Magnetic sensor simulation equipment

Abstract

The invention provides a magnetic sensor simulation device, and belongs to the technical field of geomagnetic signal simulation and automatic testing. The communication interface module is used for receiving magnetic course angle and attitude angle digital signals sent by an upper computer; the resolving module is used for resolving according to the received digital signals of the magnetic heading angle and the attitude angle to obtain a three-axis magnetic heading signal; the conversion module is used for converting the calculated three-axis magnetic heading signal into an analog signal and outputting the analog signal to the geomagnetic simulation conversion unit; the geomagnetic simulation conversion unit is used for generating a simulated geomagnetic field according to the analog signal; the magnetic sensitive assembly is used for sensing the simulated geomagnetic field and outputting a three-axis magnetic heading signal to a measured heading attitude system. According to the invention, the full-automatic test of the attitude and heading system is realized, the high requirement on the environment and the manual operation error of the traditional test method are overcome, and the method has the characteristics of high simulation degree, high precision and strong environmental adaptability.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of geomagnetic signal simulation and automatic testing, and particularly relates to a magnetic sensor simulation device, which is a magnetic sensor simulation device for automatic testing of an avionics system. BACKGROUND

[0002] In the testing and experiment of a heading and attitude system, a GCJ series strapdown magnetic sensor is usually required to be used in a matched manner. However, the existing testing method has the following problems: 1. The GCJ series strapdown magnetic sensor must be installed on a special three-axis non-magnetic turntable, and it is required that there be no ferromagnetic substances within a range of 5 meters around the environment, which leads to the fact that the testing process is easily affected by the site and the environment, and environmental changes will significantly affect the accuracy and repeatability of the detection results.

[0003] 2. The traditional testing method relies on manual rotation of the special three-axis non-magnetic turntable, which is easy to introduce visual errors, operation errors and manufacturing errors of the turntable itself.

[0004] 3. Manual operation cannot realize the automation and intelligentization of testing and experiment, which limits the testing efficiency and precision.

[0005] Therefore, there is an urgent need for a magnetic sensor simulation device that can overcome the above problems to realize high-precision and automatic testing of the heading and attitude system. SUMMARY

[0006] The technical problem solved by the present application is to provide a magnetic sensor simulation device, which aims to solve the problems of environmental limitation, dependence on manual operation and inability to realize automatic testing in the prior art. The device realizes full-automatic detection and testing of the heading and attitude system by simulating the output signals of the GCJ series strapdown magnetic sensor.

[0007] To achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows: A magnetic sensor simulation device, comprising a communication interface module, a solving module, a conversion module, a geomagnetic simulation conversion unit and a magnetic sensitive component; The communication interface module is used to receive the magnetic heading angle and attitude angle digital signals sent by an upper computer; The solving module is used to solve according to the received magnetic heading angle and attitude angle digital signals to obtain three-axis magnetic heading signals; The conversion module is used to convert the three-axis magnetic heading signals obtained by solving into analog signals and output to the geomagnetic simulation conversion unit; The geomagnetic simulation conversion unit is used to generate a simulated geomagnetic field according to the analog signals; The magnetic sensitive component is used to sense the simulated geomagnetic field and output three-axis magnetic heading signals to the measured heading and attitude system.

[0008] In furtherance of the above-mentioned solution, the communication interface module is an RS232 interface.

[0009] In furtherance of the above-mentioned solution, the calculation module calculates according to the following formula: H X =H ∥ •cosΨ•cosθ+H ⊥ •sinθ H Y =H ∥ •sinΨ•cosγ+H ⊥ •cosθ•sinγ-H ∥ •cosΨ•sinθ•sinγ H Z =H ⊥ •cosθ•cosγ-H ∥ •cosΨ•sinθ•cosγ-H ∥ •sinΨ•sinγ wherein H X , H Y , H Z are three-axis magnetic heading signals, Ψ is a magnetic heading angle, θ and γ are attitude angles, H ∥ and H ⊥ are geomagnetic field components.

[0010] In furtherance of the above-mentioned solution, the magnetic sensitive component is a magnetic sensitive component in a GCJ series magnetic sensor.

[0011] In furtherance of the above-mentioned solution, the solution further comprises a self-checking module for converting the three-axis magnetic heading signals output by the magnetic sensor simulation device into direct current voltage signals through magnetic demodulation conversion, and measuring and calibrating through an upper computer.

[0012] In furtherance of the above-mentioned solution, the geomagnetic simulation conversion unit comprises a magnetic simulation coil for simulating generation of a simulation geomagnetic field consistent with the input magnetic heading.

[0013] In furtherance of the above-mentioned solution, the geomagnetic simulation conversion unit adopts geomagnetic shielding processing and compensates for manufacturing errors and environmental errors through software.

[0014] In furtherance of the above-mentioned solution, the magnetic heading angle output precision of the magnetic sensor simulation device is not greater than ±0.8° when the horizontal attitude is in a horizontal attitude, and not greater than ±1° when the attitude angle is within ±30°.

