575 results about "Magnetometer" patented technology

The invention provides a global magnetic disturbance compensation method in aviation magnetic survey. The method comprises the following steps: S1, performing high-altitude calibration flight through a motion platform, and acquiring total magnetic field data based on detection data of an optical pump magnetometer; s2, obtaining geomagnetic background gradient information and obtaining geomagnetic field data based on the geomagnetic background gradient information; s3, obtaining motion platform magnetic interference data according to the total magnetic field data and the geomagnetic field data; s4, motion platform attitude information, motion platform current information and fluxgate magnetometer detection data are acquired; s5, obtaining a motion platform magnetic interference coefficient according to the motion platform magnetic interference data, the motion platform attitude information, the motion platform current information and the fluxgate magnetometer detection data; and S6, according to the geomagnetic background gradient information and the motion platform magnetic interference coefficient, performing data compensation on the total magnetic field data in real time during actual aviation magnetic measurement.

The invention discloses an SERF atom magnetometer double-axis magnetic field detection method and device based on pulsed magnetic field modulation, relates to the technical field of magnetic field precision measurement, and compresses the action time of a modulation magnetic field additionally applied in the same unit period on a hot atom ensemble by replacing conventional continuous sinusoidal magnetic field modulation with pulsed magnetic field modulation. The pulse magnetic field with the duty ratio of d can reduce the spin exchange relaxation rate to 2d times of that of a conventional method under the same modulation amplitude and frequency, due to the fact that the spin exchange relaxation rate is effectively restrained, the collected polarizability response signal is obviously improved, and the polarizability response signal can be obtained through the pulse magnetic field with the duty ratio of d and the pulse magnetic field with the duty ratio of d. Low-relaxation-rate sensitivity-enhanced double-axis magnetic field measurement under a pulse modulation scheme is realized, the double-axis measurement sensitivity of a miniaturized SERF atom magnetometer is further improved, and the method has great significance in supporting leap-type development of a future array type extremely-weak magnetic imaging system and medical application thereof.

The invention discloses a magnetic source positioning method based on a spin-exchange relaxation-free atom magnetometer, and aims to provide a high-precision brand-new solution for magnetic source positioning in a near-zero magnetic environment by performing physical modeling and least square estimation on space magnetic field distribution of a target magnetic source. The magnetometer is enabled to be simultaneously sensitive to a three-axis magnetic field, a light absorption detection method is utilized to ensure that complete three-axis magnetic field information is obtained, and the sensitivity of the three axes reaches fT / Hz1 / 2 (1fT = 10 <-15 > T) magnitude. In the positioning process, the target magnetic source is abstracted into a physical model of the magnetic dipole, and the space magnetic field information generated by the target magnetic source is obtained through the atom magnetometer, so that the long-term stability of the magnetic source positioning process and the high precision of the positioning result can be ensured in the zero magnetic environment; therefore, a high-precision magnetic positioning technical means with great potential is provided for various application scenes such as paleomagnetic sample testing and magnetic source positioning in medical research, and technical progress and application expansion in related fields are expected to be promoted.

The invention relates to the technical field of inertial navigation and sensor fusion, in particular to a multi-sensor fusion and adaptive filtering attitude estimation method, which comprises the following steps: S1, acquiring sensor data of a gyroscope, a magnetometer and an accelerometer, and respectively acquiring angular velocity, magnetic field direction and gravitational acceleration information; s2, angle information is obtained, and magnetometer and accelerometer sensor data are converted into attitude information; s3, carrying out weighting processing on the angle information and the attitude information through a fading memory weighting method and a limited memory weighting method; S4, carrying out filtering fusion on the weighted angle information and attitude information through an RAEKF filtering fusion algorithm; s5, an adaptive factor and a robust factor are introduced into the RAEKF filtering fusion algorithm; s6, outputting attitude angle estimation; according to the method, the theoretical contradiction that long-term drifting and stability cannot be achieved at the same time is fundamentally solved, stable precision is kept under abnormal data interference, and the robust performance is remarkably improved.

