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论文:2022,Vol:40,Issue(2):422-432 |
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引用本文： |
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雷怡琴, 孙兆龙, 洪泽宏, 刘琪, 钟佩娜. 磁强计阵列测量一致性校正[J]. 西北工业大学学报 |
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LEI Yiqin, SUN Zhaolong, HONG Zehong, LIU Qi, ZHONG Peina. Tensor coaxial calibration of magnetic sensor array[J]. Northwestern polytechnical university |
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| 磁强计阵列测量一致性校正 |
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| 雷怡琴1, 孙兆龙1, 洪泽宏1, 刘琪1, 钟佩娜2 |
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1. 海军工程大学 电气工程学院, 湖北 武汉 430033;
2. 中国船舶重工集团公司第七一五研究所, 浙江 杭州 310012 |
| 摘要: |
| 为了有效解决磁强计阵列由于轴向不一致引起的误差对测量精度造成的影响，搭建由4个磁通门磁强计构成的阵列，利用欧拉旋转矩阵对其进行一致性校正。针对磁强计自身存在的非正交、刻度因子、零偏等误差影响因素，构建九参数校正系数矩阵对磁强计的磁场测量进行非正交补偿校正，得到理想正交的三分量磁场测量值。在此基础上选定测磁阵列中的参考磁强计，对待校正磁强计进行横倾、俯仰、方位3种姿态变换建立欧拉旋转矩阵，构建九参数一致性校正模型。并把参考磁强计与待校正磁强计置于无磁转台上进行实验验证。实验结果表明，经过磁强计测量误差补偿校正后，磁场测量均方根误差在10 nT以内，经过一致性校正后，各轴测量角度误差在0.01°(4.22 nT)以下。说明经过校正后磁强计阵列中不同测量点的磁强计磁场测量值可以很好地投影到基准磁强计的坐标轴上，并且可以正确放映测量点的磁场信息，具有很高的可靠性。 |
| 关键词:
磁强计阵列
一致性校正
欧拉旋转矩阵
非正交补偿校正
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| Tensor coaxial calibration of magnetic sensor array |
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| LEI Yiqin1, SUN Zhaolong1, HONG Zehong1, LIU Qi1, ZHONG Peina2 |
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1. College of Electrical Engineering, Naval University of Engineering, Wuhan 430033, China;
2. CSIC 715th Marine Institute, Hangzhou 310012, China |
| Abstract: |
| In order to effectively solve the influence of the magnetic sensor array error caused by axial inconsistency on the measurement accuracy, an array composed of four fluxgate sensors is built by using the Euler rotation matrix, and the consistency correction is carried out. Firstly, aiming at the non orthogonal, scale factor, zero bias and other error factors of the sensor itself, a 9-PARAMETER correction coefficient matrix is constructed to compensate the non orthogonal magnetic field measurement of the sensor, and the ideal orthogonal three component magnetic field measurement value is obtained. On the above-mentioned basis, the reference sensor in the magnetometry array is selected, and the roll, pitch and azimuth of the sensor to be calibrated are transformed to establish the Euler rotation matrix, and the model for 9-PARAMETER consistency correction is constructed. The reference sensor and the sensor to be calibrated are placed on the magnetic gradiometer for experimental verification. The experimental results show that the root mean square error of magnetic field measurement is within 10 nT after the sensor measurement error compensation correction, and the angle error of each axis measurement is within 0.01åfter the consistency correction (4.22 nT). It shows that the magnetic field measurement values of different measuring points in the sensor array can be well projected on the coordinate axis of the reference sensor after correction, and the magnetic field information of the measuring points can be correctly projected, which has high reliability. |
| Key words:
magnetic sensor array
consistency correction
euler rotation matrix
non orthogonal compensation correction
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| 收稿日期: 2021-06-29
修回日期:
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| DOI: 10.1051/jnwpu/20224020422 |
| 通讯作者: 洪泽宏(1962-),海军工程大学副研究员,主要从事舰船消磁研究。e-mail:hzh989@tom.com
Email：hzh989@tom.com |
| 作者简介: 雷怡琴(1996-),女,海军工程大学硕士研究生,主要从事磁场测量技术研究。
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