CN109633539B - Static positioning device and static positioning method for magnetic source - Google Patents

Abstract

The invention provides a static positioning device and a static positioning method of a magnetic source, wherein the static positioning device comprises: a mounting bracket for providing a mounting platform; the full tensor magnetic gradient measurement assembly is arranged on the mounting bracket and is used for measuring the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement assembly; the position locator is rigidly connected with the full tensor magnetic gradient measurement assembly and is used for measuring the position coordinates of the full tensor magnetic gradient measurement assembly under a geographic coordinate system; and the measurement and control assembly is electrically connected with the full tensor magnetic gradient measurement assembly and the position positioner and is used for acquiring the magnetic field gradient value and the position coordinate and positioning the magnetic source to be positioned in a motion state in real time according to acquired data. The invention solves the problem that the moving magnetic source cannot be positioned efficiently in the prior art.

Description

A static positioning device and static positioning method for a magnetic source

technical field

The invention belongs to the field of magnetic detection, in particular to a static positioning device and a static positioning method for a magnetic source.

Background technique

The full tensor magnetic gradient describes the change rate information of the magnetic field vector in three-dimensional space, that is, the gradient of the three components of the magnetic field vector in three directions in space. The measurement results of the full tensor magnetic gradient have the advantages of being less affected by the magnetization direction, can reflect the vector magnetic moment information of the target body, and can better invert the field source parameters (orientation, magnetic moment, etc.), so it can be used for the field source Carry out positioning and tracking, and improve the resolution of the magnetic source body.

In the current known magnetic source positioning methods, the total field information of the magnetic source is usually required to locate the moving magnetic source, but it is difficult to accurately measure the total field information of the moving magnetic source due to the fluctuation of the earth’s magnetic field in the actual measurement process, thus As a result, the positioning accuracy of existing positioning methods is limited. Therefore, how to provide a high-precision moving magnetic source positioning method is an urgent technical problem to be solved by those skilled in the art.

Contents of the invention

In view of the above-mentioned shortcomings of the prior art, the object of the present invention is to provide a static positioning device and a static positioning method for a magnetic source, which are used to solve the problem that the moving magnetic source cannot be efficiently positioned in the prior art.

In order to achieve the above purpose and other related purposes, the present invention provides a static positioning device for a magnetic source, the static positioning device includes:

The mounting bracket is used to provide a mounting platform;

The full tensor magnetic gradient measurement component is arranged on the installation bracket, and is used to measure the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement component;

A position locator, rigidly connected to the full tensor magnetic gradient measurement component, for measuring the position coordinates of the full tensor magnetic gradient measurement component in the geographic coordinate system;

The measurement and control component is electrically connected to the full tensor magnetic gradient measurement component and the position locator, and is used to collect the magnetic field gradient value and the position coordinates, and to locate the to-be-positioned object in a moving state according to the collected data. Magnetic source for real-time positioning.

Optionally, the full tensor magnetic gradient measurement component includes: at least one magnetometer.

Optionally, the installation bracket includes a cryogenic container, which is used to provide an installation platform for the full tensor magnetic gradient measurement assembly, and provide a low temperature environment for the full tensor magnetic gradient measurement assembly.

Optionally, the full tensor magnetic gradiometer measurement component includes: at least one planar gradiometer.

Optionally, the cryogenic container includes a cryogenic Dewar.

Optionally, the position locator includes: a differential GPS receiver or an integrated inertial navigation.

The present invention also provides a static positioning method for a magnetic source, the static positioning method comprising:

Build a static positioning device as described above;

When the magnetic source to be positioned is in a static state, obtain the magnetic field gradient values generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement components at two selected measuring points in the static state, and obtain two selected The position coordinates of the full tensor magnetic gradient measurement component of the measuring point, so as to obtain the initial position coordinates of the magnetic source to be positioned in a static state according to the full tensor invariant;

When the magnetic source to be positioned is in a moving state, obtain the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement component at any one of the selected measuring points in the moving state;

Establishing a distance ratio model between the full tensor magnetic gradient measurement component and the magnetic source to be located according to the full tensor invariant, so as to realize the magnetic field gradient values, The initial position coordinates of the magnetic source to be located and the position coordinates corresponding to the selected measuring point obtain the real-time position coordinates of the magnetic source to be located in a moving state.

