A vehicle-mounted magnetic antenna anti-interference steering method and device for an artificial lightning platform

Abstract

The application discloses a vehicle-mounted magnetic antenna anti-interference steering method and device for an artificial lightning platform in the field of lightning physical observation and electromagnetic field detection technology, and relates to the technical field of lightning observation and electromagnetic field detection. The method comprises the following steps: S1, constructing a three-domain observation quantity set through an attitude sensor module and an angle feedback unit; S2, generating a reliable heading angle and a reliable pitch angle based on a three-domain closed-loop reliable attitude ridge line generation algorithm; S3, generating a bearing compensation angle and a pitch compensation angle based on the reliable heading angle and the reliable pitch angle; and S4, driving a double-shaft holder to reversely rotate by an equivalent amount according to the bearing compensation angle and the pitch compensation angle, so that an electromagnetic field measurement component maintains a horizontal attitude and a geographical north-south direction. The device comprises a vehicle-mounted mounting base, a double-shaft holder, a holder driving component, a quadrature magnetic antenna component, an attitude sensor module, an angle feedback unit and a controller. The application realizes north-south orientation and pitch leveling of the vehicle-mounted magnetic antenna based on a high-reliability heading angle and a high-reliability pitch angle, and guarantees capturing of a very short lightning observation window.

Description

Technical Field

[0001] This invention relates to the field of lightning physics observation and electromagnetic field detection technology, and in particular to a method and device for anti-interference and orientation adjustment of a vehicle-mounted magnetic antenna for artificial lightning triggering platforms. Background Technology

[0002] Artificial lightning induction is the process of artificially triggering lightning discharge by launching a lightning-inducing rocket with a trailing metal wire into a thunderstorm cloud. It is an important means of studying the physical mechanism of lightning and testing the performance of lightning protection equipment. In order to obtain high-precision data on the electromagnetic field waveform of lightning return stroke and lightning leader process, researchers usually need to conduct close-range observations at a very close distance (such as tens to hundreds of meters) from the lightning induction point.

[0003] With the development of mobile artificial lightning-inducing platforms, lightning-inducing experiments are no longer limited to fixed field test sites, but require mobile operations based on the movement trajectory of thunderstorm systems. In this highly mobile, close-range observation scenario, orthogonal magnetic antennas used to receive low-frequency / very-low-frequency magnetic field signals from lightning face a severe orientation problem.

[0004] In electromagnetic field observation, orthogonal magnetic antennas typically contain two components: a north-south component and an east-west component. Only when one axis is precisely aligned north-south can the data from both components accurately determine the vector direction of the electromagnetic field. If the direction deviates, the data from the two components will overlap, leading to measurement failure. To accurately calculate the electromagnetic field vector of artificially triggered lightning, the axis of the orthogonal magnetic antenna must be precisely aligned with the geographic (or geomagnetic) north-south and east-west directions. However, when a mobile lightning-attracting platform moves to a suitable observation site, changes in heading and attitude caused by vehicle turns, lane changes, and inclines / declines will continuously alter the absolute pointing of the magnetic antenna relative to the geomagnetic field. Traditional fixed magnetic antennas require tedious manual recalibration and mechanical alignment with a compass after each movement. In dangerous field environments with thunderstorms and the constant threat of lightning strikes, this is time-consuming, poses significant safety hazards, and easily leads to missed optimal lightning observation windows.

[0005] If automated equipment is used to replace manual steering, it inevitably relies on onboard attitude and geomagnetic sensors to acquire vehicle position and attitude in real time. However, the close-range observation environment is extremely harsh. During operation, the sensors are not only subject to extremely strong broadband transient electromagnetic pulse interference generated by lightning channel discharges, causing severe nonlinear jumps in the geomagnetic and inertial observation domains; they are also inevitably coupled with the engine operation of the mobile work vehicle itself and the high-frequency mechanical impacts from the rugged road surface, burying the motion baseline deep within strong random noise. The interference signal, resulting from the superposition of electromagnetic and mechanical factors, exhibits extremely strong transient impact and time-frequency non-stationary characteristics, leading to severe heterogeneous conflicts between the observation data in the electromagnetic, inertial, and mechanical coding domains. Traditional linear filtering or single-domain denoising algorithms struggle to effectively distinguish between true position and attitude changes and transient physical disturbances when dealing with such complex background noise, often resulting in phase delays, waveform distortion, and even heading lock failures in the true attitude data, thus causing malfunctions or slow responses in the automatic steering mechanism. Therefore, in the process of obtaining high-precision attitude feedback, it is urgent to introduce an adaptive processing mechanism that can deeply integrate electromagnetic features, inertial response and mechanical motion constraints. By extracting lightning pulse fingerprints, the reliability of each observation domain can be evaluated in real time, thereby generating a reliable attitude ridge that can cross the strong interference range, so as to accurately remove various transient shadow quantity interferences and extract a highly accurate vehicle motion reference.

