CN108104798A - A kind of tunnel position indicator and its application method based on magnetic principles - Google Patents
A kind of tunnel position indicator and its application method based on magnetic principles Download PDFInfo
- Publication number
- CN108104798A CN108104798A CN201710144334.XA CN201710144334A CN108104798A CN 108104798 A CN108104798 A CN 108104798A CN 201710144334 A CN201710144334 A CN 201710144334A CN 108104798 A CN108104798 A CN 108104798A
- Authority
- CN
- China
- Prior art keywords
- magnetic field
- field intensity
- coordinate
- magnetic
- measuring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 230000004807 localization Effects 0.000 claims abstract description 8
- 230000005358 geomagnetic field Effects 0.000 claims description 44
- 239000007788 liquid Substances 0.000 claims description 13
- 230000005484 gravity Effects 0.000 claims description 10
- 239000007787 solid Substances 0.000 claims description 9
- 230000003068 static effect Effects 0.000 claims description 9
- 239000000945 filler Substances 0.000 claims description 7
- 230000005389 magnetism Effects 0.000 claims description 7
- 150000001875 compounds Chemical class 0.000 claims description 5
- 238000007667 floating Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 8
- 239000011435 rock Substances 0.000 abstract description 7
- 238000010276 construction Methods 0.000 abstract description 4
- 230000007774 longterm Effects 0.000 abstract 1
- 238000012544 monitoring process Methods 0.000 abstract 1
- 230000006872 improvement Effects 0.000 description 9
- 238000002474 experimental method Methods 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000002463 transducing effect Effects 0.000 description 5
- 230000009466 transformation Effects 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000001050 lubricating effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 229910052796 boron Inorganic materials 0.000 description 1
- 239000010941 cobalt Substances 0.000 description 1
- 229910017052 cobalt Inorganic materials 0.000 description 1
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B47/00—Survey of boreholes or wells
- E21B47/02—Determining slope or direction
- E21B47/022—Determining slope or direction of the borehole, e.g. using geomagnetism
- E21B47/0228—Determining slope or direction of the borehole, e.g. using geomagnetism using electromagnetic energy or detectors therefor
Landscapes
- Physics & Mathematics (AREA)
- Mining & Mineral Resources (AREA)
- Geology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Fluid Mechanics (AREA)
- Environmental & Geological Engineering (AREA)
- Geophysics (AREA)
- Electromagnetism (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Geophysics And Detection Of Objects (AREA)
- Measuring Magnetic Variables (AREA)
Abstract
The invention discloses a kind of tunnel position indicators and its application method based on magnetic principles.Specifically, tunnel position indicator of the invention includes coordinate and magnetic field intensity measuring apparatus, magnetic sensor, wherein：Several measuring points are provided in the measurement range of the coordinate and magnetic field intensity measuring apparatus, and the coordinate is used to measure the three-dimensional coordinate and magnetic field intensity of the measuring point with magnetic field intensity measuring apparatus.The present invention comes accurately to measure degree of misalignment between two tunnels in a creative way using the method for measuring magnetic field, since magnetic field is from the influence of the media such as rock and water, can ensure the accuracy of tunnel positioning result.The tunnel localization method of the present invention is hardly affected by temperature, can in the temperature difference big, inclement condition local long term monitoring, there is very strong practicability, it is easy to operate, precision is high, efficient, can be drilled the degree to misplace with accurate judgement, be remedied in time by construction.
Description
Technical field
The invention belongs to civil engineering plant fields, are related to a kind of tunnel position indicator based on magnetic principles and its user
Method.
Background technology
In some hydraulic engineerings or tunnel engineering, it is often necessary to excavate and connect multiple tunnels.For example, it draws water in construction
During storage station, after horizontal tunnel is dug, general diameter can be more than 5 meters, it is often necessary to beat vertical core, inclined hole from top down
(than if desired for facilities such as logical penstock, ventholes).Under normal circumstances, these vertical cores, inclined hole can be very long, it will usually reach two
300 meters and more than, therefore during actual borehole, can there are various reasons (such as：Rock medium inhomogeneities, construction miss
The factors such as difference) cause the horizontal tunnel of vertical core, inclined hole and bottom non-intersect, generate certain bias.
Since the media such as rock may have very big water content, various electric signals can not all transfer, so based on electric signal
Sensor can not almost find vertical core, the bias of inclined hole and specific location.For the method based on principles such as elastic waves, due to
Rock is inaccurate there are measurement the problems such as joint, crack or full water, is also resulted in.Further, since cannot accomplish can for total powerstation
See vertical core, inclined hole, it can be seen that the intermediate point of horizontal tunnel, therefore can not also know the bias of tunnel.
The content of the invention
In order to solve the above-mentioned technical problem, the spy that the present invention is hardly influenced using the magnetic field that magnet generates by rock and water
Point, by the change of magnetic field strength that magnet is placed in the second tunnel to observe to each point in the first tunnel.When in the second tunnel
Before middle placement magnet, the magnetic field intensity of each point is only influenced be subject to earth's magnetic field in the first tunnel；And when in the second tunnel
After middle placement magnet, the magnetic field intensity of each point is compound behind the magnetic field of magnet generation and earth's magnetic field superposition in the first tunnel
Vector field.Furthermore it is also possible to set several measuring points in the first tunnel, when the second tunnel does not place magnet, is measured
The geomagnetic field intensity of each measuring point in one tunnel, then places magnet in the second tunnel, measures each survey in the first tunnel
The resultant field intensity of point recycles the three-dimensional coordinate information of each measuring point to come the accurate position calculated where magnet, so as to sentence
Break and the position of the second tunnel and the bias of opposite first tunnel.
Specifically, the present invention adopts the following technical scheme that：
A kind of tunnel position indicator based on magnetic principles, including coordinate and magnetic field intensity measuring apparatus, magnetic sensor,
In：Several measuring points, and the coordinate and magnetic are provided in the measurement range of the coordinate and magnetic field intensity measuring apparatus
Field intensity measuring apparatus is used to measure the three-dimensional coordinate and magnetic field intensity of the measuring point；The magnetic field intensity be vector or scalar,
The vector is component of the magnetic field intensity under three-dimensional system of coordinate, and the scalar is the modulus value of the magnetic field intensity.
Preferably, the coordinate includes coordinate measurment instrument and magnetic field intensity measuring instrument with magnetic field intensity measuring apparatus；
The coordinate measurment instrument is used to measure the three-dimensional coordinate residing for the magnetic field intensity measuring instrument, preferably total powerstation；The magnetic field
Ratemeter is used to measure the magnetic field intensity of its residing three-dimensional coordinate.
Preferably, the coordinate further includes single prism with magnetic field intensity measuring apparatus, the list prism is used to coordinate institute
Magnetic field intensity measuring instrument is stated to measure the three-dimensional coordinate residing for it.
Preferably, the magnetic sensor includes spherical shell, the inside of the spherical shell is filled with non-magnetic solids filler,
The inside of the non-magnetic solids filler is fixed with magnet.
Preferably, the magnetic sensor includes outer spherical shell and the interior spherical shell inside the outer spherical shell, it is described outer
Filled with liquid between spherical shell and the interior spherical shell, the liquid is for floating the interior spherical shell, the inside of the interior spherical shell
The magnet being fixed on the interior spherical shell is provided with, the inside of the interior spherical shell is additionally provided with leveling counterweight, is put down in the magnet
Row is fixedly connected with air level on the surface of its axis；When fixed on surface of the magnet parallel to its axis
When being connected with the air level, by the movement leveling counterweight axis of the magnet is made to be directed toward when the interior spherical shell is static
The North and South direction in earth's magnetic field；When being fixedly connected with the air level on surface of the magnet perpendicular to its axis, passing through
The mobile leveling counterweight makes the axis of the magnet when the interior spherical shell is static parallel to gravity direction.
A kind of tunnel localization method using the above-mentioned tunnel position indicator based on magnetic principles, its essence is utilize to be positioned over
Coordinate in first tunnel positions the magnetic sensor being positioned in the second tunnel with magnetic field intensity measuring apparatus, passes through
The coordinate of magnetic sensor represents the coordinate of the second tunnel, and then draws the relative position relation between two tunnels.
