CN109579916A - A kind of integrated detection device of float type acoustic-electric magnetic - Google Patents
A kind of integrated detection device of float type acoustic-electric magnetic Download PDFInfo
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- CN109579916A CN109579916A CN201811598589.4A CN201811598589A CN109579916A CN 109579916 A CN109579916 A CN 109579916A CN 201811598589 A CN201811598589 A CN 201811598589A CN 109579916 A CN109579916 A CN 109579916A
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- 238000001514 detection method Methods 0.000 title claims abstract description 48
- 238000004891 communication Methods 0.000 claims abstract description 21
- 238000005259 measurement Methods 0.000 claims abstract description 21
- 230000005611 electricity Effects 0.000 claims abstract description 15
- 238000012544 monitoring process Methods 0.000 claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 12
- 230000035945 sensitivity Effects 0.000 claims abstract description 10
- 238000012937 correction Methods 0.000 claims description 38
- 239000011159 matrix material Substances 0.000 claims description 26
- 230000005684 electric field Effects 0.000 claims description 22
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 11
- 229910052744 lithium Inorganic materials 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000007781 pre-processing Methods 0.000 claims description 5
- 238000000605 extraction Methods 0.000 claims description 4
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- 239000000463 material Substances 0.000 claims description 4
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- 230000009466 transformation Effects 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 230000000694 effects Effects 0.000 claims description 3
- 239000011521 glass Substances 0.000 claims description 3
- 239000000696 magnetic material Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000004064 recycling Methods 0.000 claims description 2
- 238000011017 operating method Methods 0.000 abstract 1
- 238000012806 monitoring device Methods 0.000 description 3
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- 238000010586 diagram Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000001914 filtration Methods 0.000 description 2
- 108010066278 cabin-4 Proteins 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
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- 239000000126 substance Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B22/24—Buoys container type, i.e. having provision for the storage of material
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B2022/006—Buoys specially adapted for measuring or watch purposes
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Abstract
A kind of integrated detection device of float type acoustic-electric magnetic, including ball-type watertight instrument room；Further include the annular rod structure positioned at ball-type watertight instrument room periphery, is laid and recycled for integrating detection device to float type acoustic-electric magnetic；In the lower section of ball-type watertight instrument room, vertical instrument room is in elongated cone rod structure for vertical instrument room configuration；It further include above vertical instrument room around multiple girts of its periphery setting；It further include acoustic-electric magnetic measurement unit, for measuring the sound, electricity, magnetic signal of water body；Number is adopted and communication unit, for by the sound measured, electricity, magnetic signals to external；Power supply unit is powered and condition monitoring unit for integrating detection device to float type acoustic-electric magnetic, is monitored for integrating detection device to float type acoustic-electric magnetic.Additionally provide the operating method of the detection device.The present invention can sound to water body, electricity, magnetic field carry out quick and easy measurement, measurement accuracy is high, device sensitivity is good.
Description
Technical field
The present invention relates to a kind of detection devices, integrate detection device more particularly, to a kind of float type acoustic-electric magnetic.
Background technique
For submarine target, is mainly detected, identified and positioned by its each physical field feature, such as sonar,
Electric field detecting device or field detecting device.
However, being directed to conventional target and novel target, only rely on single detection means, will face detection false alarm rate it is high,
The limitations such as discrimination is relatively low, positioning accuracy is relatively low, bad adaptability.Therefore the comprehensive survey based on multiple physical field feature and positioning
Mode is to realize the most effective means of underwater novel target warning.
Summary of the invention
In view of the above problems, the object of the present invention is to provide a kind of float type acoustic-electric magnetic to integrate detection device and its detection side
Method extracts the signals such as sound field, electric field, the magnetic field of underwater intrusion target, carries out comprehensive pre-warning, tracking, positioning and identification to it.
It is integrated specifically, integrating a kind of float type acoustic-electric magnetic of detection device the present invention provides a kind of float type acoustic-electric magnetic
Detection device, including ball-type watertight instrument room, the ball-type watertight instrument room top are transparent glass steel material, transparent grp
The lower section of material has solar panels, is MPPT controller below solar panels, the ball-type watertight instrument room lower part is no magnetic
Material is located at underwater；It further include the annular rod structure positioned at ball-type watertight instrument room periphery, for the float type acoustic-electric magnetic
Integrated detection device is laid and is recycled；The vertical instrument room configuration is described in the lower section of the ball-type watertight instrument room
Vertical instrument room is in elongated cone rod structure；It further include being drawn above vertical instrument room around multiple levels that its periphery is arranged
Bar；
It further include acoustic-electric magnetic measurement unit, for measuring the sound, electricity, magnetic signal of water body；Number is adopted and communication unit, and being used for will
Sound, electricity, the magnetic signals to outside measured；Power supply unit, for the float type acoustic-electric magnetic integrate detection device into
Row power supply and condition monitoring unit are monitored for integrating detection device to the float type acoustic-electric magnetic.