[0006] Therefore, there is an urgent need for a method that is compact in structure, has strong hardware resistance to electromagnetic interference, and can isolate multi-source transient noise through lightning pulse characteristics, so that the orthogonal magnetic antenna can still automatically and with extremely high precision maintain the horizontal attitude and geographical north-south orientation during vehicle operation. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a method and apparatus for anti-interference and orientation adjustment of a vehicle-mounted magnetic antenna for artificial lightning triggering platforms.

[0008] The objective of this invention is achieved as follows: a method for anti-interference and direction adjustment of a vehicle-mounted magnetic antenna for an artificial mine-triggered platform, comprising the following steps:

[0009] S1. Through the attitude sensor module and the angle feedback unit, a three-domain observation set containing data from the electromagnetic domain, the inertial domain, and the mechanical coding domain is constructed simultaneously;

[0010] S2. The controller, based on a three-domain observation set, runs a three-domain closed-loop reliable attitude ridge generation algorithm driven by lightning pulse fingerprint to generate reliable heading and pitch angles.

[0011] S3. The controller generates azimuth compensation angle and pitch compensation angle based on reliable heading and pitch angles.

[0012] S4. The controller drives the dual-axis gimbal to rotate in opposite directions according to the azimuth compensation angle and pitch compensation angle, so that the electromagnetic field measurement component maintains a horizontal attitude and is oriented north-south.

[0013] Furthermore, the three-domain observation set in S1 is constructed as follows: the controller synchronously reads data from the electromagnetic domain, inertial domain, and mechanical coding domain using the same hardware clock, and forms a three-domain observation set based on the data from the electromagnetic domain, inertial domain, and mechanical coding domain. Among them, the three-domain observation set includes three-axis angular velocities. Triaxial acceleration Triaxial magnetic field Dual-axis encoder angle .

[0014] Furthermore, the steps of the three-domain closed-loop reliable attitude ridge generation algorithm in S2 are as follows: Extracting the magnetic field from the three-axis magnetic field and the second-order abrupt change from the three-axis acceleration from the three-domain observation set; extracting the high-frequency energy jump of the magnetic field vector; and the heading divergence features of the gyroscope-encoder; and calculating the lightning pulse fingerprint quantity. Lightning pulse fingerprint quantity The calculation formula is as follows:

[0015] In the formula It is a non-linear activation function. The gyro integral heading increment, This is the encoder heading increment.

[0016] Furthermore, based on the lightning pulse fingerprint quantity Generate reliable weights for the electromagnetic, inertial, and mechanical coding domains;

[0017] The calculation formula is as follows:

[0018] ;

[0019] ,

[0020] ,in Indicates the deviation of magnetic anomaly. It is expressed as mechanical vibration intensity.

[0021] Furthermore, the construction steps of the three-domain closed-loop reliable attitude ridge generation algorithm are as follows: Let the continuous attitude ridge to be obtained be... These correspond to the heading angle, pitch angle, and roll angle, respectively. The controller obtains these values ​​by minimizing the three-domain closed-loop cost function. :

[0022] .

[0023] Furthermore, the steps for constructing the heading angle in S2 are as follows: The controller constructs the heading lock self-correction formula. ,in, The heading angle is the output of the attitude ridge equation. The trusted heading angle after locking.

[0024] Furthermore, the azimuth compensation angle in S4 is generated as follows: the controller is based on the reliable heading angle. Confidential pitch angle The encoder feedback generates the azimuth compensation angle and pitch compensation angle, which are calculated as follows: ,in, This is the reference direction for true north. Used to limit the azimuth compensation angle to the range of [-π, π].

[0025] An anti-interference and orientation device for a vehicle-mounted magnetic antenna for a mine-attracting platform includes a vehicle-mounted mounting base, a dual-axis gimbal, a gimbal drive assembly, an orthogonal magnetic antenna assembly, an attitude sensor module, an angle feedback unit, and a controller.

[0026] The vehicle-mounted mounting base is used to secure the mobile work vehicle;

[0027] The dual-axis gimbal is mounted on a vehicle-mounted mounting base and includes an azimuth axis mechanism and a pitch axis mechanism;

[0028] The gimbal drive assembly is used to drive the rotation of the azimuth axis mechanism and the pitch axis mechanism of a dual-axis gimbal.