[0015] In furtherance of the above-mentioned solution, the output range of the magnetic heading angle is 0°-360°.

[0016] Compared with the prior art, the present application has the following advantages: 1. The scheme has high simulation degree: the magnetic sensitive component directly uses the magnetic sensitive component in the GCJ series magnetic sensor, which can simulate the signal output by the GCJ series magnetic sensor, ensures that the three-axis magnetic heading signal system output by the magnetic sensor simulation device is completely consistent with the GCJ series magnetic sensor, and truly reflects the value of the simulation product; 2. The scheme realizes automatic testing: using the magnetic sensor simulation device can program and control the simulation of the three-axis magnetic heading signal output by the GCJ series strapdown magnetic sensor; can eliminate the errors caused by manual installation and rotation of the GCJ series strapdown magnetic sensor, etc., so that the strapdown attitude can realize full-automatic program-controlled detection and testing, the work efficiency is greatly improved, and the detection result is closer to the actual technical state of the product; 3. The scheme has strong environmental adaptability: the geomagnetic simulation component in the magnetic sensor simulation device adopts geomagnetic shielding processing, and at the same time, the manufacturing errors of the geomagnetic simulation component and the errors caused by the external environment are compensated through computer software, so that the influence of the environment on its performance is reduced to the minimum, the requirements for the use environment of the device are greatly simplified, and the testing accuracy is ensured; 4. The scheme has high precision: the magnetic heading angle output precision is not greater than ±0.8° in the horizontal attitude, and not greater than ±1° when the attitude angle is within ±30°, which meets the high-precision testing requirement; 5. The scheme has good flexibility and scalability: it supports 0°-360° magnetic heading angle output range, and is suitable for various testing scenes. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 The figure is a principle block diagram of the magnetic sensor simulation device of the present application; Figure 2 The figure is a component structure diagram of the geomagnetic simulation component in the present application. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0019] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0020] Please see Figures 1-2 The embodiments of the present invention are described in detail below.

[0021] See Figure 1 As shown, this embodiment provides a magnetic sensor simulation device, which includes a communication interface module 1, a calculation module 2, a conversion module 3, a geomagnetic simulation conversion unit 4, and a magnetic sensing component 5.

[0022] The communication interface module 1 receives the digital signals of magnetic heading angle and attitude angle sent by the host computer via the RS232 bus.

[0023] The calculation module 2 uses the received digital signals of magnetic heading and attitude angles, and employs geomagnetic simulation equations (Formulas 1-3) to calculate the three-axis magnetic heading signal. Specifically, the calculation module 2 performs the calculation according to the following formulas: H X =H ∥ •cosΨ•cosθ+H ⊥ •sinθ H Y =H ∥ •sinΨ•cosγ+H ⊥ •cosθ•sinγ-H ∥ •cosΨ•sinθ•sinγ H Z =H ⊥ •cosθ•cosγ-H ∥ •cosΨ•sinθ•cosγ-H ∥ •sinΨ•sinγ Among them, H X H Y H Z This is a three-axis magnetic heading signal, where Ψ is the magnetic heading angle, θ and γ are attitude angles, and H... ∥ and H ⊥ This represents the geomagnetic field component.

[0024] The conversion module 3 converts the calculated three-axis magnetic heading signal into an analog signal through a D / A converter and outputs it to the geomagnetic simulation conversion unit.

[0025] The geomagnetic simulation transformation unit 4 generates a simulated geomagnetic field based on the simulated signal. This unit consists of a magnetic simulation coil, which simulates and generates a geomagnetic field consistent with the input magnetic heading by an input voltage signal. The unit employs geomagnetic shielding and compensates for manufacturing and environmental errors using software.

[0026] See Figure 2 The structure of the geomagnetic simulation component shown is as follows: the magnetic sensing component 5 is located inside the geomagnetic simulation transformation unit 4, the geomagnetic simulation transformation unit 4 is provided with a geomagnetic simulation component mounting frame 7, the geomagnetic simulation component mounting frame 7 is provided with an inner shield 8, and the inner shield 8 is provided with an outer shield 9.

[0027] The magnetic sensing component 5 is used to sense the simulated geomagnetic field and output a three-axis magnetic heading signal to the tested attitude system. Preferably, the magnetic sensing component 5 is a magnetic sensing component from the GCJ series magnetic sensors.

[0028] It also includes a self-test module 6. When the magnetic sensor simulator needs to be calibrated, the three-axis magnetic heading signal output by the magnetic sensor simulator is converted into a DC voltage signal through magnetic demodulation. The three-axis voltage value is measured by the AD system on the host computer, thereby calculating the corresponding three-axis magnetic heading angle value. This calculated value is compared with the angle value input by the host computer to realize the online calibration of the magnetic sensor simulator and ensure the long-term stability and accuracy of the equipment.