An unidentified aerial phenomena field disturbance detector includes an accelerometer configured to measure a gravitational field surrounding the unidentified aerial phenomena field disturbance detector; a magnetometer configured to measure a magnetic field surrounding the unidentified aerial phenomena field disturbance detector; a microwave frequency detector configured to measure a specific band of microwave frequencies surrounding the unidentified aerial phenomena field disturbance detector; a controller; and an optical indicator configured to optically communicate information to a user of the unidentified aerial phenomena field disturbance detector. The controller determines a change in the gravitational field surrounding the unidentified aerial phenomena field disturbance detector when generates gravitational field values are outside a predetermined range of non-event field values. The controller controls the optical indicator to optically communicate the determined change in the gravitational field surrounding the unidentified aerial phenomena field disturbance detector.

The invention relates to the technical field of quantum sensing, and discloses a quantum magnetometer device based on diamond NV color center photoelectric detection magnetic resonance. Wherein the optical path module performs optical excitation and imaging positioning on a diamond sample through a laser and an objective lens. The circuit module integrates a microwave source, a lock-in amplifier, a low-noise current amplifier and a programmable power supply, applies a microwave field and bias voltage to a microwave antenna and an interdigital electrode on the surface of a sample respectively, and collects sample dependency photocurrent signals. And the operation module realizes automatic control and data processing of the system. According to the device, NV color center spin state information is converted into a photocurrent signal through a photoelectric detection magnetic resonance mechanism, an amplitude or frequency modulated signal is demodulated by using a lock-in amplification technology, information of a detection magnetic field is obtained through a high signal-to-noise ratio photoelectric detection magnetic resonance spectrum, and the sensitivity of the magnetic field is evaluated. Magnetic resonance signals are detected in an all-electricity mode, a complex optical system of traditional fluorescence detection is simplified, and the device has the advantages of being compact in structure, easy to integrate, high in measurement sensitivity and the like.

The invention discloses a self-adaptive recognition method and system based on a four-bar linkage single station machine motion trail, and belongs to the technical field of motion trail recognition. The method comprises the following steps: acquiring a multi-source synchronous data stream, detecting a peak interference frequency, adjusting an adaptive notch filter in real time, obtaining a pure geomagnetic field signal, calculating the equivalent length of a connecting rod by using angle and force data, and establishing a kinematics equation to solve track coordinates; establishing a magnetic field space gradient tensor model through a magnetometer array, fitting a nonlinear mapping relation between an angle and a gradient tensor, and generating a metal magnetic interference compensation model; judging a motion mode and dynamically adjusting filter parameters; constructing a fast and slow dual-time scale filter to fuse multi-source information, and introducing a fading factor to prevent divergence; a future angle is predicted by using a long-short-term memory neural network to serve as a virtual observed quantity to enhance the fault-tolerant capability; and optimizing the reconstruction trajectory through multiple physical constraints. According to the method, the track identification precision, the anti-interference capability and the system robustness are remarkably improved.

The invention provides a geomagnetic compensation and bias magnetic field generation system and method for cold atom interference. The system comprises a triaxial magnetometer, a triaxial Helmholtz coil, a voltage-controlled current source and an FPGA regulation and control module. The three-axis magnetometer is used for collecting space magnetic field data at a plurality of monitoring positions in the space where the three-axis Helmholtz coil is located in real time; the FPGA regulation and control module is used for calculating control voltage data required by the voltage-controlled current source according to a target magnetic field and any space magnetic field data collected by the three-axis magnetometer in each sampling period, controlling coil current transmitted to the three-axis Helmholtz coil, and outputting the coil current to the three-axis Helmholtz coil. And loop iteration is carried out until the three-axis Helmholtz coil generates a target magnetic field at a plurality of monitoring positions, wherein the target magnetic field is a near-zero magnetic field in the X / Y direction, and the magnetic field intensity in the Z direction is constant and is a non-zero value. The device can respond to the change of the environmental magnetic field in real time, and provides a stable and accurate magnetic field environment for the cold atom interference test on the basis of compensating the influence brought by the geomagnetic field.