[0029] The orthogonal magnetic antenna assembly is mounted on top of the dual-axis gimbal;

[0030] The attitude sensor module is used to output real-time three-dimensional attitude and geomagnetic yaw angle information of the mobile mine-attracting vehicle or dual-axis gimbal.

[0031] The angle feedback unit is used to output the dual-axis mechanical angle of the dual-axis gimbal relative to the manual mine-attracting mobile operation vehicle in real time.

[0032] The controller is electrically connected to the attitude sensor module, the angle feedback unit, and the gimbal drive assembly. The controller is configured to run a three-domain closed-loop reliable attitude ridge generation algorithm driven by lightning pulse fingerprint based on the data from the attitude sensor module and the angle feedback unit, calculate the absolute heading change and vehicle tilt of the artificial lightning-attracting mobile operation vehicle, and control the gimbal drive assembly in a closed loop to compensate for the rotation, so that the orthogonal magnetic antenna assembly maintains a horizontal attitude and geographical north-south orientation.

[0033] Furthermore, the gimbal drive assembly includes an azimuth drive motor and a pitch drive motor with a permalloy electromagnetic shield; the orthogonal magnetic antenna assembly is mounted on the top of the dual-axis gimbal via a non-magnetic support rod.

[0034] Furthermore, the attitude sensor module integrates a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer; the angle feedback unit includes an azimuth encoder and a pitch encoder.

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0036] This invention, by adding pitch axis compensation and combining it with north-south alignment of the azimuth axis, enables the orthogonal magnetic antenna to cope with complex terrain in the field and attitude changes caused by vehicle turning, ensuring that the antenna coordinate system remains parallel to the geographic geodetic coordinate system and eliminating data aliasing errors in electromagnetic field vector calculation; it is perfectly suited for mobile artificial mine-triggering scenarios in the field; no matter how the vehicle is parked or how rugged the terrain is, the antenna system can automatically find true north and adjust to absolute level within seconds, so researchers do not need to get out of the vehicle and adjust it in thunderstorms, greatly improving the safety of field operations;

[0037] This invention effectively prevents damage to the gimbal circuitry from strong electromagnetic pulses from lightning strikes by extending the non-magnetic support rod and using a dual-motor shield. It also reduces interference from motor drive to low-frequency lightning precursor signals. For the extremely strong transient electromagnetic pulses during lightning strikes, narrow-band mechanical vibrations caused by vehicle movement, alternating magnetic fields from motors, and road impacts, a three-domain closed-loop reliable attitude ridge generation algorithm driven by lightning pulse fingerprints is used for underlying pose signal processing. By customizing the lightning pulse fingerprint quantity, three-domain reliable weights, and attitude ridge equations, the system can automatically distinguish between real attitude motion and external disturbances based on the consistency between the electromagnetic domain, inertial domain, and mechanical coding domain. This avoids misjudging real motions such as rapid vehicle steering and sudden changes in attitude on slopes as noise, fundamentally ensuring the authenticity and high accuracy of vehicle motion attitude baseline extraction under harsh and noisy environments.

[0038] This invention benefits from lightning pulse fingerprint quantity, disturbance shadow quantity, and heading lock self-correction formula. The attitude feedback signal input to the controller can automatically suppress lightning pulse spikes, mechanical shocks, and abnormal changes in the magnetometer, preventing abnormal spikes from directly entering the gimbal motor control link. This solves the problem of frequent false triggering and abnormal jitter of the gimbal motor caused by noise spikes in traditional automatic heading systems. It not only reduces the wear of mechanical mechanisms but also improves the dynamic response speed and steady-state pointing accuracy of servo closed-loop control, ensuring that the vehicle can still be smoothly leveled and oriented under conditions of continuous maneuvering, hill parking, and strong electromagnetic disturbances. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the system hardware of the present invention.

[0041] Figure 2 This is a flowchart of the orientation algorithm of the present invention.

[0042] Figure 3 This is an overall structural diagram of the device of the present invention.