Optionally, the method for obtaining the magnetic field gradient values generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement components at two selected measuring points in a static state includes: obtaining the magnetic source to be positioned in a static state The magnetic field gradient values generated at the full tensor magnetic gradient measurement components at different measuring points, and the signal-to-noise ratio comparison is performed on the magnetic field gradient values corresponding to different measuring points to select two optimal signal-to-noise ratios. The magnetic field gradient value; wherein, the selected measuring points corresponding to the two magnetic field gradient values are used as the selected measuring points.

Optionally, the method for obtaining the position coordinates of the full tensor magnetic gradient measurement component includes: obtaining the position coordinates of the position locator, and obtaining the distance between the full tensor magnetic gradient measurement component and the position locator The offset amount; based on the offset amount, the position coordinates are corrected to obtain the position coordinates of the full tensor magnetic gradient measurement component.

Optionally, the method for obtaining the initial position coordinates of the magnetic source to be located includes:

Acquire the unit of the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to the two selected measuring points in a static state according to the magnetic field gradient values corresponding to the two selected measuring points and the full tensor invariant vector;

According to the position coordinates corresponding to the two selected measuring points and the unit vector of the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to the two selected measuring points in a static state, a space linear model is established to obtain the Describe the initial position coordinates of the magnetic source to be located.

Optionally, the method for obtaining the unit vector of the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to two selected measuring points in a static state includes:

Obtaining the full tensor magnetic gradient matrix eigenvalues corresponding to the two selected measuring points respectively according to the magnetic field gradient values corresponding to the two selected measuring points;

According to the eigenvalues of the full tensor magnetic gradient matrix corresponding to the two selected measuring points, the minimum absolute eigenvalues of the full tensor magnetic gradient matrix corresponding to the two selected measuring points are respectively obtained, and according to the full tensor magnetic gradient matrix corresponding to the two selected measuring points The minimum absolute eigenvalue of the matrix obtains a reference direction vector; wherein, the reference direction vector is parallel to the direction vector of the magnetic moment of the magnetic source to be located in a static state;

确定静止状态下所述待定位磁源的磁矩矢量的单位向量，从而获取静止状态下所述待定位磁源到两选定测点的所述全张量磁梯度测量组件的位置矢量的单位向量；其中，MT为全张量不变量，λ₁、λ₂、λ₃为全张量磁梯度矩阵特征值，μ₀为真空磁导率，M为待定位磁源的磁矩的模，R为全张量磁梯度测量组件与待定位磁源之间的距离。According to the full tensor invariant

Determine the unit vector of the magnetic moment vector of the magnetic source to be positioned in the static state, thereby obtaining the unit of the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to the two selected measuring points in the static state vector; where, MT is the full tensor invariant, λ ₁ , λ ₂ , λ ₃ are the eigenvalues of the full tensor magnetic gradient matrix, μ ₀ is the vacuum permeability, M is the modulus of the magnetic moment of the magnetic source to be positioned, R is the distance between the full tensor magnetic gradient measurement component and the magnetic source to be located.

Optionally, the method for obtaining the reference direction vector includes: obtaining the corresponding eigenvector according to the minimum absolute eigenvalue of the full tensor magnetic gradient matrix corresponding to the two selected measuring points, and obtaining the vector product to obtain the reference direction vector.

及两选定测点对应的全张量磁梯度矩阵特征值判断静止状态下所述待定位磁源到两选定测点的所述全张量磁梯度测量组件的距离远近，从而确定静止状态下所述待定位磁源的磁矩矢量的单位向量。Optionally, the method for determining the unit vector of the magnetic moment vector of the magnetic source to be located in the static state includes: according to the full tensor invariant

and the eigenvalues of the full tensor magnetic gradient matrix corresponding to the two selected measuring points to judge the distance from the magnetic source to be positioned to the full tensor magnetic gradient measuring components of the two selected measuring points in the static state, thereby determining the static state The unit vector of the magnetic moment vector of the magnetic source to be located described below.