The invention discloses a positioning and attitude determination method and device integrating Beidou navigation and inertial navigation, and relates to the technical field of attitude measurement, the method comprises the following steps: correcting a gyroscope error by using an accelerometer error and a magnetometer error based on proportional integral operation to obtain a gyroscope output after error correction; using the gyroscope output after error correction to update the quaternion of the moving object, using the quaternion to calculate the attitude, and obtaining the attitude angle of the moving object under the carrier coordinate system calculated through inertial navigation; moving object positioning and attitude determination calculation is carried out by using the time difference of the satellite carrier phase double differences between the double BDS receivers and the different groups of satellites, and the attitude angle of the moving object under a carrier coordinate system calculated through Beidou satellite navigation is obtained; and performing Kalman filtering fusion on the attitude angle calculated by inertial navigation and the attitude angle calculated by Beidou satellite navigation to obtain a final attitude angle. The method can adapt to a dynamic environment, and the attitude measurement precision is improved.

The invention relates to the technical field of inclination measurement coordinate correction, in particular to a multi-sensor fusion inclination measurement coordinate correction method. According to the inclination measurement coordinate correction method based on multi-sensor fusion, the forced constraint in the direction of the centering rod is eliminated fundamentally, so that a measurer can place the centering rod at will, tedious alignment operation is not needed, the operation difficulty is remarkably reduced, and the measurement efficiency and precision are improved; therefore, the correction method has better convenience and wider adaptability. Measurement data of the magnetometer and the gyroscope are calculated in a fusion mode through a Kalman filtering algorithm in the processing unit, the short-term high precision of the gyroscope and the long-term stability of the magnetometer are fully utilized, noise and instantaneous interference are effectively restrained, the high-precision true north azimuth angle is directly output, the limitation of a simple average method is avoided, and the real north azimuth angle is obtained. According to the correction method, the overall measurement precision and the system robustness are remarkably improved, so that the correction precision of the coordinates of the target point location is greatly improved.

The present disclosure relates to methods, systems, and apparatus, including computer programs encoded on computer storage media, for denoising magnetic measurements. An example method includes obtaining, using a plurality of magnetometers of a magnetically unshielded device, noisy magnetic measurement data of a magnetic field at least partially caused by an organ of a subject; obtaining, using one or more inertial measurement units (IMUs) of the magnetically unshielded device, a motional measurement of the plurality of magnetometers; determining cleaned magnetic field data based at least in part on the noisy magnetic measurement data and the motional measurement data; and taking an action based at least in part on the cleaned magnetic field data.

The invention belongs to the technical field of unmanned aerial vehicle autonomous navigation, and discloses an unmanned aerial vehicle visual positioning navigation method based on a deep twin network and multi-modal fusion, and the method comprises the steps: obtaining a real-time aerial image of an unmanned aerial vehicle and a pre-stored satellite reference image, carrying out the self-adaptive scale zooming of a satellite image according to the output height of a barometer, and obtaining the real-time aerial image of the unmanned aerial vehicle; eliminating scale difference; the images after scale unification are input into a deep twin network for feature extraction and matching, and two-dimensional plane transformation parameters between the two images are obtained; and calculating the parameters as initial absolute geographic coordinates, adopting a tight coupling factor graph optimization frame, fusing a re-projection factor formed by the visual coordinates, an IMU pre-integration factor, a barometer height factor and a magnetometer course factor, and estimating and outputting six-degree-of-freedom pose information of the unmanned aerial vehicle through nonlinear optimization. According to the invention, the problems of poor matching robustness of different-source images and incomplete pose output in a GNSS denial environment are solved, and high-precision autonomous positioning navigation is realized.

The invention provides an indoor local magnetic field modeling method and device based on a magnetic source equivalence principle, and belongs to the technical field of indoor localization, and the method comprises the steps: collecting the data of a three-axis magnetometer in a space range through an array type magnetic sensor, and obtaining the original measurement information of an indoor magnetic field; based on a magnetic source equivalence principle, an indoor magnetic field is modeled into an equivalent magnetic dipole model consisting of a plurality of equivalent magnetic dipoles, and a magnetic field generated by the model is consistent with a real magnetic field in an observation area by setting magnetic moment and position parameters of the magnetic dipoles; according to the measured value of the array type magnetic sensor, an observation model is established in combination with an equivalent magnetic dipole model and used for describing the relation between the measured value and model parameters; through a nonlinear least square optimization method, parameters of the equivalent magnetic dipole model are solved according to the observation model, the equivalent magnetic dipole model of the indoor magnetic field is obtained, and the parameters comprise the magnetic moment and the position of the magnetic dipole. The precision and the reliability of the model are remarkably improved.

