地磁信号检测系统设计及误差补偿研究
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摘要
地磁场是地球物理场,与地理位置是一一对应的。地磁导航就是利用地磁信号的特征量,结合一定的匹配算法实现定位的一种导航方式,它作为一种无源自主导航方法,具有抗干扰能力强、全天候、精度适中的优点,是国内外学者近年来研究的热点。
获得高精度、实时的地磁信号是地磁导航技术成功的前提之一,它关系到后续工作的成败。为了获得高精度、实时的地磁信号,本文在研究地磁信号的组成及特点的基础上,构建了基于磁阻传感器和单片机的地磁信号采集系统,并通过串口实现地磁信号采集系统与上位机之间的通信,在VB6.0环境下,利用通信控件MSComm编写数据存储界面,存储地磁信号。
在MATLAB环境下,通过小波分析去除地磁信号中的噪声并重构地磁信号。在此基础上,本文研究了三轴磁阻传感器的灵敏度误差、非正交误差以及零点漂移误差,并建立了误差参数模型,根据工程优化设计思想建立误差参数的目标优化函数,应用坐标变换法获得最优误差补偿参数。
本文利用最优误差补偿参数修正小波分析处理后的地磁信号,使其标准差从1.2*10-3Gs降低到3.7*10-4 Gs。
本文的研究表明,通过对实际磁测数据进行误差补偿可以有效提高地磁信号的精度和稳定性,修正地磁信号,为地磁导航成功实现打下了基础。
Earth's geomagnetic field is a kind of geophysical field, and it is one-to-one correspondence with geographical position. Geomagnetic navigation is a kind of navigate method which makes use of the characteristic quantity of magnetic signal, combining with a certain matching algorithm to fix the orientation, and it acts as a passive autonomous navigation method having advantages of high anti-interference ability, all-weather and moderate accuracy, and domestic and international scholar s have done much research on it in recent years.
Acquiring high-precision, real-time geomagnetic signal is one of the prerequisites for successful geomagnetic navigation technology, and it is related with the success of the follow-up matters. In order to obtain high-precision, real-time geomagnetic signal, based on studying the composition and features of Earth's geomagnetic field, this thesis built an geomagnetic signal acquisition system based on magnetoresistive sensor and MCU, achieved the communication between geomagnetic signal acquisition system and the host computer through the serial port and wrote a data storage interface on the host computer to store geomagnetic signals making use of communication control MSComm in the environment of VB6.0.
In the environment of MATLAB, removed noise in the geomagnetic signals through wavelet analysis and reconstructed geomagnetic signals. On this basis, this thesis studied sensitivity error, non-orthogonal error and zero drift error about three-axis magnetoresistive sensor, built an error parameter model, built an objective optimization functions about error parameter on the basis of engineering optimization design idea and acquired the optimal error compensation parameters through coordinate transformation method.
This thesis revised geomagnetic signals processed by wavelet analysis making use of the optimal error compensation parameters, reducing standard deviation of geomagnetic signals from 1.2*10-3Gs to 3.7*10-4Gs.
Research in this thesis shows that doing error compensation for the actual magnetic data is able to effectively raise the precision and stability of geomagnetic signals and revise geomagnetic signals, laying a foundation for the successful achievement of geomagnetic navigation
获得高精度、实时的地磁信号是地磁导航技术成功的前提之一,它关系到后续工作的成败。为了获得高精度、实时的地磁信号,本文在研究地磁信号的组成及特点的基础上,构建了基于磁阻传感器和单片机的地磁信号采集系统,并通过串口实现地磁信号采集系统与上位机之间的通信,在VB6.0环境下,利用通信控件MSComm编写数据存储界面,存储地磁信号。
在MATLAB环境下,通过小波分析去除地磁信号中的噪声并重构地磁信号。在此基础上,本文研究了三轴磁阻传感器的灵敏度误差、非正交误差以及零点漂移误差,并建立了误差参数模型,根据工程优化设计思想建立误差参数的目标优化函数,应用坐标变换法获得最优误差补偿参数。
本文利用最优误差补偿参数修正小波分析处理后的地磁信号,使其标准差从1.2*10-3Gs降低到3.7*10-4 Gs。
本文的研究表明,通过对实际磁测数据进行误差补偿可以有效提高地磁信号的精度和稳定性,修正地磁信号,为地磁导航成功实现打下了基础。
Earth's geomagnetic field is a kind of geophysical field, and it is one-to-one correspondence with geographical position. Geomagnetic navigation is a kind of navigate method which makes use of the characteristic quantity of magnetic signal, combining with a certain matching algorithm to fix the orientation, and it acts as a passive autonomous navigation method having advantages of high anti-interference ability, all-weather and moderate accuracy, and domestic and international scholar s have done much research on it in recent years.