和

其中，x、y、z是所述待定位磁源的初始位置坐标，A_x、A_y、A_z是一选定测点的所述全张量磁梯度测量组件的位置坐标，P_A、Q_A、H_A是静止状态下所述待定位磁源到一选定测点的所述全张量磁梯度测量组件的位置矢量的单位向量，B_x、B_y、B_z是另一选定测点的所述全张量磁梯度测量组件的位置坐标，P_B、Q_B、H_B是静止状态下所述待定位磁源到另一选定测点的所述全张量磁梯度测量组件的位置矢量的单位向量。Optionally, the space linear model includes:

and

Wherein, x, y, z are the initial position coordinates of the magnetic source to be located, A _x , A _y , A _z are the position coordinates of the full tensor magnetic gradient measurement component at a selected measuring point, _PA , Q _A , H _A are the unit vectors of the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to a selected measuring point in a static state, and B _x , By _y , B _z are another options The position coordinates of the full tensor magnetic gradient measurement component of the fixed measuring point, P _B , Q _B , H _B are the described full tensor magnetic gradients from the magnetic source to be positioned to another selected measuring point in a static state A unit vector that measures the component's position vector.

建立所述全张量磁梯度测量组件与所述待定位磁源之间的距离比值模型

其中，MT为全张量不变量，MT₁为静止状态下的待定位磁源在同一测点的全张量磁梯度测量组件处产生的全张量不变量，MT₂为运动状态下的待定位磁源在同一测点的全张量磁梯度测量组件处产生的全张量不变量，λ₁、λ₂、λ₃为全张量磁梯度矩阵的特征值，μ₀为真空磁导率，M为待定位磁源的磁矩的模，R为全张量磁梯度测量组件与待定位磁源之间的距离，R₁为同一测点处全张量磁梯度测量组件与静止状态下的待定位磁源之间的距离，R₂为同一测点处全张量磁梯度测量组件与运动状态下的待定位磁源之间的距离。Optionally, the method for establishing the distance ratio model between the full tensor magnetic gradient measurement component and the magnetic source to be located according to the full tensor invariant includes: according to the full tensor invariant

Establishing a distance ratio model between the full tensor magnetic gradient measurement component and the magnetic source to be located

Among them, MT is the full tensor invariant, MT ₁ is the full tensor invariant generated by the magnetic source to be located in the static state at the full tensor magnetic gradient measurement component at the same measuring point, and MT ₂ is the undetermined magnetic source in the moving state The full tensor invariant produced by the bit magnetic source at the full tensor magnetic gradient measurement component at the same measuring point, λ ₁ , λ ₂ , λ ₃ are the eigenvalues of the full tensor magnetic gradient matrix, and μ ₀ is the vacuum permeability , M is the modulus of the magnetic moment of the magnetic source to be positioned, R is the distance between the full tensor magnetic gradient measurement component and the magnetic source to be positioned, R ₁ is the distance between the full tensor magnetic gradient measurement component at the same measuring point and the static state _R2 is the distance between the full tensor magnetic gradient measurement component at the same measuring point and the magnetic source to be located in the moving state.

Optionally, the method for obtaining the real-time position coordinates of the magnetic source to be positioned in a moving state includes:

According to the magnetic field gradient value generated at the full tensor magnetic gradient measurement component of the selected measuring point by the magnetic source to be positioned in the moving state, the distance from the magnetic source to be positioned to the selected measuring point in the moving state is obtained. The unit vector of the position vector of the full tensor magnetic gradient measurement component;

According to the distance ratio model between the full tensor magnetic gradient measurement component and the magnetic source to be located, the magnetic field gradient values in different states corresponding to the same selected measuring point, and the initial position of the magnetic source to be located The coordinates and the position coordinates corresponding to the selected measuring point obtain the distance between the full tensor magnetic gradient measurement component of the selected measuring point and the magnetic source to be positioned in the motion state;

According to the distance between the full tensor magnetic gradient measurement component at the selected measuring point and the magnetic source to be positioned in the moving state and the full distance from the magnetic source to be positioned to the selected measuring point in the moving state The unit vector of the position vector of the tensor magnetic gradient measurement component obtains the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to the selected measuring point in the motion state, thereby obtaining the position to be determined in the motion state The real-time position coordinates of the bit magnetic source.