An error calibration method of a nitrogen-vacancy center (NV) vector magnetometer is disclosed. The method includes acquiring corresponding magnetic field intensity NV vector magnetometer measured data in various postures and constructing an error expression of the NV vector magnetometer. The error expression of the NV vector magnetometer is a relational expression among the magnetic field intensity measured data, magnetic field intensity real data and an error coefficient and the error coefficient includes a combination coefficient and a zero-bias error coefficient. All the magnetic field intensity measured data are fit based on an ellipsoid fitting method. The error coefficient is solved to obtain a determined error coefficient. The determined error coefficient is substituted into the error expression of the NV vector magnetometer to obtain an error model of the NV vector magnetometer. The magnetic field intensity measured data is substituted into the error model of the NV vector magnetometer.

The invention relates to the technical field of pipeline deformation monitoring, and discloses a buried steel pipe deformation degree detection method and system based on multi-sensor fusion. The method comprises the steps that data of an accelerometer and a magnetometer are collected and processed to obtain an initial space orientation angle estimated value, the initial space orientation angle estimated value is compared with a preset steel pipe axis model, and if deviation exceeds a threshold value, dynamic deviation compensation is conducted through gyroscope data to obtain a real-time posture correction vector; extracting a multi-point detection sequence fitting deformation curve to obtain a continuity parameter set, and screening a low-consistency paragraph fusion neural network to obtain a multi-point deformation data set; and determining a final deformation evaluation value through underground interference simulation, noise modeling and particle adjustment, matching the final deformation evaluation value with historical records, and generating an alarm and risk early warning report when the matching degree is low. The method can improve the detection precision and data consistency, and guarantees the safe operation of the buried steel pipe.

The invention provides a three-dimensional magnetic anomaly feature extraction method and system applied to unexploded ordnance identification, and the method comprises the steps: rotating the angle of an unexploded ordnance, and adjusting the position of a first magnetometer relative to the unexploded ordnance; the data recording instrument records unexploded ordnance identification information and position data and angle data of the unexploded ordnance relative to the first magnetometer, and original magnetic anomaly data of the unexploded ordnance is obtained by combining the first magnetic data and a difference value of synchronously collected second magnetic data; performing inversion based on the original magnetic anomaly data and the position data of a plurality of positions corresponding to the same angle so as to form a three-dimensional point cloud model at the angle; and performing inversion based on the three-dimensional point cloud model of the multiple angles to form three-dimensional magnetic anomaly features. Multiple groups of original magnetic anomaly data of the unexploded ordnance are collected and inverted in the outdoor environment to form three-dimensional magnetic anomaly features capable of being compared and matched with actually measured data, and the efficiency, accuracy and convenience of unexploded ordnance detection are improved.

The invention relates to the technical field of magnetometers, and discloses a magnetic sensor system based on free induction attenuation and a use method thereof. The sensor system comprises a laser generator, an atomic gas chamber, a strong magnetic generator, a polarizer, a polarization analyzer and a first light detector, a light splitting device is arranged between the laser generator and the atomic gas chamber, laser emitted by the laser generator can be split into a first part of laser and a second part of laser, the first part of laser enters the atomic gas chamber, and the second part of laser enters the atomic gas chamber; and enabling the second part of laser to enter a second optical detector. Once the frequency of the laser generated by the laser generator changes, the proportion of the first part of laser to the second part of laser changes, and the feedback adjustment module feeds back and adjusts the laser generator according to the detection result of the second optical detector, so that the laser emitted by the laser generator is the laser with the preset frequency. Therefore, the laser emitted by the laser generator can be quickly and precisely adjusted, and the detection precision of the whole magnetic sensor system is further improved.