Above-mentioned tunnel localization method mainly comprises the following steps：
(1) coordinate in the tunnel position indicator based on magnetic principles and magnetic field intensity measuring apparatus are positioned over first
In tunnel, the first three-dimensional seat of all measuring points in the first measuring point collection is measured using the coordinate and magnetic field intensity measuring apparatus
Mark and geomagnetic field intensity, specific measuring method are as follows：Magnetic field intensity in the coordinate and magnetic field intensity measuring apparatus is measured
The magnetic field intensity of each measuring point is measured at each measuring point that instrument is moved in the first measuring point collection, is denoted as geomagnetic field intensity,
The three-dimensional coordinate of each measuring point is measured using the coordinate measurment instrument in the coordinate and magnetic field intensity measuring apparatus simultaneously, is remembered
Make the first three-dimensional coordinate；Wherein：The first measuring point collection refer into the second tunnel place magnetic sensor before in order to
The set for the measuring point for measuring three-dimensional coordinate and magnetic field intensity and selecting；
(2) magnetic sensor in the tunnel position indicator based on magnetic principles is positioned in the second tunnel,
The second three-dimensional coordinate of all measuring points in the second measuring point collection is measured using the coordinate and magnetic field intensity measuring apparatus and is answered
Magnetic field intensity is closed, specific measuring method is as follows：Magnetic field intensity measuring instrument in the coordinate and magnetic field intensity measuring apparatus is moved
It moves at each measuring point in the second measuring point collection to measure the magnetic field intensity of each measuring point, is denoted as resultant field intensity, together
Coordinate described in Shi Liyong measures the three-dimensional coordinate of each measuring point with the coordinate measurment instrument in magnetic field intensity measuring apparatus, is denoted as
Second three-dimensional coordinate；Wherein：The second measuring point collection refer to after magnetic sensor is placed in order to measure three-dimensional coordinate and
Magnetic field intensity and the set of measuring point selected, and the coordinate of all measuring points in the second measuring point collection is all located at described first
Within the scope of the envelope of the coordinate of all measuring points in measuring point collection；
(3) calculated and put using the first three-dimensional coordinate and geomagnetic field intensity of all measuring points in the first measuring point collection
Put the geomagnetic field intensity of all measuring points in the magnetic sensor foregoing description the second measuring point collection；
(4) the second three-dimensional coordinate, geomagnetic field intensity and the resultant field of all measuring points in the second measuring point collection are utilized
Intensitometer calculates the three-dimensional coordinate of the magnetic sensor, you can completes the tunnel between first tunnel and second tunnel
Hole positions.
Preferably, when the earth's magnetic field of the tunnel position indicator local environment based on magnetic principles is uniform magnetic field,
The geomagnetic field intensity of all measuring points described in step (3) in the second measuring point collection is set as any in the first measuring point collection
The geomagnetic field intensity of measuring point.Above-mentioned the reason for setting, is the earth's magnetic field of tunnel position indicator local environment as uniform magnetic field, each
The geomagnetic field intensity of a measuring point is all identical, therefore the geomagnetic field intensity of all measuring points in the second measuring point collection is also equal, i.e.,
Equal to the geomagnetic field intensity of any measuring point in the first measuring point collection.
Preferably, when the first measuring point collection is equal to the second measuring point collection (each measuring point that the first measuring point is concentrated
The identical correspondence measuring point of coordinate can be focused to find out in the second measuring point) when, it will be all in the second measuring point collection described in step (3)
The geomagnetic field intensity of measuring point is set as the geomagnetic field intensity of measuring point corresponding in each leisure the first measuring point collection.
Preferably, when the earth's magnetic field of the tunnel position indicator local environment based on magnetic principles for non-uniform magnetic-field and
When the first measuring point collection is not equal to the second measuring point collection, go out all measuring points in the second measuring point collection using interpolation calculation
Geomagnetic field intensity.
Compared with prior art, had the advantages that using the present invention of above-mentioned technical proposal：
(1) present invention accurately measures the degree of misalignment between two tunnels using the method for measuring magnetic field in a creative way,
It, will not weakened field intensity, therefore can ensure that tunnel is determined therefrom since magnetic field is from the influence of the media such as rock and water
The accuracy of position result；
(2) tunnel localization method of the invention is hardly affected by temperature, can be big, inclement condition local long in the temperature difference
Phase monitors, and has very strong practicability；
(3) tunnel localization method of the invention is easy to operate, precision is high, efficient, and can be drilled dislocation with accurate judgement
Degree is remedied in time by construction.
Description of the drawings
Fig. 1 is the structure diagram of the tunnel position indicator based on magnetic principles of the present invention；
Fig. 2 is the structure diagram of the tunnel position indicator based on magnetic principles of the present invention；
Fig. 3 is the structure diagram of magnetic sensor in the tunnel position indicator based on magnetic principles of the invention；
Fig. 4 is the structure diagram of magnetic sensor in the tunnel position indicator based on magnetic principles of the invention；
Fig. 5 is the structure diagram of magnetic sensor in the tunnel position indicator based on magnetic principles of the invention；
Fig. 6 is the structure diagram of the tunnel position indicator based on magnetic principles of the present invention；
Wherein：1 is the first tunnel, and 11 be coordinate and magnetic field intensity measuring apparatus, and 111 be magnetic field intensity measuring instrument, and 112 are
Single prism, 113 be measuring point, and 12 be coordinate measurment instrument (total powerstation), and 2 be the second tunnel, and 21 be magnetic sensor, and 211 be ball
Shell, 211A are outer spherical shell, and 211B is interior spherical shell, and 212A is non-magnetic solids filler, and 212B is liquid, and 213 be magnet, 214
It is air level for leveling counterweight, 215,22 be the axis of the second tunnel.
Specific embodiment
The present invention is described in more detail below in conjunction with the drawings and specific embodiments.
Embodiment 1：Tunnel position indicator and its application based on magnetic principles.
As depicted in figs. 1 and 2, the tunnel position indicator based on magnetic principles of the present embodiment includes coordinate and magnetic field intensity survey
Measure equipment 11, magnetic sensor 21.
Several measuring points 113 are provided in the measurement range of the coordinate and magnetic field intensity measuring apparatus 11, and it is described
Coordinate is used to measure the three-dimensional coordinate of the measuring point 113 with magnetic field intensity measuring apparatus 11 and magnetic field intensity (can measure simultaneously
The three-dimensional coordinate and magnetic field intensity of the measuring point 113).The magnetic field intensity may be either vector, also can be scalar, and the vector is
Component of the magnetic field intensity under three-dimensional system of coordinate, the scalar are the modulus value of magnetic field intensity.In addition, the coordinate and magnetic field intensity
Measuring apparatus 11 can be an integral device, or multiple equipment is composed.
In vpg connection, the magnetic sensor 21 is cylindrical (can also be other shapes)；It is described in terms of material
Magnetic sensor 21 uses neodymium iron boron kicker magnet.It should be noted that the magnetic sensor 21 itself can also generate magnetic field, into
And the magnetic field intensity of the measuring point 113 is had an impact.
As shown in Figure 1, in tunnel mining process, the first tunnel 1 is often first dug, then digs the second tunnel 2, and the first tunnel
1 and second tunnel 2 need to meet the condition that communicates, but actually the second tunnel 2 may be caused to deviate due to various reasons,
It and cannot be intersecting with the first tunnel 1.At this time, it is necessary to measure the position relationship between the first tunnel 1 and the second tunnel 2, profit
It can then be solved the above problems with the tunnel position indicator based on magnetic principles of the present embodiment, specific method is as described below：
(1) coordinate and magnetic field intensity measuring apparatus 11 are positioned in first tunnel 1, using the coordinate with
Magnetic field intensity measuring apparatus 11 measures the first three-dimensional coordinate of all measuring points in the first measuring point collection and geomagnetic field intensity (earth magnetism
Magnetic field intensity of the field at some measuring point)；
(2) magnetic sensor 21 is positioned in second tunnel 2, is measured using the coordinate and magnetic field intensity
Equipment 11 measures the second three-dimensional coordinate of all measuring points in the second measuring point collection and resultant field intensity, the second measuring point collection
The coordinate of interior all measuring points is all located within the scope of the envelope of the coordinate of all measuring points in the first measuring point collection；Wherein：
First three-dimensional coordinate and the second three-dimensional coordinate based on identical three-dimensional system of coordinate (for example, the axis of first tunnel 1 is Y-axis,
It is vertically Z axis, X-axis is direction vertical with Y-axis in horizontal plane)；
(3) the second measuring point is calculated using the first three-dimensional coordinate and geomagnetic field intensity of all measuring points in the first measuring point collection
The geomagnetic field intensity of all measuring points in collection；
(4) the second three-dimensional coordinate, geomagnetic field intensity and the resultant field intensity of all measuring points in the second measuring point collection are utilized
Calculate the three-dimensional coordinate of the magnetic sensor 21, i.e., the three-dimensional coordinate of described second tunnel 2.