Further, the measuring unit includes the hydrophone for measuring the sound pressure signal of water body, and the hydrophone is set
It sets in the vertical instrument room；It further include the triaxial fluxgate magnetometer for measuring the magnetic field intensity signal of water body, institute
Triaxial fluxgate magnetometer is stated to be arranged in the ball-type watertight instrument room；It further include electrode sensor；The multiple level
It is equipped with electrode sensor in each of pull rod, electrode sensor, the electricity are also configured in the vertical instrument room
Pole sensor is used to measure the electric field intensity signal of water body.
Further, the number adopt and communication unit configuration in the ball-type watertight instrument room comprising number adopt, data
Preprocessing module and communication module are constituted；Number is adopted, data preprocessing module includes difference acquisition module, for passing the electrode
The signal of sensor measurement is transmitted to preamplifier, and is further transmitted to AD conversion module；Further include digital filter, is used for
It is transmitted to the AD conversion module after the signal that the hydrophone, triaxial fluxgate magnetometer measure is filtered, it is described
The analog signal received is converted to digital signal and is transferred to digital signal processor by AD conversion module carries out useful signal
After extraction, then the external world is delivered to by communication module.
Further, said supply unit includes the lithium battery and power supply management configured in the ball-type watertight instrument room
Module；The lithium battery includes electricity for receiving solar energy, the power supply management module for power supply of controlling oneself, the solar panels
Source manager and MPPT controller, for realizing solar powered and power supply of controlling oneself coordinated management；The MPPT controller is used
Maximum power point in real-time tracking solar panels is to play the maximum effects of solar panels.
Further, the condition monitoring unit includes the pressure sensor configured in the vertical instrument room, is used for
Monitor the depth that the float type acoustic-electric magnetic integrates detection device present position；It further include being located in the ball-type watertight instrument room
Attitude transducer and temperature sensor, the temperature sensor for monitor the float type acoustic-electric magnetic integrate detection device institute
Locate the temperature information of position, the attitude transducer is used to monitor the posture letter that the float type acoustic-electric magnetic integrates detection device
Breath, to carry out signal correction.
Further, a kind of float type acoustic-electric magnetic of the invention integrates the detection method of detection device, including following step
It is rapid:
1) it is measured using the hydrophone of acoustic-electric magnetic measurement unit, obtains sound pressure signal p；
2) using 4 electrode sensors being located on girt in acoustic-electric magnetic measurement unit and positioned at vertical instrument room
In 2 electrode sensors obtain 6 electrode signals, signal is pre-processed, obtain measurement point electric field intensity signal；It takes
Electrode sensor on conplane girt is respectively 1,2,3, No. 4 by circumferential order, and is defined by No. 3 to 1
It number is the direction x, No. 4 to No. 2 are the direction y, and taking in vertical instrument room the electrode sensor of top is No. 5 electrodes, take vertical instrument
The electrode sensor of lower section is No. 6 electrodes in cabin, and defining No. 5 to No. 6 is z-axis positive direction；Electric plan range below No. 4 electrode spacings
It is d between No. 1, No. 3 and No. 2, No. 4 electrode distances for h；5, No. 6 interelectrode distances are h, and each electrode potential signal is
Then each electrode all directions electric field strength expression formula are as follows:
3) three-component fluxgate is obtained using the triaxial fluxgate magnetometer being located in the ball-type watertight instrument room to believe
Number；
4) using the attitude transducer signal being located in the ball-type watertight instrument room to the electric field strength, three-component magnetic
Open gate signal is corrected, and obtains measurement point three-component magnetic field strength and electric field strength；
5) sound, electricity, magnetic characteristic signal are realized into data wireless transmission by satellite communication.
