CN102236111A - Method for calibrating three-axle magnetic sensor - Google Patents
Method for calibrating three-axle magnetic sensor Download PDFInfo
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- CN102236111A CN102236111A CN2010101725927A CN201010172592A CN102236111A CN 102236111 A CN102236111 A CN 102236111A CN 2010101725927 A CN2010101725927 A CN 2010101725927A CN 201010172592 A CN201010172592 A CN 201010172592A CN 102236111 A CN102236111 A CN 102236111A
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Abstract
The invention discloses a method for calibrating a three-axle magnetic sensor, which comprises the following steps of: selecting a measuring place, calculating the three components of a geomagnetic field of the place, adjusting the angle positions of three axles of the magnetic sensor to keep the angle positions consistent with the direction of gravity acceleration, and acquiring voltage values on the three axles subjected to angle adjustment; and calculating different magnetic induction of the three axles through a magnetic induction formula of a linear corresponding relation between the voltage values and magnetic induction of the three axles of the magnetic sensor so as to efficiently and accurately calibrate the magnetic sensor. By the method, a proportional relation between the zero points of the three axles of the magnetic sensor and magnetic fluxes corresponding to unit voltage values can be further unified, so that the problems that the voltage values of the zero points drift and the magnetic fluxes corresponding to the unit voltage values are inconsistent are simply and effectively solved.
Description
Technical field
The present invention relates to the oil instrument field, particularly be that the method for high-precision calibrating is carried out in the magnetic sensor each in a kind of terrestrial gravitation and magnetic field of the earth of utilizing.
Background technology
The magnetic of the earth is one of physical property of earth interior, because the earth is a big magnet, forms magnetic field around it, shows magneto motive space, promptly is called the terrestrial magnetic field.It and one place the magnetic field of magnetic dipole in the earth's core very approximate, and this is the fundamental characteristics of terrestrial magnetic field.Geomagnetic field intensity is very weak, and this is another characteristic of terrestrial magnetic field, and extremely intensity is less than (T) the strongest two, and mean intensity is about (T), and it is just littler with the variation of place or time, and (γ) therefore commonly used, promptly (T) is as magnetic field intensity unit.Because the terrestrial magnetic field is relatively stable, and have good directive property, by accurate measurement, can navigate to the terrestrial magnetic field, deviational survey, mine locating etc. application, for this reason, the demarcation of present employed high precision Magnetic Sensor has important meaning in fields such as military affairs, the energy, explorations especially.
But have individual problem to be, the method for artificial externally-applied magnetic field is adopted in the demarcation of fluxgate sensor at present usually, need use equipment such as magnetic shielding cylinder, solenoid and high precise current source able to programme.Fluxgate sensor is placed in the solenoid, and utilizes magnetic shielding cylinder that the terrestrial magnetic field is shielded, artificially apply the high-precision current of a standard to solenoid, the magnetic field size in the control solenoid is to realize the demarcation to fluxgate sensor.Owing to demarcate the influence that the parameter that is relied on more or less is subjected to experiment condition, the too strictness of condition that high-precision demarcation is required generally can cause certain error, and very high to the degree of dependence of equipment, and the calibrating procedure more complicated can't realize; And be vulnerable to the influence of various factors such as the number of turn, shape of material, magnetic permeability, the coil of magnetosensitive sense material again, to such an extent as to can cause the individual difference of Magnetic Sensor.This is mainly reflected in: the drift of zero-point voltage value, the magnetic flux of unit voltage value correspondence is inconsistent.
Summary of the invention
The method that technical matters to be solved by this invention is to provide a kind of magnetic sensor to demarcate usefulness is to solve the problem that the scale of measurement that the existing sensors scaling method can not effectively solve zero drift and different Magnetic Sensors differs.