The characteristics of present invention is hardly influenced using magnetic field by rock and water, when not placing magnetic transducing in the second tunnel
During device, the magnetic field intensity of measuring point is only influenced be subject to earth's magnetic field in the first tunnel, and is worked as in the second tunnel and placed magnetic transducing
During device, the magnetic field intensity of measuring point is the compound vector after the magnetic field of magnetic sensor generation and earth's magnetic field superposition in the first tunnel
.Preferably, setting several measuring points in the first tunnel, when not placing magnetic sensor in the second tunnel, measure
The geomagnetic field intensity of each measuring point when magnetic sensor is then placed in the second tunnel, measures the compound magnetic of each measuring point
Field intensity recycles the three-dimensional coordinate information of each measuring point accurately to calculate position where magnetic sensor, so as to judge
The position of second tunnel and the deviation of opposite first tunnel.
When the earth's magnetic field of the tunnel position indicator local environment based on magnetic principles is uniform magnetic field, by step (3) the
The geomagnetic field intensity of all measuring points in two measuring point collection is set as the geomagnetic field intensity of any measuring point in the first measuring point collection.
When the first measuring point collection is equal to the second measuring point collection, by the earth magnetism of all measuring points in step (3) in the second measuring point collection
Field intensity is set as the geomagnetic field intensity of measuring point corresponding in each comfortable first measuring point collection.
When the earth's magnetic field of the tunnel position indicator local environment based on magnetic principles for non-uniform magnetic-field and the first measuring point collection not
During equal to the second measuring point collection, the geomagnetic field intensity of all measuring points in step (3) in the second measuring point collection is gone out using interpolation calculation.
Embodiment 2：Tunnel position indicator and its application based on magnetic principles.
The present embodiment, to carry out in the case of uniform magnetic field, belongs to changing of being carried out on the basis of embodiment 1 in earth's magnetic field
Into specific improvement is as follows：
As shown in figure 3, magnetic sensor includes spherical shell 211, the inside of the spherical shell 211 is filled filled with non-magnetic solids
Object 212A, the inside of the non-magnetic solids filler 212A are fixed with magnet 213.
When magnetic field intensity is vector (component under three-dimensional system of coordinate), it is necessary first to determine global coordinate system (for example, can
It, can also be as shown in Figure 1 the direction that the arctic inside earth's magnetic field is directed toward along the South Pole inside earth's magnetic field is defined as Y-axis positive direction
The vertical paper outwardly direction of the axis of first tunnel 1 is defined as Y-axis positive direction), it herein will be along inside earth's magnetic field
The direction that the arctic inside earth's magnetic field is directed toward in the South Pole is defined as Y-axis positive direction.
Since the placement location of magnetic sensor is arbitrary, at this time just it needs to be determined that the local coordinate of magnetic sensor
System, the y of local coordinate system*Axis can be set as the axis of magnet (assuming that being directed toward the direction of the arctic inside magnet along the South Pole as y*Axis
Positive direction).At this time, it may be necessary to there are six unknown numbers to model：Coordinate (the x of magnetm, ym, zm) and three angles using of euler transformation
Spend α, β and γ.In addition it is also necessary to consider y*Projection of the axis positive direction in Y-axis is positive number or negative.The part of magnet is sat
Mark system is transformed into global coordinate system, uses euler transformation matrix R.
Work as y*Axis positive direction in Y-axis when being projected as positive number,
Work as y*Axis positive direction in Y-axis when being projected as negative,
In this way, under global coordinate system XYZ, without considering earth's magnetic field, only magnetic sensor is in measuring point (xi, yi, zi) at
Three components of the magnetic field of generation on XYZ directions are as follows：
Work as y*Axis positive direction in Y-axis when being projected as positive number,
Work as y*Axis positive direction in Y-axis when being projected as negative,
Wherein：X=xi-xm, y=yi-ym, z=zi-zm, r2=x2+y2+z2。
On the object function of least square method, three kinds of different object functions can be used：
The first：Using the object function for considering earth's magnetic field.The magnetic field intensity point that magnetic sensor is generated in different measuring points
Theoretical value (the B of amountx, By, Bz), due to not knowing magnetic sensor axis y*Positive direction, therefore just do not know magnetic biography yet
Which side of sensor is the South Pole, this results in the algorithm to need to calculate two kinds of operating modes.So (Bx, By, Bz) these three components table
Shown in formula such as formula (3a) or (3b), which includes six unknown numbers；During experiment, different measuring points in tunnel are measured first
Geomagnetic field component (BEx, BEy, BEz), if in the case where Y-axis is earth's magnetic field coordinate system North and South direction, on the Northern Hemisphere, work as earth magnetism
When field is uniform field, three components of the earth's magnetic field under the coordinate system are BE=(BEx, BEy, BEz)=(0 ,-BECos θ ,-BEsin
θ), three components are constant, wherein BEIt is the modulus of geomagnetic field intensity, θ is the magnetic dip angle in earth's magnetic field.Such magnetic sensor
Superposition magnetic field with earth's magnetic field is exactly (Bx+BEx, By+BEy, Bz+BEz), calculating modulus value is Bi.After placing magnetic sensor,
Three components of the magnetic field intensity that each measuring point is measured are (Ballx, Bally, Ballz), measurement modulus value is Bi.For two kinds of works
Condition respectively by the least square method of formula (4), can fit magnetic sensor coordinate (xm, ym, zm) and euler transformation pair
Angle [alpha], β and the γ answered.The apparent small formula of selection standard difference is as correct solution.
Second：When solving unknown quantity, the magnetic field intensity in object function on each direction will subtract the algorithm
The component of earth's magnetic field in each direction, and only consider the magnetic field that magnetic sensor generates.Magnetic sensor is in different measuring points
Theoretical value (the B of the magnetic field strength component of generationx, By, Bz), the expression formula such as formula (3a) of these three components or (3b) are shown,
The vector includes six unknown numbers；During experiment, it is (B to measure the geomagnetic field component in the first tunnel firstEx, BEy, BEz), according to
Uniform magnetic field it is assumed that (BEx, BEy, BEz) corresponding three components are constant.After placing magnetic sensor, used in each
Three component (B of the magnetic field intensity that measuring point is measuredallx, Bally, Ballz) subtract three sides do not placed and measured during magnetic sensor
Upward geomagnetic field component BE=(BEx, BEy, BEz)=(0 ,-BECos θ ,-BESin θ), obtain relative magnetic field strength component B '=
(Ballx-BEx, Bally-BEy, Ballz-BEz)=(Bx', By', Bz’).When solving six unknown quantitys, using least square method, control
Criterion is the (B calculated by six unknown quantitys of bandx, By, Bz) vector modulus value BiWith the magnetic field intensity (B measuredx', By',
Bz') modulus value Bi' make the difference.For two kinds of operating modes, respectively by the least square method of formula (4), magnetic transducing can be fitted
Device coordinate (xm, ym, zm) and the corresponding angle [alpha] of euler transformation, β and γ.The apparent small formula of selection standard difference is as correct solution.
The algorithm and the magnetic field intensity that the essential distinction of the first algorithm is exactly that each component differs an earth's magnetic field.