[0043] In the diagram: 1. Mobile mine-attracting vehicle; 2. Vehicle-mounted mounting base; 4. Dual-axis gimbal; 5. Azimuth axis mechanism; 6. Azimuth drive motor; 7. Pitch axis mechanism; 8. Pitch drive motor; 9. Permalloy electromagnetic shielding cover; 10. Non-magnetic support rod; 13. Attitude sensor module; 14. Dual-axis encoder. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] like Figures 1 to 2 The method for anti-interference and orientation adjustment of a vehicle-mounted magnetic antenna for a mine-triggered platform, as shown, includes the following steps:

[0046] S1. Through the attitude sensor module 13 and the angle feedback unit, a three-domain observation set containing data from the electromagnetic domain, inertial domain and mechanical coding domain is constructed simultaneously;

[0047] S2. The controller, based on a three-domain observation set, runs a three-domain closed-loop reliable attitude ridge generation algorithm driven by lightning pulse fingerprint to generate reliable heading and pitch angles.

[0048] S3. The controller generates azimuth compensation angle and pitch compensation angle based on reliable heading and pitch angles.

[0049] S4, the controller drives the dual-axis gimbal 4 to rotate in opposite directions according to the azimuth compensation angle and pitch compensation angle, so that the electromagnetic field measurement component maintains a horizontal attitude and is oriented north-south.

[0050] In this embodiment, preferably, the three-domain observation set in S1 is constructed as follows: the controller synchronously reads data from the electromagnetic domain, inertial domain, and mechanical coding domain using the same hardware clock, and forms a three-domain observation set based on the data from the electromagnetic domain, inertial domain, and mechanical coding domain. Among them, the three-domain observation set includes three-axis angular velocities. Triaxial acceleration Triaxial magnetic field Dual-axis encoder angle .

[0051] The controller generates a statically stable envelope during a time slice when the vehicle does not undergo sharp turns and the encoder changes gradually. and with a static and stable network package As an adaptive benchmark for subsequent formulas, the statically stable envelope The calculation formula is as follows:

[0052] ;

[0053] It should be noted that a data foundation rich in information and possessing an adaptive benchmark is constructed. By fusing data from the electromagnetic, inertial, and mechanical physical domains, multi-dimensional and highly redundant raw information is obtained, providing necessary data support for subsequent strong interference suppression and statically stable envelope. The introduction of this technology enables the system to learn the static or stable state of the current environment dynamically and intelligently, rather than relying on fixed, universal thresholds. This makes the baseline more closely match the actual working conditions and greatly improves the sensitivity and accuracy of subsequent abnormal disturbance detection (such as lightning pulses and mechanical vibrations).

[0054] In this embodiment, preferably, the steps of the three-domain closed-loop reliable attitude ridge generation algorithm in S2 are as follows: extracting the magnetic field from the three-axis magnetic field and extracting the second-order abrupt change, high-frequency energy jump of the magnetic field vector, and heading divergence features of the gyroscope-encoder from the three-domain observation set, and calculating the lightning pulse fingerprint quantity. Lightning pulse fingerprint quantity The calculation formula is as follows:

[0055] In the formula It is a non-linear activation function. The gyro integral heading increment, For encoder heading increment;

[0056] It should be noted that the core interference source in lightning-induced scenarios—the transient strong electromagnetic pulse—is precisely and quantitatively extracted. Instead of treating all noise indiscriminately, a fingerprint formula is used to keenly identify the unique physical characteristics of lightning pulses (such as drastic changes in magnetic fields and divergence in multi-sensor data). This allows for precise knowledge of when the interference occurs and its intensity, providing the most direct and crucial basis for subsequent adaptive weight adjustment and data isolation. This is the cornerstone for achieving intelligent anti-interference decision-making.

[0057] In this embodiment, preferably, based on the lightning pulse fingerprint quantity Generate reliable weights for the electromagnetic, inertial, and mechanical coding domains;

[0058] The calculation formula is as follows:

[0059] ;

[0060] ,

[0061] ,in Indicates the deviation of magnetic anomaly. Expressed as mechanical vibration intensity;

[0062] It should be noted that when the lightning pulse fingerprint quantity As the data is increased, the trust in the electromagnetic and inertial domains, which are susceptible to contamination, is automatically reduced, while the trust in the mechanical coding domain, which is not subject to electromagnetic interference, is increased. This dynamic adjustment of weights ensures that the continuity and stability of attitude calculation can always be maintained by relying on the most reliable data source, regardless of changes in external interference. This fundamentally avoids system crashes or course loss caused by relying on contaminated data.