Further, electric field intensity signal is corrected using the attitude transducer, including 4 steps:
1. calculating the transformed correction value in inclination angle according to attitude transducer dip angle parameter:
EInclination correction=Tq·EMeasured value (2)
Wherein, wherein TqFor inclination angle transformation matrix, provided by the attitude transducer；
2. the inclined error correction of desired axis between obliquity sensor and electrode ideal coordinates axis:
EDesired axis is corrected partially=Tx·Ty·Tz·EInclination correction (3)
Wherein, Tx, Ty, TzFor around three axis rotation matrix of ideal quadrature；
3. electrode ideal coordinates axis and the non-orthogonal amendment of practical three axis:
EActual axle is corrected partially=TEDesired axis is corrected partially (4)
Wherein, T is the non-orthogonal correction matrix of three axis of electrode sensor；
4. sensitivity and zero bias amendment:
EOutput=KEActual axle is corrected partially+E0 (5)
Wherein, K is sensitivity correction matrix, E0For zero bias correction matrix；
Electric field intensity signal processing mode is repeated to the three-component magnetic flux gate signal, final magnetic field strength correction value can be obtained
Are as follows:
BCorrection value=KTTx·Ty·Tz·Tq·BMeasured value+B0 (6)
B0For zero bias correction matrix, T is the non-orthogonal correction matrix of three axis of fluxgate sensor.
A kind of float type acoustic-electric magnetic of the invention integrates detection device and its detection method, and the more objects of sound, electricity, magnetic may be implemented
Manage field comprehensive survey, using the comprehensive location algorithm of multidimensional data integration technology and multiple physical field, using solar energy and lithium battery from
It holds power supply to combine, is based on domestic satellite, realize self poisoning and data wireless transmission, can be used for far-reaching sea police and guard against occasion.With
In the extraction of submarine target sound, electricity, magnetic feature, the parameter measuring device to the comprehensive positioning of target is realized.
Detailed description of the invention
Illustrate that the present invention is implemented or technical solution in the prior art in order to clearer, it below will be to embodiment or existing
Attached drawing needed in technical description is briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram that float type acoustic-electric magnetic of the present invention integrates detection device；
Fig. 2 is the system composition schematic diagram that float type acoustic-electric magnetic of the present invention integrates detection device.
Specific embodiment
Below in conjunction with attached drawing, the invention will be further described.
As shown in Figure 1, it includes shell mechanism, acoustic-electric magnetic measurement list that float type acoustic-electric magnetic of the invention, which integrates detection device,
Member, data acquisition unit, power supply unit and condition monitoring unit.
2 top of ball-type watertight instrument room is transparent glass steel material, and underlying first layer is solar panels, and instrument room lower part is
Without magnetic material, it is located under water, is MPPT controller below solar panel.Inside by acoustic-electric magnetic measurement unit, number adopt and communication unit,
Power supply unit and condition monitoring unit are constituted.Measuring unit includes hydrophone, electrode sensor, three-component fluxgate sensing
Device；Number is adopted and communication unit is adopted by number, data preprocessing module and communication module are constituted；Power supply unit is by lithium battery and for fulgurite
Manage module；Condition monitoring unit is made of pressure sensor, attitude transducer and temperature sensor.
The shell mechanism is laid for each functional unit, including ball-type watertight instrument room 2, is located at ball-type watertight instrument
The annular rod structure 1 of 2 periphery of cabin is configured with vertical instrument room 4 in the lower section of ball-type watertight instrument room 2, which is in
Elongated cone rod structure further includes showing in Fig. 1 above vertical instrument room 4 around multiple girts 3 of its periphery setting
It is out 4.Wherein annular the laying and recycling for detection device of rod structure 1；It include power management mould in ball-type instrument room 2
Block, lithium battery, communication module, magnetic field sensor, attitude transducer and temperature sensor；Girt 3 is for keeping detection
The stable structure balance of device is made of 4 single arm(ed) levers, and an electrode sensor is laid in each single arm(ed) lever；Vertical instrument
It include hydrophone, pressure sensor, conductivity sensor and 2 electrode sensors in cabin 4.
In one embodiment, the girt is four, and respectively circumference is arranged, it is possible thereby to equably measure two
The magnetic-field component of dimensional plane.
The acoustic-electric magnetic measurement unit is by hydrophone, triaxial fluxgate magnetometer, three-dimensional highly sensitive electrode sensor
It constitutes, wherein hydrophone 1, is arranged in vertical instrument room；Triaxial fluxgate magnetometer is located at the ball-type watertight instrument of upper end
Cabin；Three-dimensional high sensitivity electrode sensor totally 6, wherein 2 are only positioned at vertical instrument room, 4 are located at girt.
The number is adopted and communication unit is used to carry out the acquisition, conversion and transmission of data, and measured analog signal is turned
It is melted into digital signal, and carries out digital filtering and useful signal extraction, passes through satellite communication module and realizes self poisoning and data
Wireless transmission.