The third：The algorithm is with the first and second algorithm the difference is that first two algorithm is theoretical and measures
The difference of magnetic field modulus, object function are ∑ (Bi-Bi’)2, and the algorithm is theoretical point with experiment magnetic field in three directions
Amount makes the difference respectively, then to the vector difference modulus, shown in object function such as formula (5), wherein BiAnd Bi' it is vector, expression formula
The operating mode that earth's magnetic field is considered in the first algorithm can be used, the operating mode that earth's magnetic field is deducted in second algorithm can also be used.
Embodiment 3：Tunnel position indicator and its application based on magnetic principles.
The present embodiment, to carry out in the case of uniform magnetic field, belongs to changing of being carried out on the basis of embodiment 1 in earth's magnetic field
Into specific improvement is as follows：
As shown in figure 4, magnetic sensor includes outer spherical shell 211A and the interior spherical shell inside the outer spherical shell 211A
211B, filled with liquid 212B (optional lubricating fluid), the liquid between the outer spherical shell 211A and the interior spherical shell 211B
212B is for making the interior spherical shell 211B floatings, so as to be freely rotated.The interior spherical shell 211B's is internally provided with fixation
Magnet 213 on the interior spherical shell 211B.When the magnet 213 is static, magnet axial can automatically point to earth's magnetic field
North and South direction and perpendicular to gravity direction.Air level is fixedly connected on surface of the magnet 213 parallel to its axis
215.The interior spherical shell 211B's is internally provided with leveling counterweight 214, can make the magnetic by the movement leveling counterweight 214
The axis of body 213 is directed toward the North and South direction in earth's magnetic field when the interior spherical shell 211B is static.
The advantages of program is when extraneous earth's magnetic field is uniform field, without the concern for the rotational problems of magnet, therefore can
To reduce the angle unknown quantity for determining axis direction, and then improve the precision of the magnet coordinate calculated.Y-axis is allowed as earth's magnetic field
North and South direction, this method facilitate coordinates computed, can determine the coordinate of magnet there are two types of mode at this time.
(1) when magnetic field intensity is magnetic field intensity modulus：
Firstly the need of establishing a global coordinate system, can by the North and South direction that the Y-axis that guide equipment determines is earth's magnetic field,
X-axis determines therewith at this time, and Z axis is gravity direction.
Before magnetic sensor is put into the second tunnel, set in the first tunnel using coordinate and magnetic field intensity measurement
It is standby to measure the coordinate of each measuring point and earth's magnetic field modulus, so as to calculate the side under global coordinate system XYZ three-dimensional coordinates
To vector.It is learnt by experiment, in the case of other no magnetisable materials (such as the elements such as iron, cobalt, nickel), magnetic field is almost
Uniform field, therefore it is all identical that can give tacit consent to the geomagnetic field intensity of every bit and direction.
At this point, the component of earth's magnetic field in three directions is BEx、BEyAnd BEz。BEIt is the modulus of geomagnetic field intensity, if
In the case that Y-axis is earth's magnetic field coordinate system North and South direction, on the Northern Hemisphere, when earth's magnetic field is uniform field, earth's magnetic field is in the coordinate
Three components under system are BE=(BEx, BEy, BEz)=(0 ,-BECos θ ,-BESin θ), three components are constant.It needs to illustrate
Even if may be different with the measuring point after placement magnetic sensor before placing magnetic sensor, but since earth's magnetic field is uniform
, so the earth's magnetic field at any point is BE=(0 ,-BECos θ ,-BEsinθ).When calculating magnetic sensor coordinate, use
Earth's magnetic field refers to the corresponding earth's magnetic field of different measuring points after placement magnetic sensor.If it is put into magnetic transducing into the second tunnel
Device, and magnetic sensor position is (xm, ym, zm), then after being put into magnetic sensor, when earth's magnetic field is uniform field, use
Magnetic field intensity measuring instrument some measuring point (x in horizontal tunneli, yi, zi) the modulus B in magnetic field that drawsiAs shown in formula (6).
Wherein：X=xi-xm, y=yi-ym, z=zi-zm, r2=x2+y2+z2。
Pass through a series of coordinate (x of measuring pointsi, yi, zi) and corresponding magnetic field intensity Bi, with the magnetic field intensity B measuredi' right
Than being minimized using the expression formula of least square decree formula (4), passing through the coordinate to n measuring point and the magnetic field measured
Intensity data is fitted, and draws magnetic sensor coordinate (xm, ym, zm)。
When coordinate system using the axis of tunnel as Y-axis, since Z-direction is constant, so magnetic field intensity is in different coordinates
Projection on axis only needs to carry out coordinate conversion, the physical location calculated and choosing to X in formula (7) and the component of Y-direction
The coordinate system taken is unrelated, is all identical.
For earth's magnetic field, in conversion, if earth's magnetic field North and South direction is Y*Axis is transformed into canal axes direction as Y-axis
Operating mode, if Y-axis and Y*The angle of axis is γ, then conversion is as shown in formula (7).
Shown in three components of the earth's magnetic field under the coordinate system such as formula (8a).
Similarly, the magnetic field (B that magnetic sensor generatesmx, Bmy, Bmz) three components such as formula (8b) under the coordinate system
It is shown.
(2) when magnetic field intensity for magnetic field intensity in the component on three dimensions when：
The global coordinate system and the above-mentioned global coordinate system when magnetic field intensity is magnetic field intensity modulus are identical or with Y
Axis is exemplified by the North and South direction of earth's magnetic field, when earth's magnetic field is uniform field, three components of the earth's magnetic field under the coordinate system is BE=
(BEx, BEy, BEz)=(0 ,-BECos θ ,-BESin θ), three components are constant.It should be noted that even if place magnetic pass
May be different with the measuring point after placement magnetic sensor before sensor, but since earth's magnetic field is uniform field, so the ground at any point
Magnetic field is BE=(0 ,-BECos θ ,-BEsinθ).When calculating magnetic sensor coordinate, the earth's magnetic field used refers to placing magnetic
The corresponding earth's magnetic field of different measuring points after property sensor.Consider that the operating mode of the earth's magnetic field arctic is directed toward in the South Pole of magnet, if magnetic pass
Sensor position is (xm, ym, zm), then after being put into magnetic sensor, magnetic sensor is strong in the theoretical magnetic field that measuring point generates
Degree component is (Bx, By, Bz), which only includes three unknown number (xm, ym, zm), as shown in formula (9).
Wherein：X=xi-xm, y=yi-ym, z=zi-zm, r2=x2+y2+z2。
The collection of the Theory Solution in the magnetic field that the magnetic sensor at different measuring points thus calculated generates is combined into B=(Bx, By,
Bz), which includes three unknown number (xm, ym, zm)；During experiment, the geomagnetic field component B in the first tunnel is measured firstE=
(BEx, BEy, BEz).It is put into the set B for three components that the magnetic field intensity that each measuring point is measured is used in after magnetic sensorall
=(Ballx, Bally, Ballz) geomagnetic fieldvector of corresponding measuring point is subtracted, obtain the magnetic that magnetic sensor is generated in each measuring point
Field vector set B '=(Ballx-BEx, Bally-BEy, Ballz-BEz).It is fitted by the least square method control function of formula (4)
Go out magnetic sensor coordinate (xm, ym, zm)。
If coordinate system uses the axis of tunnel as Y-axis, since Z-direction is constant, so magnets magnetic fields and earth's magnetic field
Projection of the intensity in different reference axis carry out coordinate conversion merely with X in formula (7) and (8) and the component of Y-direction,
The physical location calculated is unrelated with the coordinate system chosen, and is all identical.
Embodiment 4：Tunnel position indicator and its application based on magnetic principles.
The present embodiment belongs to the improvement carried out on the basis of embodiment 1, and specific improvement is as follows：
As shown in figure 5, magnetic sensor includes outer spherical shell 211A and the interior spherical shell inside the outer spherical shell 211A
211B, filled with liquid 212B (optional lubricating fluid), the liquid between the outer spherical shell 211A and the interior spherical shell 211B
212B is for making the interior spherical shell 211B floatings, so as to be freely rotated.The interior spherical shell 211B's is internally provided with fixation
Magnet 213 on the interior spherical shell 211B.When earth's magnetic field is uniform field, magnet axial can automatically point to upper and lower
To (gravity direction).Air level 215 is fixedly connected on surface of the magnet 213 perpendicular to its axis.The interior spherical shell
211B's is internally provided with leveling counterweight 214, by the movement leveling counterweight 214 axis of the magnet 213 can be made to exist
Parallel to gravity direction when the interior spherical shell 211B is static.