[0063] In this embodiment, the preferred construction steps of the three-domain closed-loop reliable attitude ridge generation algorithm are as follows: Let the continuous attitude ridge to be obtained be... These correspond to the heading angle, pitch angle, and roll angle, respectively. The controller obtains these values ​​by minimizing the three-domain closed-loop cost function. :

[0064] ;

[0065] It should be noted that the attitude ridge equation, through comprehensive optimization objectives, can extract a smooth and continuous attitude trajectory that best represents the vehicle's true motion from mixed signals. It also eliminates the concept of perturbation shadow quantity, treating disturbances such as lightning, vibration, and magnetic anomalies as independent components for stripping and quantification, rather than simply filtering them out. This ensures that the attitude information received by the control system is pure, completely eliminating the possibility of noise spikes being directly transmitted to the motor control loop, thereby eliminating abnormal jitter and malfunctions of the gimbal.

[0066] For each channel, construct the perturbation residual shadow quantity It is then divided into lightning pulse shadows, and the calculation formula is as follows: The formula for calculating the vehicle vibration shadow is as follows: The formula for calculating the shadow of magnetic anomalies is as follows: The shadow quantity is isolated and not included in the subsequent gimbal compensation angle calculation;

[0067] The controller calculates the attitude ridgeline at each moment. :

[0068] ;when When the value is large, the reliability is mainly determined by the mechanically encoded closed-loop term; when When the value is relatively small, the reliability is determined by the electromagnetic, inertial, and mechanical domains together.

[0069] It's important to note that the system not only outputs an attitude angle but also informs subsequent processes about its reliability. The self-evaluation mechanism is crucial, enabling self-adjustment in the face of extreme interference or data quality degradation. For example, in subsequent heading lock-up, it can rely on... The size of the value determines whether to adopt more new information or maintain the old value, thereby enhancing robustness and fault tolerance.

[0070] In this embodiment, preferably, the steps for constructing the heading angle in S2 are as follows: the controller constructs the heading lock self-correction formula. ,in, The heading angle is the output of the attitude ridge equation. The trusted heading angle after locking;

[0071] It should be noted that, when utilizing credibility As an intelligent arbiter, the course is smoothly updated when sensor data is reliable; when sensor data is unreliable due to lightning strikes (…), the course is updated accordingly. If the value approaches 0, then a more stable encoder is temporarily relied upon for dead reckoning; like a data flywheel, it ensures the absolute continuity of heading output, avoids the direction confusion of the heading system caused by the momentary failure of the magnetometer, and ensures the long-term stability of north-south heading.

[0072] In this embodiment, preferably, the azimuth compensation angle in S4 is generated as follows: the controller is based on the reliable heading angle. Confidential pitch angle The encoder feedback generates the azimuth compensation angle and pitch compensation angle, which are calculated as follows: ,in, This is the reference direction for true north. Used to limit the azimuth compensation angle to the range of [-π, π];

[0073] It should be noted that a system was constructed from the target (geographic north) to the vehicle attitude ( ), and then to the relative position of the gimbal ( The complete closed loop ensures the precision of control; The function ensures that the motor always selects the optimal path for rotation, thus improving the dynamic response efficiency of the system.

[0074] The above formula is used to calculate the lightning pulse fingerprint in artificially triggered lightning scenarios. Three-domain trust weights Posture ridgeline Disturbance shadow quantity and heading lock A closed-loop calculation chain is formed to preserve the actual vehicle steering and slope attitude changes, and to limit lightning pulse spikes, vehicle vibrations and magnetic anomaly offsets to the perturbation shadow quantity.

[0075] It should be noted that this is not a simple stacking of multiple independent algorithms, but rather a closed-loop computation chain with tight logical coupling, from interference identification (fingerprint quantity) to credibility assessment (weight), then to pure state extraction (attitude ridgeline), and finally to stable output (heading lock). The systematic design allows the vehicle's real steering, climbing and other normal motion signals to be preserved, while various transient and non-stationary interference signals are effectively limited and removed, ultimately achieving the authenticity and high accuracy of vehicle attitude baseline extraction in extremely harsh environments.

[0076] The controller uses the reliable attitude ridge obtained by the above algorithm to calculate the precise absolute heading change and body tilt of the vehicle. The two motors of the dual-axis gimbal are controlled in a closed loop to rotate in opposite directions with equal amount, so that the electromagnetic field measurement component always maintains a strict horizontal attitude, and its designated magnetic antenna continues to maintain the geographical north-south orientation during the movement and maneuver.

[0077] It should be noted that this indicates the complex algorithm described above is ultimately implemented at the physical execution level. Its beneficial effect is that it successfully transforms the high-precision attitude calculation capability into stable and accurate heading and leveling actions of the mechanical system. Ultimately, it achieves the core invention objective of continuously maintaining geographical north-south orientation and strict horizontal attitude during movement and maneuvering, thus ensuring the accuracy of lightning electromagnetic field vector measurement.