Acquiring high-precision, real-time geomagnetic signal is one of the prerequisites for successful geomagnetic navigation technology, and it is related with the success of the follow-up matters. In order to obtain high-precision, real-time geomagnetic signal, based on studying the composition and features of Earth's geomagnetic field, this thesis built an geomagnetic signal acquisition system based on magnetoresistive sensor and MCU, achieved the communication between geomagnetic signal acquisition system and the host computer through the serial port and wrote a data storage interface on the host computer to store geomagnetic signals making use of communication control MSComm in the environment of VB6.0.
In the environment of MATLAB, removed noise in the geomagnetic signals through wavelet analysis and reconstructed geomagnetic signals. On this basis, this thesis studied sensitivity error, non-orthogonal error and zero drift error about three-axis magnetoresistive sensor, built an error parameter model, built an objective optimization functions about error parameter on the basis of engineering optimization design idea and acquired the optimal error compensation parameters through coordinate transformation method.
This thesis revised geomagnetic signals processed by wavelet analysis making use of the optimal error compensation parameters, reducing standard deviation of geomagnetic signals from 1.2*10-3Gs to 3.7*10-4Gs.
Research in this thesis shows that doing error compensation for the actual magnetic data is able to effectively raise the precision and stability of geomagnetic signals and revise geomagnetic signals, laying a foundation for the successful achievement of geomagnetic navigation
引文
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[2]傅承义,陈运泰,祁贵仲.地球物理学基础[M].北京：科学出版社,1985.
[3]管志宁.地磁场与磁力勘探[M].北京：地质出版社,2005.
[4]王宜文.地磁场模型研究[J].国际地震动态,2001,4：1-4.
[5]安振昌.中国地磁测量、地磁图和地磁场模型的回顾[J].地球物理学报,2002,45：189-196.
[6]张晓明,赵剡.基于克里金插值的局部地磁图的构建[J].电子测量技术；2009,32(4)：122-125.
[7]高成等.Matlab小波分析与应用[M].北京：国防工业出版社,2007.
[8]朱昀,董大群.三轴磁强计转向差的自适应校正[J].仪器仪表学报.1998,20(4)：392-397.
[9]TE Dennis, MJ Rayner, MM Walker. Evidence that pigeons orient to geomagnetic intensity during homing[J]. Proceedings of the Royal Society B:Biological Sciences.2007, 274:1153-1158.
[10]J Meade, D Biro, T Guilford. Homing pigeons develop local route stereotypy [J]. Proceedings of the Royal Society B:Biological Sciences,2005,272(1558):17-23.
[11]Karmer G. Wird die Sonnenhohe bei der Heimfindeorientierung verwertet?[J]. Journal of Ornithology,1953:201-209.
[12]R Wiltschko, K Stapput, T Ritz, P Thalau, W wiltchko. Magnetoreception in birds: different physical processes for two types of directional responses [J]. HFSP Journal,2007,1 (1):61-76.
[13]P Thalau, T Ritz, K Stapput, R Wiltschko, W Wiltschko. Magnetic compass orientation of migratory birds in the presence of a 1.315 MHz oscillating field [J]. Naturwissenschaften, 2005,92:86-90.