The invention discloses a robust pedestrian dead reckoning method and device based on geomagnetic self-adaption and time-frequency pace fusion, electronic equipment and a storage medium. The method comprises the following steps: carrying out preprocessing and attitude calculation on data of an inertial sensor and a geomagnetic sensor; based on geomagnetic module value fluctuation, direction consistency and frequency domain energy characteristics, geomagnetic disturbance self-adaptive judgment and quality grading are achieved; time-frequency energy features are extracted through short-time frequency domain analysis, and robust pace event detection is achieved; on the basis of a residual feedback mechanism, fusing an environment structure and external positioning constraint to carry out online correction step length estimation; dynamically adjusting the weight of the magnetometer according to the geomagnetic quality to realize heading robust fusion; and finally, step-level trajectory recursion is carried out. Through geomagnetic perception-time frequency gait-residual step length-course fusion multi-module closed-loop cooperation, track continuity, positioning precision and long-term stability are effectively improved, and the method is suitable for continuous and reliable positioning of smart phones and wearable terminals in indoor, underground and other weak GNSS environments.

The invention relates to a power-on loading or interchange self-adaption method for a cesium optical pump magnetometer, belongs to the technical field of quantum sensing and geomagnetic detection, and solves the technical problem that the excitation process is tedious during power-on loading or interchange of the cesium optical pump magnetometer in the prior art. Based on the current standard radio frequency power voltage and the standard radio frequency frequency voltage, hopping radio frequency power voltage is applied to the cesium lamp, and the cesium lamp is lightened through the hopping radio frequency frequency voltage; increasing the radio frequency power voltage to a first interval range to heat the cesium lamp, and applying a standard radio frequency frequency voltage until the cesium lamp is preheated; when the collected working voltage of the cesium lamp starts to be reduced, reducing the radio frequency power voltage to standard radio frequency power; and the radio frequency power voltage and the radio frequency frequency voltage are finely adjusted, so that the magnetometer outputs a Larmor signal with a stable waveform, and the radio frequency frequency voltage, the radio frequency power voltage and the cesium lamp working voltage at the moment are stored as optimal working points of the magnetometer. And a self-adaptive power-on loading or interchanging method of the cesium optical pump magnetometer is realized.

The invention discloses a marine geomagnetic diurnal variation station, which comprises a pressure-resistant sealed cabin, a proton precession magnetometer system for measuring the intensity of a geomagnetic field, a power supply system integrated in the pressure-resistant sealed cabin, a positioning and time synchronization module, an environment monitoring unit and the like, and is characterized in that the pressure-resistant sealed cabin is of a glass floating ball structure, and the interior of the pressure-resistant sealed cabin is divided into an upper part and a lower part; the power supply system comprises a plurality of lithium iron phosphate batteries, and the host unit comprises a CPU board, a simulation board and the like, and is further provided with a deck control unit and the like. The geomagnetic field intensity can be accurately measured, interference is reduced through the watertight cable structure, position information and time calibration can be provided, the internal state of the cabin can be monitored, parameter configuration, data export and other functions can be achieved, the device can work well on the land and in the deep sea, and the alarm can be triggered when abnormity occurs.

The invention relates to the technical field of navigation and positioning, in particular to a pedestrian dead reckoning optimization method based on improved wave crest detection and CNN-LSTM, comprising the following steps: S1, data acquisition: acquiring pedestrian motion sensor data including acceleration, angular velocity and magnetic field intensity through an accelerometer, a gyroscope and a magnetometer; s2, on the basis of an improved wave crest detection algorithm, real-time monitoring and analysis are carried out on the acceleration signal by setting a dynamic threshold value, and an effective gait cycle is extracted; s3, extracting reference features of the step length from the pedestrian motion sensor data, training a step length prediction model of the CNN-LSTM network, and optimizing the step length prediction model; and S4, obtaining a pedestrian course angle based on quaternion attitude calculation, realizing gait cycle segmentation and step length prediction in combination with an improved wave crest detection algorithm and a CNN-LSTM model, and finally calculating the position of the pedestrian at the next moment through the course angle and the step length so as to complete continuous navigation positioning. The method can achieve the dynamic extraction and fusion of the spatial-temporal features of multiple sensors, improves the gait detection robustness and step length estimation precision in a complex scene, remarkably optimizes the overall positioning performance of a PDR, and solves a problem that the positioning precision is reduced because a signal is affected by sensor noise, behavior diversity and the like.