[0078] like Figure 3 The vehicle-mounted magnetic antenna anti-interference and orientation device for artificial mine-attracting platforms shown includes a vehicle-mounted mounting base 2, a dual-axis gimbal 4, a gimbal drive assembly, an orthogonal magnetic antenna assembly, an attitude sensor module 13, an angle feedback unit, and a controller.

[0079] The vehicle-mounted mounting base 2 is used to fix it on the mobile work vehicle;

[0080] The dual-axis gimbal 4 is mounted on the vehicle-mounted mounting base 2 and includes an azimuth axis mechanism 5 and a pitch axis mechanism 7.

[0081] The gimbal drive assembly is used to drive the rotation of the azimuth axis mechanism 5 and the pitch axis mechanism 7 of the dual-axis gimbal 4.

[0082] The orthogonal magnetic antenna assembly is mounted on the top of the dual-axis gimbal 4;

[0083] Attitude sensor module 13 is used to output real-time three-dimensional attitude and geomagnetic yaw angle information of mobile mine-attracting vehicle 1 or dual-axis gimbal 4;

[0084] The angle feedback unit is used to output the dual-axis mechanical angle of the dual-axis gimbal 4 relative to the manual mine-attracting mobile vehicle 1 in real time.

[0085] The controller is electrically connected to the attitude sensor module 13, the angle feedback unit, and the gimbal drive assembly. The controller is configured to run a three-domain closed-loop reliable attitude ridge generation algorithm driven by lightning pulse fingerprint based on the data from the attitude sensor module 13 and the angle feedback unit, calculate the absolute heading change and vehicle tilt of the artificial lightning-attracting mobile operation vehicle 1, and perform closed-loop control of the gimbal drive assembly to compensate for rotation so that the orthogonal magnetic antenna assembly maintains a horizontal attitude and geographical north-south orientation.

[0086] In this embodiment, preferably, the gimbal drive assembly includes an azimuth drive motor 6 and a pitch drive motor 8 with a permalloy electromagnetic shield 9; the orthogonal magnetic antenna assembly is mounted on the top of the dual-axis gimbal 4 via a non-magnetic support rod 10.

[0087] It should be noted that the permalloy electromagnetic shield 9 provides hard protection for the core drive components, preventing them from being damaged or interfered with by strong electromagnetic pulses; the non-magnetic support rod avoids contamination of the magnetic antenna measurement by the structure of the dual-axis gimbal 4 itself from the source; the combined hardware and software anti-interference strategy greatly improves the device's survivability and operational reliability in extreme electromagnetic environments.

[0088] In this embodiment, preferably, the attitude sensor module 13 integrates a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer; the angle feedback unit includes an azimuth encoder and a pitch encoder;

[0089] It should be noted that by integrating a three-axis gyroscope, accelerometer, magnetometer, and dual-axis encoder, all the raw observations required for multi-source data fusion are provided for the upper-level algorithm, which is a prerequisite for the effective operation of the entire high-performance algorithm.

[0090] The specific structure and steps of this application are as follows:

[0091] The device is mounted on the top of the mobile mine-attracting vehicle 1; the vehicle-mounted mounting base 2 is securely connected to the roof rack 3 by bolts; the dual-axis gimbal 4 is mounted on the vehicle-mounted mounting base 2, and the azimuth axis mechanism 5 included in the dual-axis gimbal 4 is connected to the vehicle-mounted mounting base 2 and is driven by the azimuth drive motor 6 to rotate around the vertical axis; the pitch axis mechanism 7 is mounted above the azimuth axis mechanism 5 and is driven by the pitch drive motor 8 to rotate up and down around the horizontal axis; considering electromagnetic interference, both the azimuth drive motor 6 and the pitch drive motor 8 are wrapped with permalloy electromagnetic shielding covers 9; at the same time, the electromagnetic field measurement component (i.e., the orthogonal magnetic antenna) is not directly attached to the gimbal, but is mounted on the top of the dual-axis gimbal 4 through a non-magnetic support rod 10 about 20cm long; among the two internal orthogonal antennas, the first magnetic antenna 11 points due south and due north, and the second magnetic antenna 12 points due east and due west;

