phase compensation, and multi-channel coherent superposition. This effectively improves the signal amplitude and signal-to-noise ratio at the receiving end. Compared with traditional single-coil receiving schemes, the method provided by this invention can reduce signal fluctuation amplitude under different attitude angles, significantly enhancing the directional robustness and communication reliability of the system in complex environments.
[0042] The following describes the triaxial orthogonal coil receiving and signal combining system for a rotating permanent magnet mechanical antenna provided by the present invention. The triaxial orthogonal coil receiving and signal combining system for a rotating permanent magnet mechanical antenna described below can be referred to in correspondence with the triaxial orthogonal coil receiving and signal combining method for a rotating permanent magnet mechanical antenna described above.
[0043] This invention provides a triaxial orthogonal coil receiving and signal combining system for a rotating permanent magnet mechanical antenna, comprising: Three-phase quadrature coil, analog conditioning circuit, analog-to-digital conversion module and digital signal processing module; The three-dimensional orthogonal coils are arranged in three mutually perpendicular directions in space to receive signals during the specified time period. Magnetic induction signals emitted in multiple spatial directions by a rotating permanent magnet; The analog conditioning circuit is used to perform analog conditioning on the received magnetic induction signals in various spatial directions to obtain analog signals in various spatial directions. The analog-to-digital converter module is used to convert analog signals in various spatial directions into digital signals; The digital signal processing module performs Hilbert transforms on digital signals in each spatial direction, extracts the instantaneous phase information of each channel, and obtains complex signals in each spatial direction. It then estimates the amplitude and phase coherence of the complex signals in each spatial direction and determines the weighting coefficients for each spatial direction based on the coherence. Finally, it merges the complex signals in each spatial direction based on these weighting coefficients to obtain the time segment. The combined complex signal.
[0044] Specifically, such as Figure 3 As shown, the entire communication system includes a transmitter and a receiver. The aforementioned tri-orthogonal coil receiving and signal combining system for a rotating permanent magnet mechanical antenna is deployed at the receiver. At the transmitter, a servo controller drives the permanent magnet to rotate, thereby generating a time-varying magnetic dipole; the rotating permanent magnet then generates a low-frequency magnetic field signal. At the receiver, it mainly includes tri-orthogonal coils, an analog conditioning circuit, an analog-to-digital converter module, and a digital signal processing module. Here, the tri-orthogonal coils are arranged in three mutually perpendicular directions in space to receive signals during specific time periods. The magnetic induction signals emitted by the rotating permanent magnet in multiple spatial directions are processed by an analog conditioning circuit, an analog-to-digital converter, and a digital signal processing module, which execute steps S2, S3, S4, and S5 in the three-way orthogonal coil receiving and signal combining method provided in the above embodiment. The analog conditioning circuit may include an amplifier circuit, a low-pass filter circuit, and a power frequency notch filter circuit. The magnetic induction signals in the three spatial directions are first amplified by the amplifier circuit to increase the signal amplitude and improve the signal-to-noise ratio; then, the high-frequency noise components are attenuated by the low-pass filter circuit; and finally, the 50Hz power frequency interference is suppressed by the power frequency notch filter circuit to reduce the impact of environmental noise on signal quality.
[0045] This invention provides an electronic device, including: a computer-readable storage medium and a processor; The computer-readable storage medium is used to store executable instructions; The processor is configured to read executable instructions stored in the computer-readable storage medium and execute the method as described in any of the above embodiments.
[0046] This invention provides a computer-readable storage medium storing computer instructions that cause a processor to perform the method described in any of the above embodiments.
[0047] This invention provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement the method described in any of the above embodiments.
[0048] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.