To achieve these goals, the present invention realizes by the following technical solutions:
A kind of magnetic sensor is demarcated the method for usefulness, and the method for described demarcation usefulness realizes by following steps:
1) after choosing magnetic sensor measurement ground, calculates three-component MX, MY, the MZ of this terrestrial magnetic field, ground;
2) pass through the direction of the Z axle of adjustment acceleration transducer, thereby the direction and the acceleration of gravity direction of the Z axle of Magnetic Sensor are consistent, and gather the magnitude of voltage VZ1 of Magnetic Sensor Z axle;
3) pass through the direction of the Z axle of adjustment acceleration transducer, thereby the direction and the acceleration of gravity of the Z axle of Magnetic Sensor are consistent in the other direction, and gather the magnitude of voltage VZ2 of this sensor Z axle;
4), utilize the formula of the linear corresponding relation of the magnitude of voltage of Magnetic Sensor Z axle and magnetic induction:
Calculate the magnetic induction H of Magnetic Sensor Z axle, carry out the demarcation of Z axle;
5) pass through to adjust the direction of acceleration transducer X-axis, thereby the direction of Magnetic Sensor X-axis and acceleration of gravity direction are consistent, and gather the magnitude of voltage VX1 of Magnetic Sensor X-axis;
6) pass through to adjust the direction of acceleration transducer X-axis, thereby the direction of Magnetic Sensor X-axis and acceleration of gravity are consistent in the other direction, and gather the magnitude of voltage VX2 of Magnetic Sensor X-axis;
7) utilize the formula of the linear corresponding relation of the magnitude of voltage of Magnetic Sensor X-axis and magnetic induction:
Wherein VX is the magnitude of voltage of Magnetic Sensor X-axis, calculates the magnetic induction H of Magnetic Sensor X-axis, carries out the demarcation of X-axis;
8) pass through the direction of the Y-axis of adjustment acceleration transducer, thereby the direction of Magnetic Sensor Y-axis and acceleration of gravity direction are consistent, and gather the magnitude of voltage VY1 of Magnetic Sensor Y-axis;
9) pass through the direction of the Y-axis of adjustment acceleration transducer, thereby the direction of Magnetic Sensor Y-axis and acceleration of gravity are consistent in the other direction, and gather the magnitude of voltage VY2 of Magnetic Sensor Y-axis;
10) utilize the formula of the linear corresponding relation of the magnitude of voltage of Magnetic Sensor Y-axis and magnetic induction:
Wherein VY is the value of the voltage of Magnetic Sensor Y-axis, calculates the magnetic induction H of Magnetic Sensor Y-axis, thereby carries out the demarcation of Y-axis.
The direction of described acceleration transducer Z axle is adjusted by the following method:
201) pole that acceleration transducer will be housed places and corrects on the platform;
202), determine whether to satisfy Z axle and acceleration of gravity direction or consistent in the other direction by X, the Y that observes acceleration transducer, the reading of Z axle;
203) if inconsistent, Z-direction is regulated toward acceleration of gravity direction or opposite direction.
The direction of described acceleration transducer X-axis is adjusted by the following method:
301) pole that acceleration transducer will be housed places and corrects on the platform;
302) by X, the Y that observes acceleration transducer, the reading of Z axle, it is consistent with the acceleration of gravity direction to determine whether to satisfy X-axis;
303) if inconsistent, X-direction is regulated toward acceleration of gravity direction or opposite direction.
The direction of described acceleration transducer Y-axis is adjusted by the following method:
401) pole that acceleration transducer will be housed places and corrects on the platform;
402), determine whether to satisfy Y-axis and acceleration of gravity direction or consistent in the other direction by X, the Y that observes acceleration transducer, the reading of Z axle;
403) if inconsistent, Y direction is regulated toward acceleration of gravity direction or opposite direction.
Step of the present invention is succinct, enforcement is convenient, can effectively three orthogonality trueness errors be controlled in 0.1%; And use the present invention to carry out timing signal, not only can turn to poor absolute value to be controlled in the 100nT thereby make, be the terrestrial magnetic field of 48457nT much smaller than total amount greatly, thereby avoid the influence of error for subsequent experimental with turning to difference to be controlled in 0.2%.
Description of drawings
Describe the present invention in detail below in conjunction with the drawings and specific embodiments;
Fig. 1 is a synoptic diagram of measuring the ground magnetic direction involved in the present invention.
The coordinate diagram that Fig. 2 forms for acceleration transducer involved in the present invention and Magnetic Sensor.
Embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with embodiment, further set forth the present invention.
The objective of the invention is to, adjusted under the condition that finishes in that the quadrature of acceleration transducer and Magnetic Sensor is coaxial, utilize terrestrial gravitation and magnetic field of the earth that each axle of magnetic sensor is accurately demarcated simultaneously.