[0092] The attitude sensor module 13 is fixed on the dual-axis gimbal 4. In a typical mobile observation mission for artificial mine induction, after the system is powered on, the controller directly obtains the initial azimuth and pitch mechanical angles of the current gimbal through the dual-axis encoder 14. When the mobile mine induction vehicle 1 is moving in the field to find a mine induction site, or is urgently parked on a rugged rural slope to prepare for rocket launch, the controller periodically reads the raw timing data of the three-axis gyroscope, three-axis magnetometer, and three-axis accelerometer in the attitude sensor module 13 at a high frequency of over 100Hz, and simultaneously reads the angles of the azimuth encoder and pitch encoder in the dual-axis encoder 14. In response to the easily coupled transient electromagnetic pulses of lightning, vehicle mechanical vibration, alternating magnetic field of motors, and road impacts in close-range field observation, the controller starts the internally integrated three-domain closed-loop reliable attitude ridge generation algorithm module driven by lightning pulse fingerprint before performing attitude calculation, and specifically executes the following calculation steps:

[0093] The triaxial angular velocity, triaxial acceleration, triaxial magnetic field strength, azimuth encoder angle, and pitch encoder angle are combined into a three-domain observation set. ;

[0094] Instead of using a factory-fixed dead zone threshold, the controller selects a short time segment that meets the condition of minimal change in real time as the adaptive environmental noise floor reference.

[0095] Calculate the amount of lightning pulse fingerprints And calculate the degree of strong transient interference;

[0096] When the lightning-inducing rocket triggers a discharge that generates strong radiation, it automatically increases the weight of the mechanical encoder to suppress the contaminated inertial and electromagnetic weights.

[0097] The controller abandons time-consuming offline batch processing summation and adopts a semi-quadratic splitting iterative algorithm combined with... Norm second-order difference constraints enable millisecond-level fast solution of the pure attitude parameters at the current time step;

[0098] The broadband noise residuals caused by lightning strikes are isolated and filtered out to ensure they do not enter the control loop; the safety level of the current filtering result is determined; and the controller generates the final azimuth compensation angle by combining the complementary self-calibration formula. and pitch compensation angle The signal is then converted into a PWM control signal executable by the motor driver. The controller performs high-precision calculations based on the obtained reliable attitude ridge. When the artificial lightning-attracting mobile vehicle 1 turns or tilts, the controller immediately acquires the change in angle and, in conjunction with the current turntable position fed back by the encoder, outputs a PWM control signal to the motor driver using a PID control algorithm. The azimuth drive motor 6 drives the gimbal to rotate horizontally in the opposite direction for heading compensation, and the pitch drive motor 8 drives the gimbal to rotate in the opposite direction for gravity tilt compensation. Through the coordinated adjustment of lightning pulse fingerprint quantity, three-domain reliable weight, attitude ridge equation, heading lock self-correction, and high-frequency dual-axis closed loop, the first magnetic antenna 11 can not only suppress complex electromagnetic and mechanical interference, but also always point to a constant geographic true north reference, and the gimbal pitch angle always remains at zero degrees.

[0099] The above description of the embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A method for anti-interference and direction adjustment of a vehicle-mounted magnetic antenna for an artificial lightning-inducing platform, characterized in that, Includes the following steps: S1. Through the attitude sensor module (13) and the angle feedback unit, a three-domain observation set containing electromagnetic domain, inertial domain and mechanical coding domain data is constructed simultaneously; S2. The controller, based on a three-domain observation set, runs a three-domain closed-loop reliable attitude ridge generation algorithm driven by lightning pulse fingerprint to generate reliable heading and pitch angles. S3. The controller generates azimuth compensation angle and pitch compensation angle based on reliable heading and pitch angles. S4. The controller drives the dual-axis gimbal (4) to rotate in the opposite direction according to the azimuth compensation angle and the pitch compensation angle, so that the electromagnetic field measurement component maintains a horizontal attitude and geographical north-south orientation.

2. The anti-interference and direction adjustment method for a vehicle-mounted magnetic antenna for an artificial mine-triggered platform according to claim 1, characterized in that, The three-domain observation set in S1 is constructed as follows: the controller synchronously reads data from the electromagnetic domain, inertial domain, and mechanical coding domain using the same hardware clock, and forms a three-domain observation set based on the data from the electromagnetic domain, inertial domain, and mechanical coding domain. Among them, the three-domain observation set includes three-axis angular velocities. Triaxial acceleration Triaxial magnetic field Dual-axis encoder angle .