The advantages of program is when extraneous earth's magnetic field is uniform field, without the concern for the rotational problems of magnet, therefore can
To reduce the angle unknown quantity for determining axis direction, and then improve the precision of the magnetic sensor coordinate calculated.Have two at this time
Kind of mode determines Y-axis：(1) North and South direction that Y-axis is earth's magnetic field is allowed, this method facilitates coordinates computed；(2) Y-axis is allowed as the
The axial direction of one tunnel, this method point easy to find.Due to being axially Z-direction, so both approaches are to calculating without shadow
It rings, is converted without coordinate system.
(1) when magnetic field intensity is magnetic field intensity modulus：
As shown in figure 5, be directed toward in the South Pole of magnet gravity reversal operating mode (be directed toward gravity it is positive with reversely difference lies in
Magnet leads to the problem of the sign in magnetic field) under, the coordinate of earth's magnetic field north and south or canal axes as Y-axis may be employed in coordinate system
System.When using coordinate system of the earth's magnetic field north and south as Y-axis, if magnetic sensor position is (xm, ym, zm), in north half
Ball, when earth's magnetic field is uniform field, three components of the earth's magnetic field under the coordinate system are BE=(BEx, BEy, BEz)=(0 ,-BEcos
θ ,-BESin θ), three components are constant.It should be noted that even if place magnetic sensor before and place magnetic sensor
Measuring point afterwards may be different, but since earth's magnetic field is uniform field, so the earth's magnetic field at any point is BE=(0 ,-BECos θ ,-
BEsinθ).When calculating magnetic sensor coordinate, the earth's magnetic field used refers to that different measuring points are corresponding after placing magnetic sensor
Earth's magnetic field.If magnetic sensor is put into the second tunnel, and magnetic sensor position is (xm, ym, zm), then it puts
After entering magnetic sensor, when earth's magnetic field is uniform field, with magnetic field intensity measuring instrument in horizontal tunnel some measuring point (xi,
yi, zi) the modulus B in magnetic field that drawsiAs shown in formula (10).
Wherein：X=xi-xm, y=yi-ym, z=zi-zm, r2=x2+y2+z2。
Pass through a series of coordinate (x of measuring pointsi, yi, zi) and the corresponding magnetic field intensity B that calculatesi, with the magnetic field measured
Intensity Bi' comparison, magnetic sensor coordinate (x is gone out by the least square fitting of formula (3)m, ym, zm)。
When coordinate system using the axis of tunnel as Y-axis, since Z-direction is constant, so magnetic field intensity is in different coordinates
Projection on axis only needs to carry out coordinate conversion, the physical location calculated and choosing to X in formula (7) and the component of Y-direction
The coordinate system taken is unrelated, is all identical.
(2) when magnetic field intensity for magnetic field intensity in the component on three dimensions when：
Or by taking Y-axis is the North and South direction in earth's magnetic field as an example, three components of the earth's magnetic field under the coordinate system are BE=
(BEx, BEy, BEz)=(0, BECos θ, BEsinθ).As shown in figure 5, under being directed toward the operating mode of gravity reversal in the South Pole of magnet, if
Magnetic sensor position is (xm, ym, zm), then after being put into magnetic sensor, theory that magnetic sensor is generated in measuring point
Magnetic field strength component is (Bx, By, Bz), which only includes three unknown number (xm, ym, zm), as shown in formula (11).
Wherein：X=xi-xm, y=yi-ym, z=zi-zm, r2=x2+y2+z2。
Therefore, the collection of the Theory Solution in the magnetic field that the magnetic sensor at different measuring points calculated generates is combined into B=(Bx,
By, Bz), which includes three unknown number (xm, ym, zm)；During experiment, the geomagnetic field component B in the first tunnel is measured firstE=
(BEx, BEy, BEz), according to uniform magnetic field it is assumed that (BEx, BEy, BEz) corresponding three components are constant.It is put into magnetic transducing
The set B of three components of the magnetic field intensity that each measuring point is measured is used in after deviceall=(Ballx, Bally, Ballz) subtract phase
The geomagnetic fieldvector of measuring point is answered, obtains magnetic vector set B '=(B that magnetic sensor is measured in each measuring pointallx-
BEx, Bally-BEy, Ballz-BEz).Magnetic sensor coordinate (x is fitted by the least square method control function of formula (4)m,
ym, zm)。
If coordinate system uses the axis of tunnel as Y-axis, since Z-direction is constant, so magnetic field intensity is in different seats
Projection on parameter carries out coordinate conversion merely with X in formula (7) and the component of Y-direction, the physical location calculated with
The coordinate system of selection is unrelated, is all identical.
Embodiment 5：Tunnel position indicator and its application based on magnetic principles.
The present embodiment in earth's magnetic field to carry out in the case of non-uniform magnetic-field, due under non-uniform magnetic-field, though according to
Method in embodiment 3 and embodiment 4 makes magnet float, magnet axis still will not be accurately directed to North and South direction or
Vertical direction, so must consider according to six unknown quantitys.The present embodiment belongs to changing of being carried out on the basis of embodiment 1
Into specific improvement is as follows：
As shown in figure 3, magnetic sensor includes spherical shell 211, the inside of the spherical shell 211 is filled filled with non-magnetic solids
Object 212A, the inside of the non-magnetic solids filler 212A are fixed with magnet 213.
The present embodiment is maximum with embodiment 2,3 and 4 the difference is that before placing magnetic sensor in three directions
Geomagnetic field component (the B measuredEx, BEy, BEz) it is not constant, but array.It should be noted that before placing magnetic sensor
May be different with the measuring point after placement magnetic sensor, but magnetic sensor will placed by placing the measuring point after magnetic sensor
Within the scope of the envelope of the measuring point in preceding calibration earth's magnetic field, difference after placing magnetic sensor can be calculated by interpolating function and is surveyed
The earth's magnetic field B of pointE=(BEx, BEy, BEz)。
Theoretical value (the B for the magnetic field strength component that magnetic sensor is generated in different measuring pointsx, By, Bz), these three components
Expression formula such as formula (2) or (3) shown in, the vector include six unknown numbers；During experiment, the earth's magnetic field in tunnel is measured first
Component (BEx, BEy, BEz).On algorithm still using the least square method of the three kinds of different target functions used in embodiment 2
Solve six unknown quantitys, only (BEx, BEy, BEz) be n groups may unequal array, it is necessary to go to adopt in each measuring point
Collect geomagnetic field intensity to obtain.
Due to failing to clearly show that direction (the i.e. y of the direction arctic in the South Pole inside magnet in Fig. 3*Axis positive direction), so
There are formula (2) and (3) two kinds of operating modes during calculating, cause to calculate in the presence of uncertainty, therefore this magnet should not be used to place
Method, the best way is still using the mode that magnet south poles is allowed to be directed toward north and south or vertical direction in Fig. 4 and Fig. 5.Even if
Earth's magnetic field is heterogeneous, the direction of magnet axis can be generated it is certain influence, but general direction be it is specific, only with
There are a smaller angles for north and south or vertical direction.
Magnetic sensor in Fig. 4 includes the outer spherical shell 211A and interior spherical shell 211B inside the outer spherical shell 211A,
Filled with liquid 212B between the outer spherical shell 211A and the interior spherical shell 211B, the liquid 212B is used to make the interior spherical shell
211B is floated.The interior spherical shell 211B's is internally provided with the magnet 213 being fixed on the interior spherical shell 211B.In the magnet
213 on the surface of its axis parallel to being fixedly connected with air level 215.The interior spherical shell 211B's is internally provided with leveling counterweight
214, by the movement leveling counterweight 214 axis of the magnet 213 can be made when the interior spherical shell 211B is static and earth magnetism
The North and South direction of field generates smaller angle.
When using structure in Fig. 4, in the case of axis substantially North and South direction, still using six unknown quantitys,
It need not thus judge using formula (3a) still (3b), directly using formula (3a).If it is asked using least square method
Unknown quantity is solved, then using formula (2) and (3)；If based on the least square method of magnetic field intensity modulus, then using formula (12).