[14]K Stapput, P Thalau, R Wiltschko, W Wiltschko.Orientation of Birds in Total Darkness[J].Current Biology 2008,18:602-606.
[15]H Mouritsen, T Ritz. Magnetoreception and its use in bird navigation[J]. Current opinion in neurobiology 2005,15:406-414.
[16]P Luschi, S Benhamou, C Girard, S Ciccione, D Roos.Marine Turtles Use Geomagnetic Cues during Open-Sea [J].HomingCurrent Biology.2007,17:126-133.
[17]KJ Lohmann, P Luschi, GC Hays. Goal navigation and island-finding in sea turtles[J]. Journal of Experimental Marine Biology and Ecology,2008,356:83-95.
[18]H. Rodda.Homeward paths of displaced juvenile alligators as determined by radiotelemetry[J]. Behavioral Ecology and Sociobiology.1984,14(4):241-246.
[19]T Ritz, P Thalau,JB Phillips, R WiltschJko, W Wiltschko. Resonance effects indicate a radical-pair mechanism for avian magnetic compass[J]. Nature,2004,429:177-180.
[20]F Thoss, B Bartsch. The geomagnetic field influences the sensitivity of our eyes [J].Vision Research 2007,47:1036-1041.
[21]S Maus, S Macmillan, T Chemova, S Choi, D Dater. The 10th generation international geomagnetic reference field[J]. Physics of the Earth and Planetary Interiors,2005, 151(3-4):320-322.
[22]S Macmillan,S Maus. International Geomagnetic Reference Field-the tenth generation[J]. Earth Planetsand Space,2005,57:1135-1140.
[23]MN Filipski, EJ Abdullah. Nanosatellite navigation with the WMM2005 geomagnetic field model[J]. Turkish J. Eng. Env. Sci.2006,30:43-55.
[24]O Mendes, M Oliveira Domingues, A Mendes da Costa.Wavelet analysis applied to magnetograms:Singularity detections related to geomagnetic storms[J]. Journal of Atmospheric and Solar-Terrestrial Physics.2005:1827-1836.
[25]DO Trad, JM Travassos. Wavelet filteringof magnetotelluric data[J]. Geophysics.2000,65 (2):482-491.
[26]Goldenberg F. Geomagnetic Navigation beyond the Magnetic [J]. Position Location and Navigation Symposium,2006:684-694.
[27]M Wiegand. Autonomous satellite navigation via Kalman filtering of magnetometer data[J]. Acta Astronautica,1996:395-403.
[28]EH Metzger, A Jircitano.Analysis of Real Time Mapping of Horizontal and Vertical Gravity Anomalies Aboard a Moving Vehicle Such as an Aircraft [J]. Applications of Marine Geodesy.1974:269-275
[29]C Tyren, KB Navmate, S Lund. Magnetic terrain navigation [J]. Unmanned Untethered Submersible Technology.1987:245-256.
[30]ML Psiaki. Autonomous low-earth-orbit determination from magnetometer and sun sensor data Journal of Guidance Control and Dynamics [J].1999,22(2):296-393.
[31]乔玉坤,王仕成,张琪.地磁匹配制导技术应用于导弹武器系统的制约因素分析[J].飞航导弹,2006(8)：39-41.
[32]蔡兆云,魏海平,任治新.水下地磁导航技术研究综述[J].国防科技,2007(3)：28-29.
[33]V Courtillot, Y Gallet, JL Le Mouel, F Fluteau.A Genevey.there connections between the Earth's magneticfield and climate[J] Earth and Planetary Science Letters,2007,253:328-339.
[34]PM Lee, BH Jun, K Kim, J Lee, T Aoki, T Hyakudome.Simulation of an Inertial Acoustic Navigation System With Range Aiding for an Autonomous Underwater Vehicle[J]. IEEE Journal of Oceanic Engineering,2007,32(2):327-345.
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