3. The anti-interference and direction adjustment method for a vehicle-mounted magnetic antenna for an artificial mine-attracting platform according to claim 2, characterized in that, The steps of the three-domain closed-loop reliable attitude ridge generation algorithm in S2 are as follows: Extracting magnetic field from the three-axis magnetic field and extracting second-order abrupt changes, high-frequency energy jumps in the magnetic field vector, and heading bifurcation features from the gyroscope-encoder in the three-domain observation set; calculating the lightning pulse fingerprint quantity. Lightning pulse fingerprint quantity The calculation formula is as follows: In the formula It is a non-linear activation function. The gyro integral heading increment, This is the encoder heading increment.

4. The anti-interference and direction adjustment method for a vehicle-mounted magnetic antenna for an artificial mine-attracting platform according to claim 3, characterized in that, Based on lightning pulse fingerprint quantity Generate reliable weights for the electromagnetic, inertial, and mechanical coding domains; The calculation formula is as follows: ； ， ,in Indicates the deviation of magnetic anomaly. It is expressed as mechanical vibration intensity.

5. The anti-interference and direction adjustment method for a vehicle-mounted magnetic antenna for an artificial mine-attracting platform according to claim 4, characterized in that, The construction steps of the three-domain closed-loop reliable attitude ridge generation algorithm are as follows: Let the continuous attitude ridge to be obtained be... These correspond to the heading angle, pitch angle, and roll angle, respectively. The controller obtains these values ​​by minimizing the three-domain closed-loop cost function. : 。 6. The anti-interference and direction adjustment method for a vehicle-mounted magnetic antenna for an artificial mine-triggered platform according to claim 5, characterized in that, The steps for constructing the heading angle in S2 are as follows: The controller constructs the heading lock self-correction formula. ,in, The heading angle is the output of the attitude ridge equation. The trusted heading angle after locking.

7. A method for anti-interference and direction adjustment of a vehicle-mounted magnetic antenna for an artificial mine-triggered platform according to claim 6, characterized in that, The azimuth compensation angle in S4 is generated as follows: the controller is based on the reliable heading angle. Confidential pitch angle The encoder feedback generates the azimuth compensation angle and pitch compensation angle, which are calculated as follows: ,in, This is the reference direction for true north. Used to limit the azimuth compensation angle to the range of [-π, π].

8. A vehicle-mounted magnetic antenna anti-interference and direction-adjusting device for an artificial mine-attracting platform, the device being used to perform the method described in any one of claims 1-7, characterized in that, It includes a vehicle-mounted mounting base (2), a dual-axis gimbal (4), a gimbal drive assembly, an orthogonal magnetic antenna assembly, an attitude sensor module (13), an angle feedback unit, and a controller; The vehicle-mounted mounting base (2) is used to fix it on the mobile work vehicle; The dual-axis gimbal (4) is mounted on the vehicle mounting base (2) and includes an azimuth axis mechanism (5) and a pitch axis mechanism (7). The gimbal drive assembly is used to drive the rotation of the azimuth axis mechanism (5) and the pitch axis mechanism (7) of the dual-axis gimbal (4); The orthogonal magnetic antenna assembly is mounted on the top of the dual-axis gimbal (4); The attitude sensor module (13) is used to output the real-time three-dimensional attitude and geomagnetic yaw angle information of the mobile artificial mine-attracting mobile operation vehicle (1) or the dual-axis gimbal (4); The angle feedback unit is used to output the dual-axis mechanical angle of the dual-axis gimbal (4) relative to the artificial mine-attracting mobile vehicle (1) in real time; The controller is electrically connected to the attitude sensor module (13), the angle feedback unit and the gimbal drive assembly. The controller is configured to run a three-domain closed-loop reliable attitude ridge generation algorithm driven by lightning pulse fingerprint based on the data from the attitude sensor module (13) and the angle feedback unit, calculate the absolute heading change and vehicle tilt of the artificial lightning-attracting mobile operation vehicle (1), and perform closed-loop control of the gimbal drive assembly to compensate for rotation so that the orthogonal magnetic antenna assembly maintains a horizontal attitude and geographical north-south orientation.

9. The anti-interference and direction-adjusting device for a vehicle-mounted magnetic antenna for an artificial mine-attracting platform according to claim 8, characterized in that, The gimbal drive assembly includes an azimuth drive motor (6) and a pitch drive motor (8) with a permalloy electromagnetic shield (9); the orthogonal magnetic antenna assembly is mounted on the top of the dual-axis gimbal (4) via a non-magnetic support rod (10).

10. A vehicle-mounted magnetic antenna anti-interference and direction-adjusting device for an artificial mine-attracting platform according to claim 8, characterized in that, The attitude sensor module (13) integrates a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetometer; the angle feedback unit includes an azimuth encoder and a pitch encoder.

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