[0029] In this embodiment, the magnetic heading angle output accuracy of the magnetic sensor simulation device is no greater than ±0.8° in a horizontal attitude and no greater than ±1° when the attitude angle is within ±30°. The output range of the magnetic heading angle is 0° to 360°.

[0030] Working principle: After the magnetic heading angle value required for the tested attitude is sent to the calculation module in the magnetic sensor simulation via a standard RS232 interface, the calculation module calculates the three-axis magnetic heading signal (HX, HY, Hz) according to the calculation equations (Formulas 1-3) based on the input magnetic heading and attitude angle values. The calculation result is sent to the D / A converter via the data bus to complete the digital-to-analog conversion, and then output to the geomagnetic simulation conversion unit in the form of voltage. The geomagnetic simulation conversion unit (magnetic simulation coil) establishes a simulated geomagnetic field consistent with the input magnetic heading based on the analog voltage signal. The magnetic sensing component inside the magnetic simulation coil outputs the sensed three-axis magnetic heading signal to the tested attitude system, realizing the magnetic sensor simulation function.

[0031] Self-test and calibration When the magnetic sensor simulator needs to be calibrated, the host computer controls the three-axis magnetic heading angle signal output by the magnetic sensor simulator to be converted into a DC voltage signal through magnetic demodulation. The three-axis voltage value is measured by the AD system on the host computer, thereby calculating the corresponding three-axis magnetic heading angle value. This calculated value is compared with the angle value input by the host computer to realize the online calibration of the magnetic sensor simulator.

[0032] This invention is used to simulate the output signal of the GCJ series strapdown magnetic sensors. It receives magnetic heading and attitude angle signals from a host computer, calculates and converts them to generate a simulated geomagnetic field, and then outputs a three-axis magnetic heading signal to the tested attitude system via the magnetic sensing component. This achieves fully automated testing of the attitude system, overcoming the high environmental requirements and human error inherent in traditional testing methods. It features high simulation fidelity, high precision, and strong environmental adaptability.

[0033] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0034] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A magnetic sensor simulation device, characterized in that: It includes a communication interface module (1), a calculation module (2), a conversion module (3), a geomagnetic simulation transformation unit (4), and a magnetic sensing component (5). The communication interface module (1) is used to receive digital signals of magnetic heading angle and attitude angle sent by the host computer; The calculation module (2) is used to calculate the three-axis magnetic heading signal based on the received magnetic heading angle and attitude angle digital signals. The conversion module (3) is used to convert the calculated three-axis magnetic heading signal into an analog signal and output it to the geomagnetic simulation conversion unit; The geomagnetic simulation transformation unit (4) is used to generate a simulated geomagnetic field based on the simulated signal; The magnetic sensing component (5) is used to sense the simulated geomagnetic field and output a three-axis magnetic heading signal to the attitude system under test.

2. The magnetic sensor simulation device according to claim 1, characterized in that: The communication interface module (1) is an RS232 interface.

3. The magnetic sensor simulation device according to claim 1, characterized in that: The solution module (2) performs the solution according to the following formula: H X =H ∥ •cosΨ•cosθ+H ⊥ •sinθ H Y =H ∥ •sinΨ•cosγ+H ⊥ •cosθ•sinγ-H ∥ •cosΨ•sinθ•sinγ H Z =H ⊥ •cosθ•cosγ-H ∥ •cosΨ•sinθ•cosγ-H ∥ •sinΨ•sinγ Among them, H X H Y H Z This is a three-axis magnetic heading signal, where Ψ is the magnetic heading angle, θ and γ are attitude angles, and H... ∥ and H ⊥ This represents the geomagnetic field component.

4. The magnetic sensor simulation device according to claim 1, characterized in that: The magnetic sensing component (5) is the magnetic sensing component in the GCJ series magnetic sensor.

5. The magnetic sensor simulation device according to claim 1, characterized in that: It also includes a self-test module (6), which converts the three-axis magnetic heading signal output by the magnetic sensor simulation device into a DC voltage signal through magnetic demodulation transformation, and performs measurement and calibration through the host computer.

6. The magnetic sensor simulation device according to claim 1, characterized in that: The geomagnetic simulation transformation unit (4) includes a magnetic simulation coil, which is used to simulate and generate a simulated geomagnetic field that is consistent with the input magnetic heading.

7. The magnetic sensor simulation device according to claim 1, characterized in that: The geomagnetic simulation transformation unit (4) is subjected to geomagnetic shielding and compensates for manufacturing and environmental errors through software.

8. The magnetic sensor simulation device according to claim 1, characterized in that: The magnetic heading angle output accuracy of the magnetic sensor simulation device is no greater than ±0.8° in horizontal attitude and no greater than ±1° in attitude angle within ±30°.

9. The magnetic sensor simulation device according to claim 1, characterized in that: The output range of the magnetic heading angle is 0° to 360°.

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