As mentioned above, a static positioning device and a static positioning method for a magnetic source of the present invention use a static positioning device composed of a mounting bracket or a cryogenic container, a full tensor magnetic gradient measurement component, a position locator, and a measurement and control component to first obtain the magnetic field. The initial position coordinates of the source in a static state, and then obtain the magnetic field gradient value corresponding to the magnetic source in a moving state, so as to obtain the real-time position coordinates of the magnetic source in a moving state according to the distance ratio model; when obtaining the initial position coordinates, Collect the magnetic field gradient value at the full tensor magnetic gradient measurement component from the magnetic source to the two selected measuring points, and combine the attitude-independent full tensor invariant to obtain the full tensor magnetic gradient measurement from the magnetic source to the two selected measuring points The unit vector of the position vector of the component, and remove the virtual solution, and then combine the position coordinates of the two selected measuring points to establish a space linear model to obtain the initial position coordinates of the magnetic source in the static state. It can be seen that the static positioning method of the present invention does not need to know the total field information of the magnetic source, only the initial position coordinates of the magnetic source in the static state, the magnetic field gradient value and the distance ratio model of the magnetic source in the moving state can realize the magnetic source positioning. High-precision real-time positioning in a moving state; at the same time, the static positioning device and static positioning method of the present invention can give full play to the sensitivity advantages of the full tensor magnetic gradient measurement component based on the superconducting magnetic sensor, and realize long-distance high-precision real-time positioning ; Moreover, the static positioning device and the static positioning method of the present invention are simple, quick and easy to implement, and are very suitable for application in the field of magnetic positioning measurement.

Description of drawings

FIG. 1 is a schematic structural diagram of a magnetic source static positioning device according to Embodiment 1 of the present invention.

Fig. 2 is a schematic structural diagram of the magnetic source static positioning device according to the second embodiment of the present invention.

Fig. 3 is a flow chart of the magnetic source static positioning method according to the third embodiment of the present invention.

4 is a schematic diagram showing the distribution of the magnetic source to be located when there is a virtual solution in Embodiment 3 of the present invention. In the figure, A is the real magnetic source, A' is the virtual solution, B1 is the first measuring point, and B2 is the second measuring point.

Component designation description

100 static positioning device for magnetic source

101 Mounting bracket

102 Full tensor magnetic gradient measurement component

103 Position Locator

104 Measurement and control components

200 ground

300 Magnetic sources to be located

400 static positioning device for magnetic source

401 Cryogenic container

402 Full tensor magnetic gradient measurement component

403 Location Locator

404 Measurement and Control Components

Detailed ways

Embodiments of the present invention are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation modes, and various modifications or changes can be made to the details in this specification based on different viewpoints and applications without departing from the spirit of the present invention.

See Figures 1 through 4. It should be noted that the diagrams provided in this embodiment are only schematically illustrating the basic idea of the present invention, so that only the components related to the present invention are shown in the diagrams rather than the number, shape and Dimensional drawing, the shape, quantity and proportion of each component can be changed arbitrarily during actual implementation, and the layout of the components may also be more complicated.

Embodiment one

As shown in FIG. 1 , this embodiment provides a static positioning device for a magnetic source, and the static positioning device 100 includes:

The mounting bracket 101 is used to provide a mounting platform;

The full tensor magnetic gradient measurement component 102 is arranged on the mounting bracket 101, and is used to measure the magnetic field gradient value generated by the magnetic source 300 to be positioned at the full tensor magnetic gradient measurement component 102;

A position locator 103, rigidly connected to the full tensor magnetic gradient measurement assembly 102, for measuring the position coordinates of the full tensor magnetic gradient measurement assembly 102 in the geographic coordinate system;

The measurement and control component 104 is electrically connected to the full tensor magnetic gradient measurement component 102 and the position locator 103, and is used to collect the magnetic field gradient value and the position coordinates, and to monitor the motion state according to the collected data. The magnetic source 300 to be positioned is used for real-time positioning.

As an example, the mounting bracket 101 is any structure capable of mounting and fixing, and this embodiment does not limit the specific structure of the mounting bracket 101 . Specifically, as shown in FIG. 1, the installation bracket 101 includes three levels, wherein the full tensor magnetic gradient measurement assembly 102 is installed on the first level of the installation bracket 101 (ie, the bottom of the installation bracket 101) , the position locator 103 is installed on the third level of the installation bracket 101 (ie, the upper part of the installation bracket 101), and the measurement and control component 104 is installed on the second level of the installation bracket 101 (ie, the middle of the installation bracket 101 ); Of course, in other embodiments, the levels where the full tensor magnetic gradient measurement assembly 102, the position locator 103 and the measurement and control assembly 104 are located can be interchanged, and this embodiment does not apply to the full tensor magnetic Gradient measurement component 102, the position locator 103 and the measurement and control component 104 limit the vertical position relationship, and the position locator 103 and the measurement and control component 104 may not be installed on the installation bracket 101, that is, the The position locator 103 and the measurement and control component 104 are installed outside the installation bracket 101 .