Said supply unit is made of lithium battery, power supervisor, solar panel and MPPT controller, and lithium battery is used
In power supply of controlling oneself, solar panels receive solar energy, and power supervisor can realize solar powered and power supply of controlling oneself coordinated management.
The condition monitoring unit contains pressure sensor, attitude transducer, temperature sensor, wherein pressure sensor and temperature
Spend sensor be used for monitoring device present position depth and temperature information, attitude transducer can monitoring device posture information, be used for
Measuring signal correction.
As shown in Fig. 2, the integrated detection device wherein ball-type instrument room have power supply unit, condition monitoring unit and number adopt and
Communication unit, power supply unit are made of lithium battery, power supervisor and MPPT controller, and lithium battery is for power supply of controlling oneself, the sun
Energy plate receives solar energy, and MPPT controller understands the maximum power point in real-time tracking solar panels to play the maximum of solar panels
Effect.Power supervisor can realize solar powered and power supply of controlling oneself coordinated management, be all electricity by transformation of electrical energy unit
Road module and sensor power supply；Condition monitoring unit triaxial fluxgate magnetometer, temperature sensor and attitude transducer structure
At for monitoring device present position depth, temperature information and measuring signal correction；Data and communication unit are by digital filtering
Device, difference acquisition module, preamplifier, AD conversion module, digital signal processor, satellite communication module and locating module group
At for the synchronous acquisition of information, Signal Pretreatment, information transmitting and self poisoning；Girt structure includes electrode sensing
Device 4；Vertical instrument room includes electrode sensor 2, hydrophone, pressure sensor and conductivity sensor.
Each sensor works together, and 6 electrode sensor electric potential signals pass through difference acquisition module and preamplifier, warp
It crosses AD conversion module and digital signal processor useful signal extracts, obtain measuring device central point electric field strength；Sound pressure information,
Pressure information, conductivity information, temperature information, Magnetic Field are reached at digital signal by digital filter and AD conversion module
Device is managed to obtain；Electric field signal carries out processing by 6 electrode sensor electric potential signals and obtains measuring device central point electric field strength；Magnetic
Field signal obtains measurement plantation central point magnetic field strength by 1 triaxial fluxgate magnetometer combination attitude transducer.
Further, the detection method of the integrated detection device includes:
1) hydrophone signals, sound pressure signal p are obtained；
2) 6 electrode signals are obtained, signal is pre-processed, obtain measurement point electric field intensity signal；It takes in same
The electrode of one plane is respectively 1,2,3, No. 4 by circumferential order, and defining by No. 3 to No. 1 is the direction x, and No. 4 to No. 2 are the side y
To taking upper electrode is No. 5 electrodes, and No. 6 electrodes of lower electrode, defining No. 5 to No. 6 is z-axis positive direction；Below No. 4 electrode spacings
Electric plan range is h, is d between No. 1, No. 3 and No. 2, No. 4 electrode distances；5, No. 6 interelectrode distances are h, each electrode potential letter
Number it isThen each electrode all directions electric field strength expression formula are as follows:
It is modified in conjunction with attitude transducer, which can be reduced to 4 steps:
1. calculating the transformed correction value in inclination angle according to attitude transducer dip angle parameter:
EInclination correction=Tq·EMeasured value (2)
Wherein, wherein TqFor inclination angle transformation matrix.
2. the inclined error correction of desired axis between obliquity sensor and electrode ideal coordinates axis:
EDesired axis is corrected partially=Tx·Ty·Tz·EInclination correction (3)
Wherein, Tx, Ty, TzFor around three axis rotation matrix of ideal quadrature.
3. electrode ideal coordinates axis and the non-orthogonal amendment of practical three axis:
EActual axle is corrected partially=TEDesired axis is corrected partially (4)
Wherein, T is the non-orthogonal correction matrix of three axis of electrode sensor.
4. sensitivity and zero bias amendment:
EOutput=KEActual axle is corrected partially+E0 (5)
Wherein, K is sensitivity correction matrix, E0For zero bias correction matrix.
It is above-mentioned around three axis rotation matrix of ideal quadrature, the non-orthogonal correction matrix of three axis of Magnetic Sensor, sensitivity correction matrix,
Zero bias correction matrix is the conventional matrix.