Wherein：X=xi-xm, y=yi-ym, z=zi-zm, r2=x2+y2+z2。
Magnetic sensor in Fig. 5 includes the outer spherical shell 211A and interior spherical shell 211B inside the outer spherical shell 211A,
Filled with liquid 212B between the outer spherical shell 211A and the interior spherical shell 211B, the liquid 212B is used to make the interior spherical shell
211B is floated.The interior spherical shell 211B's is internally provided with the magnet 213 being fixed on the interior spherical shell 211B.In the magnet
213 are fixedly connected with air level 215 on the surface of its axis.The interior spherical shell 211B's is internally provided with leveling counterweight
214, by the movement leveling counterweight 214 axis of the magnet 213 can be made when the interior spherical shell 211B is static and gravity
Direction generates smaller angle.
That consider at this time is z*Magnet, z are put in the direction of axis according to the structure in Fig. 5*The direction of axis be it is specific, this
According to z*Axis positive direction is exactly Z axis negative direction to consider, that is, the situation of magnet South Pole approximation upward.By the part of magnet
Coordinate system is transformed into global coordinate system, uses the euler transformation matrix R as shown in formula (1).
In this way, under global coordinate system XYZ, without considering earth's magnetic field, only magnetic sensor is in measuring point (xi, yi, zi) at
Three components of the magnetic field of generation on XYZ directions are as follows：
Wherein：X=xi-xm, y=yi-ym, z=zi-zm, r2=x2+y2+z2。
Consider more complicated operating mode, i.e., use different measuring points before placement magnetic sensor and after placing magnetic sensor,
The measuring point group before magnetic sensor is placed as (x, y, z), the measuring point group after magnetic sensor is placed as (x ', y ', z '), with measuring point
(x, y, z) corresponding geomagnetic field component group is (BEx, BEy, BEz), three components of each measuring point may differ, then need
The corresponding geomagnetic field component group (B of measuring point (x ', y ', z ') is solved by interpolation scheduling algorithmEx', BEy', BEz'), relative magnetic field
Strength component uses B '=(Ballx-B’Ex, Bally-B’Ey, Ballz-B’Ez)=(B 'x, B 'y, B 'z)。
Embodiment 6：Tunnel position indicator and its application based on magnetic principles.
The present embodiment belongs to the improvement carried out on the basis of embodiment 1, and specific improvement is as follows：
As shown in fig. 6, coordinate includes coordinate measurment instrument 12 and magnetic field intensity measuring instrument with magnetic field intensity measuring apparatus
111；The coordinate measurment instrument 12 is used to measure the three-dimensional coordinate residing for the magnetic field intensity measuring instrument 111, and the magnetic field is strong
Degree measuring instrument 111 is used to measure the magnetic field intensity of its residing three-dimensional coordinate.Preferably, the coordinate is set with magnetic field intensity measurement
It is standby to be fixedly installed multiple magnetic field intensity measuring instruments 111.When the position of multiple magnetic field intensity measuring instruments is fixed, coordinate
Also determine therewith.
Compared with Example 1, because therefore the coordinate of magnetic field intensity measuring instrument is it has been determined that be just easier to determine one
Global coordinate system.The specific configuration and realization method of magnetic field intensity measuring instrument involved in the present embodiment are those skilled in the art
The known prior art, details are not described herein.
Embodiment 7：Tunnel position indicator and its application based on magnetic principles.
The present embodiment belongs to the improvement carried out on the basis of embodiment 6, and specific improvement is as follows：
As shown in fig. 6, coordinate includes coordinate measurment instrument 12 and magnetic field intensity measuring instrument with magnetic field intensity measuring apparatus
111, the coordinate measurment instrument 12 is total powerstation；The coordinate measurment instrument 12 is used to measure the magnetic field intensity measuring instrument
Three-dimensional coordinate residing for 111, the magnetic field intensity measuring instrument 111 are used to measure the magnetic field intensity of its residing three-dimensional coordinate.As
It is preferred that coordinate further includes single prism 112 with magnetic field intensity measuring apparatus, the list prism 112 is used to coordinate the magnetic field intensity
Measuring instrument 111 is mating to measure the three-dimensional coordinate residing for it.
At this point, selecting multiple measurement points in tunnel to place magnetic field intensity measuring instrument, single rib is provided with above measuring instrument
Mirror so while magnetic field intensity (magnetic field intensity can be component or modulus) of each point is measured, can use total powerstation
Read corresponding three-dimensional coordinate.Before magnetic sensor is placed, what is measured is geomagnetic field intensity；Place magnetic sensor it
Afterwards, what is measured is the superimposed field in earth's magnetic field and magnetic sensor magnetic field.By the magnetic field intensity and three-dimensional coordinate of different measurement points,
The position where magnet can be calculated using formula, the departure degree of final definite hole.
It should be noted that since all magnetic-field measurement results are all components, so magnetic field intensity measuring instrument is put
Direction is extremely important, it is therefore desirable to the magnetic field strength component for ensuring to be measured with magnetic field measuring apparatus every time by transition matrix all
It can be converted into the component in lower three directions of total station instrument coordinate system.
After the magnetic sensor 21 is placed in second tunnel 2, the magnetic sensor 21 can influence institute
The magnetic field intensity stated in the first tunnel 1 (includes the magnetic field of 112 point of the magnetic field intensity measuring instrument 111 and single prism
Intensity).The magnetic field intensity of each point is only when not placing magnetic sensor in second tunnel 2, in first tunnel 1
It is influenced be subject to earth's magnetic field；And when placing magnetic sensor in second tunnel 2, each point (bag in first tunnel 1
Include the point where the magnetic field intensity measuring instrument 111 and single prism 112) magnetic field intensity be magnetic that magnetic sensor generates
Compound vector field behind field and earth's magnetic field superposition.Utilize the magnetic field before and after the placement magnetic sensor in second tunnel 2
The change of magnetic field strength and its three-dimensional coordinate information of point where ratemeter 111 and single prism 112, you can exactly
The position where magnetic sensor is calculated, so as to judge the position of second tunnel 2 and relatively described first tunnel 1
Bias.The tunnel position indicator is suitable for the structures such as various tunnels, water conservancy, as long as and the problem of be related to two circular cavities dislocation,
The relative position of the distance of dislocation and two holes can be determined by the tunnel position indicator, facilitates connection two circular cavities.
Above-described embodiment is only used for clearly demonstrating the specific technical solution of the present invention, and is not intended to limit the present invention's
Protection domain.For the those of ordinary skill in the field, other various forms for making on the basis of the above description
Variation or adjustment still fall among protection scope of the present invention.
Claims (10)
1. a kind of tunnel position indicator based on magnetic principles, including coordinate and magnetic field intensity measuring apparatus (11), magnetic sensor
(21), it is characterised in that：
Several measuring points (113), and institute are provided in the measurement range of the coordinate and magnetic field intensity measuring apparatus (11)
State three-dimensional coordinate and magnetic field intensity that coordinate is used to measure the measuring point (113) with magnetic field intensity measuring apparatus (11)；
The magnetic field intensity is vector or scalar, and the vector is component of the magnetic field intensity under three-dimensional system of coordinate, described
Scalar is the modulus value of the magnetic field intensity.
2. the tunnel position indicator according to claim 1 based on magnetic principles, it is characterised in that：
The coordinate includes coordinate measurment instrument (12) and magnetic field intensity measuring instrument (111) with magnetic field intensity measuring apparatus (11)；
The coordinate measurment instrument (12) is used to measure the three-dimensional coordinate residing for the magnetic field intensity measuring instrument (111), the magnetic
Field intensity measuring instrument (111) is used to measure the magnetic field intensity of its residing three-dimensional coordinate.
3. the tunnel position indicator according to claim 2 based on magnetic principles, it is characterised in that：
The coordinate measurment instrument (12) is total powerstation.
4. the tunnel position indicator according to claim 2 based on magnetic principles, it is characterised in that：
The coordinate further includes single prism (112) with magnetic field intensity measuring apparatus (11), and the prism (112) is used to coordinate institute
Magnetic field intensity measuring instrument (111) is stated to measure the three-dimensional coordinate residing for it.