The invention discloses an equipment attitude automatic correction method and device and an optical terminal intensity instrument, the equipment attitude automatic correction method is applied to a preset monitoring terminal comprising a triaxial MEMS accelerometer and a magnetometer, and the method comprises the following steps: collecting acceleration and magnetometer data; calculating acceleration stable three-axis offset; calculating roll and pitch angles and determining a horizontal plane; positioning magnetic north and calculating a magnetic north azimuth angle; calculating a magnetic declination angle and a yaw angle by combining longitude and latitude; generating a rotation matrix and converting a coordinate system; judging angle change and updating the matrix; and completing calibration and attitude stabilization. According to the technical scheme provided by the invention, the monitoring terminal equipment can be ensured to automatically and accurately adjust and stably maintain the attitude after being installed, so that the effective operation of the earthquake monitoring and early warning system is ensured, and the earthquake disaster prevention and flooding earthquake (vibration) monitoring performance is improved.

The invention provides an LSTM-Kalman filtering method and device for unmanned aerial vehicle magnetic compensation, and belongs to the technical field of aeromagnetic signal processing, and the method comprises the steps: obtaining a reference geomagnetic field vector in a zero interference environment, and synchronously collecting an unmanned aerial vehicle attitude angle, OBE motor rotation speed, phase current, power supply noise and magnetometer data; oBE represents airborne electrons; removing a static magnetic field according to a reference value to obtain an effective magnetic disturbance variable, performing low-pass filtering, performing dynamic normalization on all features by using a sliding window, and constructing a time sequence feature matrix; inputting the time sequence characteristic matrix into a trained LSTM neural network, and outputting a magnetic interference predicted value; and calculating a residual error between the measured value and the predicted interference value to obtain a predicted true value, carrying out Kalman filtering smooth estimation on the predicted true value, and outputting a compensated geomagnetic field vector. According to the invention, integrity compensation of global magnetic disturbance is realized.

The present disclosure relates to a method (100) of magnetically calibrating a magnetometer sensing system (30) with respect to an electronic device (50), the method (100) comprising: detecting (110) a disturbing magnetic source (520) in the electronic device (50) relative to a reference coordinate system (X, Y, Z) of the magnetometer sensing system (30); identifying (120) one or more magnetometers (Sk,l) of the magnetometer sensing system (30) which are magnetically affected by the detected disturbing magnetic source (520); selecting (130) one or more balancing magnetic sources (400) to reduce a magnetic effect of the detected disturbing magnetic source (520) on the one or more identified magnetometers (Sk,l); and placing (140) the one or more selected balancing magnetic sources (400) in a fixed relation to the magnetometer sensing system (30) and / or to the disturbing magnetic source (520).

The application belongs to the field of optical precision manufacturing, and relates to a bottom-up atomic gas chamber manufacturing device and manufacturing method. The device is composed of a vacuum cavity, a pumping pipeline, a gas inlet pipeline, a discharge electrode plate set, an insulating support, a gas chamber, a laser, an alkali metal source and a vacuum gauge. The device is used for manufacturing the atomic gas chamber from bottom to top, and can be used for preparing various gas chambers with different gas pressure ratio requirements, thereby helping to realize customized preparation. The device reduces the disadvantages of impurity adsorption on the inner wall of the gas chamber and reduces uncontrollable risks. The device has high integration, high preparation efficiency and large secondary development space, and is favorable for accelerating the technical iteration of the atomic gas chamber and the cross-generation development of key technologies such as nuclear magnetic resonance gyroscopes, atomic clocks and magnetometers.

An agricultural machine includes a chassis, a product tank containing a fluid, and a fluid distribution system in fluid communication with the product tank. The fluid distribution system includes at least one fluid outlet line configured to deliver a fluid to an agricultural field, at least one pulse width modulation valve in fluid communication with the at least one fluid outlet line, and at least one magnetometer configured to measure at least one magnetic property caused by actuation of the at least one pulse width modulation valve. The agricultural machine further includes a monitoring system configured to determine at least one of a duty cycle or a modulation frequency of the at least one pulse width modulation valve based on the at least one magnetic property. Related methods and monitoring systems are also disclosed.