3) three-component magnetic flux gate signal is obtained, is corrected in conjunction with attitude transducer, it is strong to obtain measurement point three-component magnetic field
Degree repeats electric field signal processing mode, can obtain final magnetic field strength correction value are as follows:
BCorrection value=KTTx·Ty·Tz·Tq·BMeasured value+B0 (6)
Wherein K is sensitivity correction matrix, B0For zero bias correction matrix, T is the non-orthogonal amendment of three axis of fluxgate sensor
Matrix, Tx, Ty, TzFor around three axis rotation matrix of ideal quadrature.
4) sound electromagnetic signature is realized into data wireless transmission by satellite communication.
Although having been combined related embodiment to the present invention have been described in detail, for those skilled in the art
Speech, that is done without departing from the spirit and substance of the case in the present invention respectively makes an amendment, replaces and deformation, each falls within guarantor of the invention
It protects among range.
Claims (7)
1. a kind of float type acoustic-electric magnetic integrates detection device, which is characterized in that including ball-type watertight instrument room, the ball-type watertight
Instrument room top is transparent glass steel material, and the ball-type watertight instrument room lower part is no magnetic material, is located at underwater；It further include position
Annular rod structure in ball-type watertight instrument room periphery, for the float type acoustic-electric magnetic integrate detection device lay and
Recycling；In the lower section of the ball-type watertight instrument room, the vertical instrument room is in elongated cone bar knot for the vertical instrument room configuration
Structure；It further include above vertical instrument room around multiple girts of its periphery setting；
It further include acoustic-electric magnetic measurement unit, for measuring the sound, electricity, magnetic signal of water body；Number is adopted and communication unit, for that will measure
Sound, electricity, the magnetic signals to outside arrived；Power supply unit is supplied for integrating detection device to the float type acoustic-electric magnetic
Electricity and condition monitoring unit are monitored for integrating detection device to the float type acoustic-electric magnetic.
2. a kind of float type acoustic-electric magnetic according to claim 1 integrates detection device, which is characterized in that the measuring unit
Hydrophone including the sound pressure signal for measuring water body, the hydrophone are arranged in the vertical instrument room；It further include using
In the triaxial fluxgate magnetometer of the magnetic field intensity signal of measurement water body, the triaxial fluxgate magnetometer is arranged described
In ball-type watertight instrument room；It further include electrode sensor；Electrode sensing is equipped in each of the multiple girt
Device, is also configured with electrode sensor in the vertical instrument room, and the electrode sensor is used to measure the electric field strength of water body
Signal.
3. a kind of float type acoustic-electric magnetic according to claim 2 integrates detection device, which is characterized in that
The number adopt and communication unit configuration in the ball-type watertight instrument room comprising number adopt, data preprocessing module and
Communication module is constituted；Number is adopted, data preprocessing module includes difference acquisition module, the letter for measuring the electrode sensor
Number it is transmitted to preamplifier, and is further transmitted to AD conversion module；It further include digital filter, for listening the water
The signal that device, triaxial fluxgate magnetometer measure is transmitted to the AD conversion module, the AD conversion module after being filtered
After the analog signal received is converted to digital signal and is transferred to digital signal processor progress useful signal extraction, then lead to
It crosses communication module and is delivered to the external world.
4. a kind of float type acoustic-electric magnetic according to claim 2 integrates detection device, which is characterized in that said supply unit
Including configuring lithium battery and power supply management module in the ball-type watertight instrument room；The lithium battery is powered for controlling oneself,
It further include solar panels for receiving solar energy, the power supply management module includes power supervisor and MPPT controller, is used for
Realize solar powered and power supply of controlling oneself coordinated management；The MPPT controller is for the maximum in real-time tracking solar panels
Power points is to play the maximum effects of solar panels.
5. a kind of float type acoustic-electric magnetic according to claim 1 integrates detection device, which is characterized in that the condition monitoring
Unit includes the pressure sensor configured in the vertical instrument room, for monitoring the integrated detection dress of the float type acoustic-electric magnetic
Set the depth of present position；It further include the attitude transducer and temperature sensor in the ball-type watertight instrument room, it is described
Temperature sensor is used to monitor the temperature information that the float type acoustic-electric magnetic integrates detection device present position, the posture sensing
Device is used to monitor the posture information that the float type acoustic-electric magnetic integrates detection device, to carry out signal correction.