5. the tunnel position indicator according to claim 1 based on magnetic principles, it is characterised in that：
The magnetic sensor (21) includes spherical shell (211), and the inside of the spherical shell (211) is filled with non-magnetic solids filler
(212A), the inside of the non-magnetic solids filler (212A) are fixed with magnet (213).
6. the tunnel position indicator according to claim 1 based on magnetic principles, it is characterised in that：
The magnetic sensor (21) includes outer spherical shell (211A) and positioned at the internal interior spherical shell of the outer spherical shell (211A)
(211B), filled with liquid (212B), the liquid (212B) between the outer spherical shell (211A) and the interior spherical shell (211B)
For floating the interior spherical shell (211B), being internally provided with for the interior spherical shell (211B) is fixed on the interior spherical shell (211B)
On magnet (213), the inside of the interior spherical shell (211B) is additionally provided with leveling counterweight (214), parallel in the magnet (213)
Or air level (215) is fixedly connected on the surface of its axis；
When being fixedly connected with the air level (215) on surface of the magnet (213) parallel to its axis, passing through movement
The leveling counterweight (214) makes the axis of the magnet (213) be directed toward the south in earth's magnetic field when the interior spherical shell (211B) is static
The north to；When being fixedly connected with the air level (215) on surface of the magnet (213) perpendicular to its axis, passing through
The mobile leveling counterweight (214) makes the axis of the magnet (213) when the interior spherical shell (211B) is static parallel to gravity
Direction.
7. a kind of tunnel using the tunnel position indicator according to any one of claim 1 to 6 based on magnetic principles is determined
Position method, comprises the following steps：
1) coordinate in the tunnel position indicator based on magnetic principles and magnetic field intensity measuring apparatus (11) are positioned over first
In tunnel (1), the of all measuring points in the first measuring point collection are measured using the coordinate and magnetic field intensity measuring apparatus (11)
One three-dimensional coordinate and geomagnetic field intensity, specific measuring method are as follows：It will be in the coordinate and magnetic field intensity measuring apparatus (11)
It is strong that the magnetic field of each measuring point is measured at each measuring point that magnetic field intensity measuring instrument (111) is moved in the first measuring point collection
Degree is denoted as geomagnetic field intensity, while utilizes the coordinate and the coordinate measurment instrument (12) in magnetic field intensity measuring apparatus (11)
The three-dimensional coordinate of each measuring point is measured, is denoted as the first three-dimensional coordinate；Wherein：The first measuring point collection refers to placing magnetism
The set of the measuring point selected before sensor in order to measure three-dimensional coordinate and magnetic field intensity；
2) magnetic sensor (21) in the tunnel position indicator based on magnetic principles is positioned in the second tunnel (2), profit
Measured with the coordinate and magnetic field intensity measuring apparatus (11) all measuring points in the second measuring point collection the second three-dimensional coordinate and
Resultant field intensity, specific measuring method are as follows：Magnetic field intensity in the coordinate and magnetic field intensity measuring apparatus (11) is surveyed
The magnetic field intensity of each measuring point is measured at each measuring point that amount instrument (111) is moved in the second measuring point collection, is denoted as compound
Magnetic field intensity, at the same it is each to measure using the coordinate and the coordinate measurment instrument (12) in magnetic field intensity measuring apparatus (11)
The three-dimensional coordinate of measuring point is denoted as the second three-dimensional coordinate；Wherein：The second measuring point collection is referred to after magnetic sensor is placed
The set of the measuring point selected to measure three-dimensional coordinate and magnetic field intensity, and all measuring points in the second measuring point collection
Coordinate is all located within the scope of the envelope of the coordinate of all measuring points in the first measuring point collection；
3) calculated using the first three-dimensional coordinate and geomagnetic field intensity of all measuring points in the first measuring point collection and placing magnetic
The geomagnetic field intensity of all measuring points in the property sensor foregoing description the second measuring point collection；
4) the second three-dimensional coordinate, geomagnetic field intensity and the resultant field intensitometer of all measuring points in the second measuring point collection are utilized
Calculate the three-dimensional coordinate of the magnetic sensor (21), you can complete between first tunnel (1) and second tunnel (2)
Tunnel positioning.
8. tunnel localization method according to claim 7, it is characterised in that：
When the earth's magnetic field of the tunnel position indicator local environment based on magnetic principles is uniform magnetic field, described in step 3)
The geomagnetic field intensity of all measuring points in second measuring point collection is set as the earth magnetism field strength of any measuring point in the first measuring point collection
Degree.
9. tunnel localization method according to claim 7, it is characterised in that：
When the first measuring point collection is equal to the second measuring point collection, by all measuring points described in step 3) in the second measuring point collection
Geomagnetic field intensity be set as in each leisure the first measuring point collection the geomagnetic field intensity of corresponding measuring point.
10. tunnel localization method according to claim 7, it is characterised in that：
When the earth's magnetic field of the tunnel position indicator local environment based on magnetic principles is non-uniform magnetic-field and first measuring point
When collection is not equal to the second measuring point collection, the earth magnetism field strength of all measuring points in the second measuring point collection is gone out using interpolation calculation
Degree.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710144334.XA CN108104798B (en) | 2017-03-10 | 2017-03-10 | Tunnel positioning instrument based on magnetic field principle and using method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710144334.XA CN108104798B (en) | 2017-03-10 | 2017-03-10 | Tunnel positioning instrument based on magnetic field principle and using method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108104798A true CN108104798A (en) | 2018-06-01 |
| CN108104798B CN108104798B (en) | 2021-09-21 |
Family
ID=62206201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710144334.XA Expired - Fee Related CN108104798B (en) | 2017-03-10 | 2017-03-10 | Tunnel positioning instrument based on magnetic field principle and using method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108104798B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112710219A (en) * | 2021-01-21 | 2021-04-27 | 中北大学 | Absolute displacement detection method for urban underground space |
Citations (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB467735A (en) * | 1934-12-07 | 1937-06-22 | Sperry Prod Inc | Improvements in or relating to magnetic compass devices |
| US3853185A (en) * | 1973-11-30 | 1974-12-10 | Continental Oil Co | Guidance system for a horizontal drilling apparatus |
| JPH03251788A (en) * | 1990-03-01 | 1991-11-11 | Komatsu Ltd | Apparatus for measuring position of shield excavator |
| EP0481077A1 (en) * | 1989-06-30 | 1992-04-22 | Kabushiki Kaisha Komatsu Seisakusho | Device for measuring position of underground excavator |
| US5107938A (en) * | 1989-08-31 | 1992-04-28 | Kabushiki Kaisha Komatsu Seisakusho Corporation | Apparatus for detecting position of underground excavator |
| CN2143323Y (en) * | 1992-11-11 | 1993-10-06 | 马吉来 | Ball compass |
| CN2145980Y (en) * | 1992-12-07 | 1993-11-10 | 胡灿吉 | Floating compass |
| EP0622524A1 (en) * | 1991-03-20 | 1994-11-02 | Kabushiki Kaisha Komatsu Seisakusho | System for measuring excavation position of underground excavator |