As an example, the full tensor magnetic gradient measurement component 102 includes: at least one magnetometer, that is, the full tensor magnetic gradient measurement component 102 is formed by building at least one magnetometer according to a certain physical configuration. It should be noted that the final structure of the full tensor magnetic gradient measurement assembly 102 is determined by the quantity of the magnetometers and the physical configuration of the building, that is to say, different numbers of magnetometers have different physical configurations. The final structure of the full tensor magnetic gradient measurement assembly 102 formed by building is different, but the static positioning device described in this embodiment is applicable to any final structure of the full tensor magnetic gradient measurement assembly 102 . It should be particularly noted that since the full tensor magnetic gradient measurement component 102 in this embodiment is a non-superconducting device, it works in a normal temperature environment.

As an example, the position locator 103 includes: a differential GPS receiver or an integrated inertial navigation system. Specifically, when there is no spatial distance between the full tensor magnetic gradient measurement component 102 and the position locator 103, a differential GPS receiver is used to measure the position coordinates of the full tensor magnetic gradient measurement component 102, namely The position coordinates of the differential GPS receiver are the position coordinates of the full tensor magnetic gradient measurement assembly 102; Inertial navigation measures the position coordinates of the full tensor magnetic gradient measurement component 102, that is, the coordinate point offset setting function of the combined inertial navigation is used to directly measure the full tensor magnetic gradient measurement component 102 and the position locator 103, and based on the offset, the measured position coordinates (that is, the position coordinates of the integrated inertial navigation) are corrected, so as to obtain the position coordinates of the full tensor magnetic gradient measurement assembly 102. It should be noted that measuring the position coordinates through a differential GPS receiver, measuring the position coordinates by combining inertial navigation, measuring the offset, and correcting the position coordinates based on the offset are all known to those skilled in the art, so here No longer.

As an example, the measurement and control component 104 is any existing device capable of collecting and processing magnetic field gradient values and position coordinates, and this embodiment does not limit the structure of the measurement and control component 104 .

Embodiment two

As shown in FIG. 2 , this embodiment provides a static positioning device for a magnetic source, and the static positioning device 400 includes:

The cryogenic container 401 is used to provide an installation platform and provide a low temperature environment;

The full tensor magnetic gradient measurement component 402 is arranged in the cryogenic container 401, and is used to measure the magnetic field gradient value generated by the magnetic source 300 to be positioned at the full tensor magnetic gradient measurement component 402;

A position locator 403, rigidly connected to the full tensor magnetic gradient measurement assembly 402, for measuring the position coordinates of the full tensor magnetic gradient measurement assembly 402 in the geographic coordinate system;

The measurement and control component 404 is electrically connected to the full tensor magnetic gradient measurement component 402 and the position locator 403, and is used to collect the magnetic field gradient value and the position coordinates, and to monitor the motion state according to the collected data. The magnetic source 300 to be positioned is used for real-time positioning.

As an example, the cryogenic container 401 includes a cryogenic Dewar, and the cryogenic Dewar is well known to those skilled in the art, so details will not be repeated here.

As an example, the full tensor magnetic gradient measurement component 402 includes: at least one planar gradiometer, that is, the full tensor magnetic gradient measurement component 402 is formed by building at least one planar gradiometer according to a certain physical configuration. It should be noted that the final structure of the full tensor magnetic gradiometer assembly 402 is determined by the number of the planar gradiometers and the physical configuration built, that is to say, different numbers of planar gradiometers have different physical configurations. The final structure of the full tensor magnetic gradient measurement assembly 402 formed by building is different, but the static positioning device described in this embodiment is applicable to any final structure of the full tensor magnetic gradient measurement assembly 402 . It should be particularly noted that since the full tensor magnetic gradient measurement component 402 in this embodiment is a superconducting device, it works in a low temperature environment.