The invention provides a backpack multi-sensor data fusion-based motion attitude anomaly real-time detection method, which comprises the following steps of: acquiring multi-channel original data through a backpack-type integrated triaxial accelerometer, a gyroscope, a magnetometer and a barometer, implementing synchronous sampling and time-space alignment, and constructing a standardized time sequence data stream through wavelet denoising and multi-dimensional normalization preprocessing; high-dimensional features representing motion differences are extracted, nonlinear dimensionality reduction is achieved through principal component and Laplacian feature mapping, and a motion mode prototype library is generated; according to the method, a new motion situation can be continuously and adaptively learned, and the motion recognition accuracy, the system robustness and the attitude anomaly detection capability in a complex scene are effectively improved.

The embodiment of the invention provides an aviation gravity and magnetic vector dynamic measurement method based on multi-source data synchronous fusion, and relates to the technical field of data acquisition, after sensor array data on a driving flight platform is acquired, a specific force measurement value, a carrier pitch angle, a carrier roll angle and a carrier motion parameter are calculated and output; calculating three output gravity disturbance components by adopting carrier motion parameters and specific force measurement values; fusing total field data of the optical pumping magnetometer to carry out magnetic vector calculation on three-component data of the fluxgate and outputting geomagnetic total elements; and taking a carrier pitch angle, a carrier roll angle, a carrier position, a carrier speed and a carrier course angle as carrier pose data, combining the geomagnetic total elements and the carrier pose data, and outputting a dynamic measurement result of the gravity-magnetic vector field. The problems that in the prior art, gravity measurement and magnetic measurement are separated, equipment redundancy is low in efficiency, collection time is asynchronous, and data precision is reduced are solved. The effect of high-precision, high-dynamic and high-efficiency synchronous acquisition of the gravity and magnetic vector data under the single platform is achieved.

The invention belongs to the technical field of positioning and navigation, and provides a geomagnetic sequence positioning method based on BiLSTM and multi-head attention. The method comprises the following steps: firstly, acquiring data of geomagnetism, an accelerometer, a gyroscope and other sensors by using a smart phone, and dividing a geomagnetism sequence into a plurality of subsequences to enhance the time sequence modeling capability; then constructing a multi-scale feature extraction model: extracting deep time sequence features of each sub-sequence by adopting a bidirectional long-short term memory network (BiLSTM), and constructing global representation through splicing; a self-adaptive multi-head attention mechanism is introduced, magnetic signal key features are captured from multiple dimensions, feature weights are dynamically adjusted in combination with a gating mechanism, and important information enhancement is achieved. And the fused multi-scale features output initial position estimation through a full connection layer. In order to further improve the positioning precision, data of a magnetometer and a gyroscope are fused through complementary filtering to correct a course angle, a geomagnetic positioning result serves as an observation value, a pedestrian track plotting result serves as a state prediction value, and final fusion positioning is achieved through particle filtering.

This invention discloses a method and system for detecting the angle between a tractor and trailer based on a dual-antenna combined inertial navigation system, applicable to vehicle systems. The method includes: acquiring the position difference vector between the main and auxiliary antennas using a dual-antenna GNSS system on the tractor; calculating the first coarse heading angle of the tractor; and then fusing IMU data and filtering it to obtain a high-precision first heading angle. The roll and pitch angles are calculated using accelerometer data from the trailer's IMU, and tilt compensation is performed on the magnetometer data to obtain the second heading angle of the trailer. Furthermore, the heading and lane curvature data from the tractor can be combined to dynamically compensate and correct the trailer's heading online. The difference between the first and second heading angles is calculated in real time to obtain the angle between them. This invention can maintain heading output using IMU and wheel speed data even when GNSS signals fail, and ensure trailer heading accuracy through dynamic compensation, thereby achieving stable and high-precision tractor-trailer angle measurement.