摘要
为了实现磁噪声环境中水下磁传感器阵列位置和姿态的高精度校准,提出一种利用动态磁源和阵列磁场差值的磁传感器阵列校准方法。构建校准设备、水下磁传感器阵列和磁噪声环境的数学模型,对一字型、十字型和四面体型的水下磁传感器阵列进行定位定姿校准的数值仿真验证实验,分别利用阵列磁场差值和直接使用磁场值的方法对水下磁传感器阵列的位置和姿态进行求解。实验结果表明:对于水下20 m深度处的磁传感器阵列,利用磁场差值的方法可实现位置和姿态的高精度校准,在校准精度和稳定性方面都要优于直接使用磁场值的方法;对于不同类型的磁传感器阵列,十字型阵列的定位误差均值为0.13 m,角度误差均值为0.51°;一字型阵列的定位误差均值为0.13 m,角度误差均值为0.82°;四面体型阵列的定位误差均值为0.16 m,角度误差均值为0.89°。新方法和技术不易受地磁场环境噪声干扰的影响,具有较高的应用潜力。
In order to accurately calibrate the position and attitude of underwater magnetic sensor arrays in a magnetic noise environment,a calibration method of magnetic sensor array is proposed,which is based on the dynamic magnetic source and the magnetic field difference between magnetic sensors.The mathematical models of the calibration equipment,the underwater magnetic sensor arrays and the magnetic noise environment are constructed.The positioning and attitude calibration of the cross-shaped line-shaped and tetrahedral magnetic sensor arrays are numerically simulated and experimentally verified.The position and attitude of underwater magnetic sensor arrays are solved by using the magnetic field difference of the array and directly using the magnetic field value.The experimental results show that the method of magnetic field difference can be used to accurately calibrate the position and attitude of magnetic sensor arrays at a depth of 20 m,which is better than the method of directly using magnetic field value in terms of calibration accuracy and stability.The mean positioning error of the cross-shaped magnetic sensor array is 0.13 m,and the mean angle error is 0.51°;the mean positioning error of the line-shaped magnetic sensor array is 0.13 m and the mean angle error is 0.82°:and the mean positioning error of the tetrahedron-shaped magnetic sensor array is 0.16 m and the mean angle error is 0.89°.The proposed method and technique are not easily affected by geomagnetic environmental noise and have high application potential.
作者
郭成豹
王文井
台秭艳
GUO Chengbao;WANG Wenjing;TAI Ziyan(School of Electrical Engineering,Naval University of Engineering,Wuhan 430033,Hubei,China;Hainan Power Grid Co.,Ltd.,Sanya Power Supply Bureau,Sanya 572000,Hainan,China)
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2024年第S01期1-9,共9页
Acta Armamentarii
基金
国家自然科学基金项目(51277176)。
关键词
磁传感器阵列
磁场差值
校准
电磁线圈
magnetic sensor array
magnetic field difference value
calibration
electromagnetic coil