As an example, the position locator 403 includes: a differential GPS receiver or an integrated inertial navigation system. Specifically, when there is no spatial distance between the full tensor magnetic gradient measurement component 402 and the position locator 403, a differential GPS receiver is used to measure the position coordinates of the full tensor magnetic gradient measurement component 402, namely The position coordinates of the differential GPS receiver are the position coordinates of the full tensor magnetic gradient measurement assembly 402; when there is a spatial distance between the full tensor magnetic gradient measurement assembly 402 and the position locator 403, the combined Inertial navigation measures the position coordinates of the full tensor magnetic gradient measurement component 402, that is, the coordinate point offset setting function of the combined inertial navigation is used to directly measure the full tensor magnetic gradient measurement component 402 and the position locator 403, and based on the offset, correct the measured position coordinates (that is, the position coordinates of the integrated inertial navigation), so as to obtain the position coordinates of the full tensor magnetic gradient measurement component 402. It should be noted that measuring the position coordinates through a differential GPS receiver, measuring the position coordinates by combining inertial navigation, measuring the offset, and correcting the position coordinates based on the offset are all known to those skilled in the art, so here No longer.

As an example, the measurement and control component 404 is any existing device capable of collecting and processing magnetic field gradient values and position coordinates, and this embodiment does not limit the structure of the measurement and control component 404 .

Embodiment three

As shown in FIG. 3 , this embodiment provides a static positioning method for a magnetic source, and the static positioning method includes:

Build the static positioning device as described in Embodiment 1 or Embodiment 2;

When the magnetic source to be positioned is in a static state, obtain the magnetic field gradient values generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement components at two selected measuring points in the static state, and obtain two selected The position coordinates of the full tensor magnetic gradient measurement component of the measuring point, so as to obtain the initial position coordinates of the magnetic source to be positioned in a static state according to the full tensor invariant;

When the magnetic source to be positioned is in a moving state, obtain the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement component at any one of the selected measuring points in the moving state;

Establishing a distance ratio model between the full tensor magnetic gradient measurement component and the magnetic source to be located according to the full tensor invariant, so as to realize the magnetic field gradient values, The initial position coordinates of the magnetic source to be located and the position coordinates corresponding to the selected measuring point obtain the real-time position coordinates of the magnetic source to be located in a moving state.

It should be noted that for the composition and construction of the static positioning device described in this embodiment, please refer to Embodiment 1 or Embodiment 2 for details, and this embodiment will not describe the composition and construction of the static positioning device.

As an example, when the magnetic source to be positioned is in a static state, the static positioning device is transported to obtain the magnetic field gradient values and position coordinates corresponding to different measuring points. Specifically, the magnetic field gradient values and position coordinates corresponding to the two measuring points can be obtained by only carrying the static positioning device once; it is also possible to obtain the corresponding values of multiple different measuring points by carrying the static positioning device multiple times. magnetic field gradient value and position coordinates, and select two measuring points as the selected measuring points, thereby obtaining the magnetic field gradient value and position coordinates corresponding to the two selected measuring points; The static positioning device is used to obtain multiple measuring points, and the multiple measuring points are combined in pairs to obtain multiple sets of initial position coordinates, and finally the final initial position coordinates are obtained by calculating the average value. It should be noted that this embodiment can determine whether the magnetic source to be positioned is in a static state or a moving state by judging whether the full tensor magnetic gradient measured at a fixed point changes. Of course, it is determined whether the magnetic source to be positioned is in a static state Also, the motion state is not limited to the above methods, but since these methods are well known to those skilled in the art, they will not be repeated here.

Wherein, the method for obtaining the magnetic field gradient values generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement components at two selected measuring points in the static state includes: obtaining the magnetic source to be positioned in the static state at different The magnetic field gradient value generated at the full tensor magnetic gradient measurement component of the measuring point, and compare the signal-to-noise ratio of the magnetic field gradient values corresponding to different measuring points to select the two magnetic fields with the best signal-to-noise ratio Gradient value; wherein, the selected measuring points corresponding to the two magnetic field gradient values are used as the selected measuring points. It should be noted that the measurement of the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement component through the full tensor magnetic gradient measurement component and the calculation of the signal-to-noise ratio of the output signal are both basic It is well known to those skilled in the art, so it will not be repeated here.