| JPH07286494A (en) * | 1994-04-19 | 1995-10-31 | Japan Steel & Tube Constr Co Ltd | Propelling direction measuring device |
| JPH08100595A (en) * | 1994-09-30 | 1996-04-16 | Kubota Corp | Propulsion control method |
| JPH08247704A (en) * | 1995-03-07 | 1996-09-27 | Sekisui Chem Co Ltd | Method for detecting position |
| JPH0914959A (en) * | 1995-06-28 | 1997-01-17 | Sekisui Chem Co Ltd | Method for detecting position |
| CN2252329Y (en) * | 1995-09-25 | 1997-04-16 | 邱镇文 | Semi-suspension type miniature magnetic compass |
| JPH11256987A (en) * | 1998-03-16 | 1999-09-21 | Central Res Inst Of Electric Power Ind | Conducting method for tunnel boring way in propulsion construction method and its device |
| CN2418048Y (en) * | 2000-04-14 | 2001-02-07 | 康云霞 | Direction-indicating device |
| JP2003042707A (en) * | 2001-07-31 | 2003-02-13 | Hitachi Metals Ltd | Excavation method |
| JP2003121151A (en) * | 2001-10-16 | 2003-04-23 | Hitachi Metals Ltd | Method and apparatus for prospecting position in excavation body |
| JP2003214090A (en) * | 2002-01-28 | 2003-07-30 | Asaharagumi Co Ltd | Automatic tracking system for jacking machine in curved jack |
| JP2004271303A (en) * | 2003-03-07 | 2004-09-30 | Hitachi Metals Ltd | Magnetic measurement system and position detection device for underground excavator using it |
| JP2006010628A (en) * | 2004-06-29 | 2006-01-12 | Hitachi Metals Ltd | Detector for detecting object |
| JP2008216032A (en) * | 2007-03-05 | 2008-09-18 | Taisei Corp | Underground position detection method |
| CN102062871A (en) * | 2009-11-14 | 2011-05-18 | 董长军 | Violent earthquake forecaster based on magnetic suspension counterweight chattering kinetic energy principle |
| US20110138641A1 (en) * | 2007-08-09 | 2011-06-16 | Universidad Del Pais Vasco-Euskal Herriko Unibertsitatea | Integral magnetic compass for establishing deviations in real time |
| CN102175232A (en) * | 2011-03-08 | 2011-09-07 | 中国地质大学（武汉） | Geological compass |
| KR101637219B1 (en) * | 2015-10-29 | 2016-07-07 | 주식회사 추진기술 | Terminal controlling apparatus for boring machine |
-
2017
- 2017-03-10 CN CN201710144334.XA patent/CN108104798B/en not_active Expired - Fee Related
Patent Citations (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB467735A (en) * | 1934-12-07 | 1937-06-22 | Sperry Prod Inc | Improvements in or relating to magnetic compass devices |
| US3853185A (en) * | 1973-11-30 | 1974-12-10 | Continental Oil Co | Guidance system for a horizontal drilling apparatus |
| EP0481077A1 (en) * | 1989-06-30 | 1992-04-22 | Kabushiki Kaisha Komatsu Seisakusho | Device for measuring position of underground excavator |
| US5107938A (en) * | 1989-08-31 | 1992-04-28 | Kabushiki Kaisha Komatsu Seisakusho Corporation | Apparatus for detecting position of underground excavator |
| JPH03251788A (en) * | 1990-03-01 | 1991-11-11 | Komatsu Ltd | Apparatus for measuring position of shield excavator |
| EP0622524A1 (en) * | 1991-03-20 | 1994-11-02 | Kabushiki Kaisha Komatsu Seisakusho | System for measuring excavation position of underground excavator |
| CN2143323Y (en) * | 1992-11-11 | 1993-10-06 | 马吉来 | Ball compass |
| CN2145980Y (en) * | 1992-12-07 | 1993-11-10 | 胡灿吉 | Floating compass |
| JPH07286494A (en) * | 1994-04-19 | 1995-10-31 | Japan Steel & Tube Constr Co Ltd | Propelling direction measuring device |
| JPH08100595A (en) * | 1994-09-30 | 1996-04-16 | Kubota Corp | Propulsion control method |
| JPH08247704A (en) * | 1995-03-07 | 1996-09-27 | Sekisui Chem Co Ltd | Method for detecting position |
| JPH0914959A (en) * | 1995-06-28 | 1997-01-17 | Sekisui Chem Co Ltd | Method for detecting position |
| CN2252329Y (en) * | 1995-09-25 | 1997-04-16 | 邱镇文 | Semi-suspension type miniature magnetic compass |
| JPH11256987A (en) * | 1998-03-16 | 1999-09-21 | Central Res Inst Of Electric Power Ind | Conducting method for tunnel boring way in propulsion construction method and its device |
| CN2418048Y (en) * | 2000-04-14 | 2001-02-07 | 康云霞 | Direction-indicating device |
| JP2003042707A (en) * | 2001-07-31 | 2003-02-13 | Hitachi Metals Ltd | Excavation method |
| JP2003121151A (en) * | 2001-10-16 | 2003-04-23 | Hitachi Metals Ltd | Method and apparatus for prospecting position in excavation body |
| JP2003214090A (en) * | 2002-01-28 | 2003-07-30 | Asaharagumi Co Ltd | Automatic tracking system for jacking machine in curved jack |
| JP2004271303A (en) * | 2003-03-07 | 2004-09-30 | Hitachi Metals Ltd | Magnetic measurement system and position detection device for underground excavator using it |
| JP2006010628A (en) * | 2004-06-29 | 2006-01-12 | Hitachi Metals Ltd | Detector for detecting object |
| JP2008216032A (en) * | 2007-03-05 | 2008-09-18 | Taisei Corp | Underground position detection method |
| US20110138641A1 (en) * | 2007-08-09 | 2011-06-16 | Universidad Del Pais Vasco-Euskal Herriko Unibertsitatea | Integral magnetic compass for establishing deviations in real time |
| CN102062871A (en) * | 2009-11-14 | 2011-05-18 | 董长军 | Violent earthquake forecaster based on magnetic suspension counterweight chattering kinetic energy principle |
| CN102175232A (en) * | 2011-03-08 | 2011-09-07 | 中国地质大学（武汉） | Geological compass |
| KR101637219B1 (en) * | 2015-10-29 | 2016-07-07 | 주식회사 추진기술 | Terminal controlling apparatus for boring machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112710219A (en) * | 2021-01-21 | 2021-04-27 | 中北大学 | Absolute displacement detection method for urban underground space |
| CN112710219B (en) * | 2021-01-21 | 2022-06-21 | 中北大学 | An absolute displacement detection method for urban underground space |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108104798B (en) | 2021-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105806364B (en) | A kind of calibration method of mining slewing drilling machine inclinometer probe | |
| CN106199664B (en) | A kind of engineering ship localization method of GPS-RTK and radio compass composition | |
| CN109444936A (en) | It is a kind of to determine that bucket point sits calibration method using GNSS and obliquity sensor | |
| CN102877830B (en) | Underground orientation method based on rotating magnetic field | |
| CN104316037B (en) | A kind of bearing calibration of electronic compass and device | |
| CN103411527A (en) | Magnetic positioning based online monitoring method of achieving of landslide deep layer displacement measurement | |
| CN116449442B (en) | Three-dimensional unfolding processing method and system for drilling transient electromagnetic method | |
| CN106705830A (en) | Beidou satellite-based super high-rise building high-precision deformation monitoring system and monitoring method | |
| CN109631861A (en) | A kind of intertidal zone underwater topography mapping method | |
| CN107132587A (en) | The full tensor magnetic gradient measurements system mounting error calibration method of aviation superconduction and device | |
| CN108375801A (en) | Ground Nuclear Magnetic Resonance movable type three-component magnetic surveying device and magnetic survey method | |
| CN111413749A (en) | Antarctic ship-borne gravity measurement calibration method | |
| US2501598A (en) | Magnetic method of pipe-line inspection | |
| CN206459611U (en) | A kind of high-rise building high-precision deformation monitoring system based on big-dipper satellite | |
| KR101220268B1 (en) | System of measuring with gps for underground map | |
| CN106772635B (en) | A kind of buried cable 3 D locating device and localization method to be crossed based on scanning | |
| CN108104798A (en) | A kind of tunnel position indicator and its application method based on magnetic principles | |
| Cui et al. | Three-axis magnetometer calibration based on optimal ellipsoidal fitting under constraint condition for pedestrian positioning system using foot-mounted inertial sensor/magnetometer | |
| Ma et al. | Adjustment options for a survey network with magnetic levitation gyro data in an immersed under-sea tunnel | |
| CN109633539B (en) | Static positioning device and static positioning method for magnetic source | |
| CN106289241B (en) | Utilize the positioning correction method and device of magnetic signature | |
| CN103615962A (en) | Landslide mass surface displacement measuring method | |
| JPH10318748A (en) | Position measuring method and device | |
| CN115574815A (en) | Non-visual environment navigation system, method, computer equipment and storage medium | |
| Gu et al. | Application of GPS in geomagnetic survey |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210921 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |