磁梯度张量系统传感器阵列的快速旋转校准

李青竹; 李志宁; 张英堂; 尹刚; 范红波

doi:10.3788/OPE.20182607.1813

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磁梯度张量系统传感器阵列的快速旋转校准

信息科学 | 更新时间：2020-08-13

- 磁梯度张量系统传感器阵列的快速旋转校准
- Fast rotation calibration of sensor array in magnetic gradient tensor system
- 光学精密工程 2018年26卷第7期页码：1813-1826
- 作者机构：
  
  1.陆军工程大学车辆与电气工程系, 河北石家庄 050003
  2.中国空气动力研究与发展中心高速所, 四川绵阳 621000
- 作者简介：
  
  [ "李青竹(1993-), 男, 四川绵阳人, 2016年于西南交通大学获得学士学位, 主要从事磁异常探测, 磁梯度张量系统设计与误差校正等方面的研究。E-mail:laznlqz666@163.com" ]
  [ "李志宁(1972-), 男, 河北石家庄人, 副教授, 1999年于军械工程学院获硕士学位, 2007年于清华大学获博士学位, 主要从事弱磁测试技术研究。E-mail:lizn03@hotmail.com" ]
- 基金信息：
  
  军内国防科研资助项目(装司[2012]**5号)
- DOI：10.3788/OPE.20182607.1813
  中图分类号： TP212.9;TH762
- 收稿日期：2017-11-08，
  
  录用日期：2017-12-11，
  
  纸质出版日期：2018-07-25
- 稿件说明：
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李青竹, 李志宁, 张英堂, 等. 磁梯度张量系统传感器阵列的快速旋转校准[J]. 光学精密工程, 2018,26(7):1813-1826.

Qing-zhu LI, Zhi-ning LI, Ying-tang ZHANG, et al. Fast rotation calibration of sensor array in magnetic gradient tensor system[J]. Optics and precision engineering, 2018, 26(7): 1813-1826.
李青竹, 李志宁, 张英堂, 等. 磁梯度张量系统传感器阵列的快速旋转校准[J]. 光学精密工程, 2018,26(7):1813-1826. DOI： 10.3788/OPE.20182607.1813.

Qing-zhu LI, Zhi-ning LI, Ying-tang ZHANG, et al. Fast rotation calibration of sensor array in magnetic gradient tensor system[J]. Optics and precision engineering, 2018, 26(7): 1813-1826. DOI： 10.3788/OPE.20182607.1813.

摘要

为有效消除磁梯度张量系统传感器阵列间非对准误差和传感器系统误差对测量精度造成的影响，提出了一种只需绕系统任意轴旋转一周便可理论上实现所有磁传感器与参考平台正交系间精确校准方法。利用两组无数学简化的非线性转换构建传感器系统误差线性校正模型，仅需同一旋转周期的10组测量数据便能得到参考平台与各传感器的理想正交输出。通过构建磁传感器三轴横倾、俯仰、方位转换的旋转矩阵，得到传感器空间任意姿态的非对准误差校正模型并对旋转角进行最小二乘估计，仅需同一旋转周期的3组测量数据便能对准张量系统。仿真和实测结果表明：在理想情况下仿真参数估计准确率接近100%，实验校正后各传感器输出具有较高重合与同轴性，张量分量RMSE（均方根误差）小于30 nT/m。能以较简单步骤和较少采样数据高效提高差分法磁梯度张量系统测量精度。

Abstract

In order to eliminate the effect of the misalignment error between the sensor array and the sensor system of the magnetic gradient tensor system on the measurement accuracy

a method of theoretically precise calibration between all magnetic sensors and reference platforms

which involves rotating a circle around an arbitrary axis of the system

was proposed. The linear correction model of the sensor system error was constructed using two nonlinear transformations without any mathematical simplification

and the ideal orthogonal output of the reference platform and each sensor was obtained with only 10 sets of measurement data in the same rotation period. By constructing the rotation matrix of the tri-axis heel

pitch

and azimuth transformations of the magnetic sensor

the misalignment error correction model of the arbitrary spatial orientation of the sensors was obtained

and the rotation angle was estimated by the least-squares method. In addition

only three sets of measurement data in the same rotation period was necessary for the alignment of the tensor system. The simulation and experiment show that the accuracy of the simulation parameters estimation was close to 100% in the ideal condition. After the calibration experiment

the output of the sensor showed a high overlapping and coaxiality performance

and the RMSE (root mean square error) of the tensor components was less than 30 nT/m. It is possible to improve the measurement accuracy of the differential magnetic gradient tensor system efficiently with simpler steps and less sampling data.

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