The first step needs to select a place not have the pure ground magnetic environment of extraneous magnetic interference to carry out the demarcation of magnetic sensor.For this reason, can utilize up-to-date magnetic field of the earth model: World Magnetic Model 2005-2010, can calculate the three-component value in the terrestrial magnetic field of demarcating the present position same day at longitude, dimension, time according to demarcating the place.Such as, with 10 meters of height above sea level, (north latitude is for just for latitude 31.235, south latitude is for negative), (east longitude is for just for longitude 121.36, west longitude is for negative) the place for measuring ground, Measuring Time is on August 15th, 2009, and according to World Magnetic Model 2005-2010, can calculate this measurement ground earth magnetism three-component in this moment is (33357.14,-3236.22,34998.85), (that is, the component of measuring the positive north of the magnetic line of force, place, ground is served as first component, and positive north is designated as MX, the component of measuring magnetic line of force due east, place, ground is served as second component, and due east is designated as MY, the reciprocal component of measuring the ground terrestrial gravitation is served as three-component, and the opposite direction of terrestrial gravitation is designated as MZ), use lefft-hand rule to test to this coordinate system that calculates then, if meet lefft-hand rule, just satisfy the requirement of demarcating.
As shown in Figure 1, as can be seen, this location, measurement ground magnetic direction 1 is for to pass earthward from underground, and there is a less angle (being magnetic declination) in the main north of pointing to positive north.
In second step, Magnetic Sensor is regulated, thereby the direction of its Z axle and acceleration of gravity direction are consistent.In whole adjustment process, the pole that acceleration transducer will be housed earlier places to be corrected on the platform, adjusts by X, the Y that observes acceleration transducer, the reading of Z axle then.Calculating for the ease of subsequent step, X, Y, Z axle reading that can degree of will speed up sensor be designated as ax, ay, az respectively, when acceleration transducer is adjusted to ax=0, ay=0, during az ≈ 0.97, this moment, the direction of its Z axle just was consistent with the terrestrial gravitation direction, again because the alignment of acceleration transducer and Magnetic Sensor, and consistent Z axle and the terrestrial gravitation direction unanimity that also just means Magnetic Sensor of acceleration transducer Z axle with the terrestrial gravitation direction.
The 3rd step, because the three-component of acceleration transducer met right-hand rule (three-component can be designated as AX respectively this moment, AY, AZ), and the three-component of Magnetic Sensor meets lefft-hand rule, for this reason, in as Fig. 2, the coordinate system of forming by acceleration transducer and Magnetic Sensor shown in Figure 3, the terrestrial magnetic field is projected as 34998.85nT (nanotesla, magnetic field intensity unit) on Magnetic Sensor Z axle, and gathers the magnitude of voltage VZ1 of Magnetic Sensor Z axle this moment.
In the 4th step, Magnetic Sensor is regulated, thereby the direction of its Z axle and the opposite direction of acceleration of gravity are consistent.In whole adjustment process, can be earlier with the pole Rotate 180 of correcting on the platform °, observe X, the Y of acceleration transducer, the reading of Z axle, thereby the fine setting pole, up to ax=0, ay=0, az ≈-0.97, this moment, acceleration transducer Z axle was opposite with the terrestrial gravitation direction, because the alignment of acceleration transducer and Magnetic Sensor, acceleration transducer Z axle is opposite with the terrestrial gravitation direction just to mean that also the Z axle of Magnetic Sensor is opposite with the terrestrial gravitation direction.
The 5th goes on foot, and gathers the magnitude of voltage VZ2 of the Magnetic Sensor Z axle under the 4th step situation, and terrestrial magnetic field being projected as-34998.85nT on Magnetic Sensor Z axle of this moment.
The 6th step went on foot the parameter and the magnitude of voltage of Magnetic Sensor Z axle and the linear corresponding relation of magnetic field intensity that collect between the 5th step according to second, the equation of the magnetic field intensity H by the Z axle:
The magnitude of voltage of vz Magnetic Sensor Z axle wherein, vz ∈ R (real number arbitrarily) calculates the numerical value of the accurate magnetic field intensity H of Z axle, thereby finishes the demarcation to Magnetic Sensor Z axle.
The 7th step, regulative mode with reference to Magnetic Sensor in the step 2, the pole that is about to be equipped with acceleration transducer places to be corrected on the platform, adjust by X, the Y that observes acceleration transducer, the reading of Z axle then, thereby the direction of its X-axis and the direction of acceleration of gravity are consistent, because the alignment of acceleration transducer and Magnetic Sensor, thereby the direction of X-axis of Magnetic Sensor and the direction of acceleration of gravity are consistent; And the magnitude of voltage VX1 of collection Magnetic Sensor X-axis this moment.
The 8th step, regulative mode with reference to Magnetic Sensor in the step 2, the pole that is about to be equipped with acceleration transducer places to be corrected on the platform, adjust by X, the Y that observes acceleration transducer, the reading of Z axle then, thereby make the direction of its X-axis opposite with the direction of acceleration of gravity, because the alignment of acceleration transducer and Magnetic Sensor, thereby make the direction of the direction of X-axis of Magnetic Sensor and acceleration of gravity reverse; And the magnitude of voltage VX2 of collection Magnetic Sensor X-axis this moment.
The 9th step, according to the 7th step and the 8th parameter and the magnitude of voltage of Magnetic Sensor X-axis and the linear corresponding relation of magnetic field intensity that collect of step, the equation of the magnetic field intensity H by X-axis:
Wherein vx is the magnitude of voltage of Magnetic Sensor X-axis, and vx ∈ R (real number arbitrarily) calculates the numerical value of the accurate magnetic field intensity H of X-axis, thereby finishes the demarcation to Magnetic Sensor Z axle.
The tenth step, regulative mode with reference to Magnetic Sensor in the step 2, promptly adjust by X, the Y that observes acceleration transducer, the reading of Z axle, thereby the direction of its Y-axis and the direction of acceleration of gravity are consistent, because the alignment of acceleration transducer and Magnetic Sensor, thereby the direction of Y-axis of Magnetic Sensor and the direction of acceleration of gravity are consistent; And the magnitude of voltage VY1 of collection Magnetic Sensor Y-axis this moment.
The 11 step, regulative mode with reference to Magnetic Sensor in the step 2, promptly adjust by X, the Y that observes acceleration transducer, the reading of Z axle, thereby make the direction of the direction of its Y-axis and acceleration of gravity reverse, because the alignment of acceleration transducer and Magnetic Sensor, thereby make the direction of the direction of Y-axis of Magnetic Sensor and acceleration of gravity reverse; And the magnitude of voltage VY of collection Magnetic Sensor Y-axis this moment.
The 12 step, according to the tenth step and the 11 parameter and the magnitude of voltage of Magnetic Sensor Y-axis and the linear corresponding relation of magnetic field intensity that are collected of step, the equation of the magnetic field intensity H by Y-axis:
Wherein, the magnitude of voltage of vy Magnetic Sensor Y-axis, vy ∈ R (real number arbitrarily) calculates the numerical value of the accurate magnetic field intensity H of Y-axis, thereby finishes the demarcation to the Magnetic Sensor Y-axis.
More than be to use the present invention to carry out the whole process of three precise calibration of Magnetic Sensor, and three of Magnetic Sensor are demarcated finish after, can unify the proportionate relationship of the magnetic flux of three zero point of Magnetic Sensor and unit voltage value correspondence, thereby simply and effectively solve the drift magnetic flux inconsistent problem corresponding of zero-point voltage value with the unit voltage value.
More than show and described ultimate principle of the present invention and principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; that describes in the foregoing description and the instructions just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (4)
1. a magnetic sensor is demarcated the method for usefulness, it is characterized in that the method for described demarcation usefulness realizes by following steps:
1) after choosing magnetic sensor measurement ground, calculates three-component MX, MY, the MZ of this terrestrial magnetic field, ground;
2) pass through the direction of the Z axle of adjustment acceleration transducer, thereby the direction and the acceleration of gravity direction of the Z axle of Magnetic Sensor are consistent, and gather the magnitude of voltage VZ1 of Magnetic Sensor Z axle;
3) pass through the direction of the Z axle of adjustment acceleration transducer, thereby the direction and the acceleration of gravity of the Z axle of Magnetic Sensor are consistent in the other direction, and gather the magnitude of voltage VZ2 of this sensor Z axle;
4), utilize the formula of the linear corresponding relation of the magnitude of voltage of Magnetic Sensor Z axle and magnetic induction:
Calculate the magnetic induction H of Magnetic Sensor Z axle, carry out the demarcation of Z axle;
5) pass through to adjust the direction of acceleration transducer X-axis, thereby the direction of Magnetic Sensor X-axis and acceleration of gravity direction are consistent, and gather the magnitude of voltage VX1 of Magnetic Sensor X-axis;
6) pass through to adjust the direction of acceleration transducer X-axis, thereby the direction of Magnetic Sensor X-axis and acceleration of gravity are consistent in the other direction, and gather the magnitude of voltage VX2 of Magnetic Sensor X-axis;
7) utilize the formula of the linear corresponding relation of the magnitude of voltage of Magnetic Sensor X-axis and magnetic induction:
8) pass through the direction of the Y-axis of adjustment acceleration transducer, thereby the direction of Magnetic Sensor Y-axis and acceleration of gravity direction are consistent, and gather the magnitude of voltage VY1 of Magnetic Sensor Y-axis;
9) pass through the direction of the Y-axis of adjustment acceleration transducer, thereby the direction of Magnetic Sensor Y-axis and acceleration of gravity are consistent in the other direction, and gather the magnitude of voltage VY2 of Magnetic Sensor Y-axis;
10) utilize the formula of the linear corresponding relation of the magnitude of voltage of Magnetic Sensor Y-axis and magnetic induction:
2. a kind of magnetic sensor according to claim 1 is demarcated the method for usefulness, it is characterized in that the direction of described acceleration transducer Z axle is adjusted by the following method:
201) pole that acceleration transducer will be housed places and corrects on the platform;
202), determine whether to satisfy Z axle and acceleration of gravity direction or consistent in the other direction by X, the Y that observes acceleration transducer, the reading of Z axle;
203) if inconsistent, Z-direction is regulated toward acceleration of gravity direction or opposite direction.
3. a kind of magnetic sensor according to claim 1 is demarcated the method for usefulness, it is characterized in that the direction of described acceleration transducer X-axis is adjusted by the following method:
301) pole that acceleration transducer will be housed places and corrects on the platform;
302) by X, the Y that observes acceleration transducer, the reading of Z axle, it is consistent with the acceleration of gravity direction to determine whether to satisfy X-axis;
303) if inconsistent, X-direction is regulated toward acceleration of gravity direction or opposite direction.
4. a kind of magnetic sensor according to claim 1 is demarcated the method for usefulness, it is characterized in that the direction of described acceleration transducer Y-axis is adjusted by the following method:
401) pole that acceleration transducer will be housed places and corrects on the platform;
402), determine whether to satisfy Y-axis and acceleration of gravity direction or consistent in the other direction by X, the Y that observes acceleration transducer, the reading of Z axle;
403) if inconsistent, Y direction is regulated toward acceleration of gravity direction or opposite direction.
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| CN2010101725927A CN102236111A (en) | 2010-05-07 | 2010-05-07 | Method for calibrating three-axle magnetic sensor |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102853760A (en) * | 2012-09-13 | 2013-01-02 | 哈尔滨工业大学 | Method for calibrating verticality of magnetic shaft of three-shaft magnetic sensor |
| CN105092010A (en) * | 2015-05-13 | 2015-11-25 | 长春理工大学 | Weighing sensor coefficient and gravitational acceleration calibrating method |
| CN106033131A (en) * | 2015-03-20 | 2016-10-19 | 阿里巴巴集团控股有限公司 | Geomagnetic sensor calibration method and apparatus, and intelligent device |
| CN109870662A (en) * | 2019-03-28 | 2019-06-11 | 北京大学 | Method and device for calibrating measuring range and linearity of AC magnetometer |
| CN110398777A (en) * | 2019-08-21 | 2019-11-01 | 西南石油大学 | A geophone positioning method in a well |
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2010
- 2010-05-07 CN CN2010101725927A patent/CN102236111A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102853760A (en) * | 2012-09-13 | 2013-01-02 | 哈尔滨工业大学 | Method for calibrating verticality of magnetic shaft of three-shaft magnetic sensor |
| CN102853760B (en) * | 2012-09-13 | 2015-06-17 | 哈尔滨工业大学 | Method for calibrating verticality of magnetic shaft of three-shaft magnetic sensor |
| CN106033131A (en) * | 2015-03-20 | 2016-10-19 | 阿里巴巴集团控股有限公司 | Geomagnetic sensor calibration method and apparatus, and intelligent device |
| CN105092010A (en) * | 2015-05-13 | 2015-11-25 | 长春理工大学 | Weighing sensor coefficient and gravitational acceleration calibrating method |
| CN105092010B (en) * | 2015-05-13 | 2017-07-04 | 长春理工大学 | A kind of weighing sensor coefficient and acceleration of gravity scaling method |
| CN109870662A (en) * | 2019-03-28 | 2019-06-11 | 北京大学 | Method and device for calibrating measuring range and linearity of AC magnetometer |
| CN110398777A (en) * | 2019-08-21 | 2019-11-01 | 西南石油大学 | A geophone positioning method in a well |
| CN110398777B (en) * | 2019-08-21 | 2020-12-29 | 西南石油大学 | A kind of geophone positioning method in well |
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Application publication date: 20111109 |