Claims
1. A three-dimensional orthogonal coil receiving and signal combining method for a rotary permanent magnet mechanical antenna, characterized in that, Comprising: S1, receiving, by three orthogonal coils arranged along three mutually perpendicular directions in space, magnetic induction signals in a time period a plurality of spatially directional magnetic induction signals emitted by a rotating permanent magnet; S2, analog conditioning is performed on each spatial direction of the received magnetic induction signal to obtain an analog signal of each spatial direction, and the analog signal of each spatial direction is converted into a digital signal; S3, Hilbert transform is performed on the digital signal of each spatial direction to extract the instantaneous phase information of each channel, and a complex signal of each spatial direction is obtained; S4, the coherence degree of amplitude and phase of the complex signal of each spatial direction is estimated, and the weight coefficient of each spatial direction is determined based on the coherence degree between the complex signals of each spatial direction; S5, combining the complex signals of the respective spatial directions based on the weight coefficients of the respective spatial directions to obtain a combined complex signal of the time period .
2. The method of claim 1, wherein the three orthogonal linear coil receive and signal combining method for a rotary permanent magnet mechanical antenna is characterized by, The coherence degree of amplitude and phase of the complex signal of each spatial direction is estimated, and the weight coefficient of each spatial direction is determined based on the coherence degree between the complex signals of each spatial direction, specifically comprising: wherein, is a time period is a number of coils is a weight coefficient of a spatial direction corresponding to the is a normalization coefficient of a time period is a number of sampling points in each time period denotes a complex conjugate is a complex signal of a spatial direction corresponding to the is a number of coils is a complex signal of a spatial direction corresponding to the is a number of coils is a number of coils of a three-direction orthogonal coil.
3. The method of claim 2, wherein the three orthogonal linear coil receive and signal combining method for a rotary permanent magnet mechanical antenna is characterized by, Period of the normalization coefficient to ensure that the weight coefficients of each spatial direction satisfy the condition: .
4. The method of claim 2, wherein the three orthogonal linear coil receive and signal combining method for a rotary permanent magnet machine antenna is characterized by, The weight coefficient of each spatial direction is determined, and then further comprising: The calculated weight coefficient of each spatial direction is phase-locked.
5. The method of claim 4, wherein the three orthogonal linear coil receive and signal combining method for a rotary permanent magnet machine antenna is characterized by, The calculated weight coefficient of each spatial direction is phase-locked, specifically comprising: If , then set ; if , then set ; wherein, is a weight coefficient of a spatial direction corresponding to the first coil, is a weight coefficient of a spatial direction corresponding to the second coil.
6. The method of claim 2, wherein the three orthogonal linear coil receive and signal combining method for a rotary permanent magnet machine antenna is characterized by, The complex signals of each spatial direction are combined based on the weight coefficients of each spatial direction to obtain a combined complex signal of the time period , specifically including: The complex signals for each spatial direction are combined based on the following equation to obtain a combined complex signal for the time period wherein is a combined complex signal of the time period , is a complex signal of the spatial direction corresponding to the th coil in the time period .
7. A three-dimensional orthogonal coil receiving and signal combining system for a rotary permanent magnet mechanical antenna, characterized by, Comprising: Three-way orthogonal coil, analog conditioning circuit, analog-to-digital conversion module and digital signal processing module; The three-way orthogonal coils are arranged along three mutually perpendicular directions in space for receiving magnetic induction signals emitted by the rotating permanent magnet in time periods a plurality of spatially directional magnetic induction signals emitted by the rotating permanent magnet; The analog conditioning circuit is used for analog conditioning on each spatial direction of the received magnetic induction signal to obtain an analog signal of each spatial direction; The analog-to-digital conversion module is used for converting the analog signal of each spatial direction into a digital signal; The digital signal processing module is used for Hilbert transform on the digital signal of each spatial direction to extract the instantaneous phase information of each channel, and a complex signal of each spatial direction is obtained; the coherence degree of amplitude and phase of the complex signal of each spatial direction is estimated, and the weight coefficient of each spatial direction is determined based on the coherence degree between the complex signals of each spatial direction; The complex signals of the respective spatial directions are combined based on the weight coefficients of the respective spatial directions to obtain a combined complex signal of the time period .
8. An electronic device, comprising: Comprising: Computer readable storage medium and processor; The computer readable storage medium is used for storing executable instructions; The processor is used for reading the executable instructions stored in the computer readable storage medium, and executing the method of any one of claims 1-6.
9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions are used for making the processor execute the method of any one of claims 1-6.