6. a kind of detection method of the integrated detection device of float type acoustic-electric magnetic described in -5 any one according to claim 1,
Be characterized in that the following steps are included:
1) it is measured using the hydrophone of acoustic-electric magnetic measurement unit, obtains sound pressure signal p；
2) using 4 electrode sensors being located on girt in acoustic-electric magnetic measurement unit and in vertical instrument room
2 electrode sensors obtain 6 electrode signals, pre-process to signal, obtain measurement point electric field intensity signal；It takes and is in
Electrode sensor on conplane girt is respectively 1,2,3, No. 4 by circumferential order, and defining by No. 3 to No. 1 is x
Direction, No. 4 to No. 2 are the direction y, and taking the electrode sensor of top in vertical instrument room is No. 5 electrodes, under taking in vertical instrument room
The electrode sensor of side is No. 6 electrodes, and defining No. 5 to No. 6 is z-axis positive direction；Electric plan ranges are h below No. 4 electrode spacings, 1
Number, be d between No. 3 and No. 2, No. 4 electrode distances；5, No. 6 interelectrode distances are h, and each electrode potential signal isIt is then each
Electrode all directions electric field strength expression formula are as follows:
3) three-component magnetic flux gate signal is obtained using the triaxial fluxgate magnetometer being located in the ball-type watertight instrument room；
4) using the attitude transducer signal being located in the ball-type watertight instrument room to the electric field strength, three-component fluxgate
Signal is corrected, and obtains measurement point three-component magnetic field strength and electric field strength；
5) sound, electricity, magnetic characteristic signal are realized into data wireless transmission by satellite communication.
7. the detection method that a kind of float type acoustic-electric magnetic according to claim 6 integrates detection device, which is characterized in that benefit
Electric field intensity signal is corrected with the attitude transducer, including 4 steps:
1. calculating the transformed correction value in inclination angle according to attitude transducer dip angle parameter:
EInclination correction=Tq·EMeasured value (2)
Wherein, wherein TqFor inclination angle transformation matrix, provided by the attitude transducer；
2. the inclined error correction of desired axis between obliquity sensor and electrode ideal coordinates axis:
EDesired axis is corrected partially=Tx·Ty·Tz·EInclination correction (3)
Wherein, Tx, Ty, TzFor around three axis rotation matrix of ideal quadrature；
3. electrode ideal coordinates axis and the non-orthogonal amendment of practical three axis:
EActual axle is corrected partially=TEDesired axis is corrected partially (4)
Wherein, T is the non-orthogonal correction matrix of three axis of electrode sensor；
4. sensitivity and zero bias amendment:
EOutput=KEActual axle is corrected partially+E0 (5)
Wherein, K is sensitivity correction matrix, E0For zero bias correction matrix；
Electric field intensity signal processing mode is repeated to the three-component magnetic flux gate signal, final magnetic field strength correction value can be obtained are as follows:
BCorrection value=KTTx·Ty·Tz·Tq·BMeasured value+B0 (6)。
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111337870A (en) * | 2020-04-17 | 2020-06-26 | 中国人民解放军海军装备部驻沈阳地区军事代表局驻大连地区第一军事代表室 | Three-axis electric field correction method based on Euler formula |
| CN111510858A (en) * | 2020-05-15 | 2020-08-07 | 江苏伏波海洋探测科技有限公司 | Detection early warning positioning buoy for electric fish device |
| CN113156545A (en) * | 2020-01-07 | 2021-07-23 | 中国科学院国家空间科学中心 | Electric field and magnetic field in-place detection equipment for floating platform |
| CN113311503A (en) * | 2021-05-27 | 2021-08-27 | 中国海洋大学 | Underwater acoustic-magnetic-electric integrated target detection device, method and application |
| IT202200001118A1 (en) * | 2022-01-24 | 2023-07-24 | Daces Srls | Unmanned maritime surveillance platform |
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| CN111337870A (en) * | 2020-04-17 | 2020-06-26 | 中国人民解放军海军装备部驻沈阳地区军事代表局驻大连地区第一军事代表室 | Three-axis electric field correction method based on Euler formula |
| CN111337870B (en) * | 2020-04-17 | 2021-07-06 | 中国人民解放军海军装备部驻沈阳地区军事代表局驻大连地区第一军事代表室 | Three-axis electric field correction method based on Euler formula |
| CN111510858A (en) * | 2020-05-15 | 2020-08-07 | 江苏伏波海洋探测科技有限公司 | Detection early warning positioning buoy for electric fish device |
| CN113311503A (en) * | 2021-05-27 | 2021-08-27 | 中国海洋大学 | Underwater acoustic-magnetic-electric integrated target detection device, method and application |
| IT202200001118A1 (en) * | 2022-01-24 | 2023-07-24 | Daces Srls | Unmanned maritime surveillance platform |
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