Wherein, when there is no spatial distance between the full tensor magnetic gradient measurement component and the position locator, the full tensor magnetic gradient measurement can be directly obtained by the position locator (such as a differential GPS receiver) The position coordinates of the component, that is, the position coordinates of the position locator are the position coordinates of the full tensor magnetic gradient measurement component. When there is a spatial distance between the full tensor magnetic gradient measurement component and the position locator, the method for obtaining the position coordinates of the full tensor magnetic gradient measurement component includes: acquiring the position coordinates of the position locator, and Obtain an offset between the full tensor magnetic gradient measurement component and the position locator; correct the position coordinates based on the offset to obtain the position of the full tensor magnetic gradient measurement component coordinate. For example, using the coordinate point offset setting function of the combined inertial navigation to directly measure the offset between the full tensor magnetic gradient measurement component and the position locator, and measure its own position through the combined inertial navigation coordinates, and then correct the position coordinates based on the offset to obtain the position coordinates of the full tensor magnetic gradient measurement component. It should be noted that measuring the position coordinates through a differential GPS receiver or integrated inertial navigation, using the coordinate point offset setting function of the integrated inertial navigation to measure the offset, and correcting the position coordinates according to the offset are all those skilled in the art. known, so it will not be repeated here.

As an example, the method for obtaining the initial position coordinates of the magnetic source to be located includes:

Acquire the unit of the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to the two selected measuring points in a static state according to the magnetic field gradient values corresponding to the two selected measuring points and the full tensor invariant vector;

According to the position coordinates corresponding to the two selected measuring points and the unit vector of the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to the two selected measuring points in a static state, a space linear model is established to obtain the Describe the initial position coordinates of the magnetic source to be located.

Specifically, the method for obtaining the unit vector of the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to the two selected measuring points in the static state includes:

Obtaining the full tensor magnetic gradient matrix eigenvalues corresponding to the two selected measuring points respectively according to the magnetic field gradient values corresponding to the two selected measuring points;

According to the eigenvalues of the full tensor magnetic gradient matrix corresponding to the two selected measuring points, the minimum absolute eigenvalues of the full tensor magnetic gradient matrix corresponding to the two selected measuring points are respectively obtained, and according to the full tensor magnetic gradient matrix corresponding to the two selected measuring points The minimum absolute eigenvalue of the matrix obtains a reference direction vector; wherein, the reference direction vector is parallel to the direction vector of the magnetic moment of the magnetic source to be located in a static state;

确定静止状态下所述待定位磁源的磁矩矢量的单位向量，从而获取静止状态下所述待定位磁源到两选定测点的所述全张量磁梯度测量组件的位置矢量的单位向量；其中，MT为全张量不变量，λ₁、λ₂、λ₃为全张量磁梯度矩阵特征值，μ₀为真空磁导率，M为待定位磁源的磁矩的模，R为全张量磁梯度测量组件与待定位磁源之间的距离。According to the full tensor invariant

Determine the unit vector of the magnetic moment vector of the magnetic source to be positioned in the static state, thereby obtaining the unit of the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to the two selected measuring points in the static state vector; where, MT is the full tensor invariant, λ ₁ , λ ₂ , λ ₃ are the eigenvalues of the full tensor magnetic gradient matrix, μ ₀ is the vacuum permeability, M is the modulus of the magnetic moment of the magnetic source to be positioned, R is the distance between the full tensor magnetic gradient measurement component and the magnetic source to be located.

Wherein, the method for obtaining the eigenvalues of the full tensor magnetic gradient matrix corresponding to the two selected measuring points according to the magnetic field gradient values corresponding to the two selected measuring points respectively includes: according to the magnetic field gradient values corresponding to the two selected measuring points, respectively Obtain the full tensor magnetic gradient matrix corresponding to the two selected measuring points, and then respectively obtain the eigenvalues λ ₁ and λ ₂ of the full tensor magnetic gradient matrix corresponding to the two selected measuring points according to the full tensor magnetic gradient matrix , λ ₃ ; where, λ ₂ ≥λ ₃ ≥λ ₁ , |λ ₁ |≥|λ ₃ |, |λ ₂ |≥|λ ₃ |. It should be noted that obtaining the full tensor magnetic gradient matrix according to the magnetic field gradient value and obtaining the eigenvalues λ ₁ , λ ₂ , and λ ₃ of the full tensor magnetic gradient matrix according to the full tensor magnetic gradient matrix are well known to those skilled in the art , so it will not be repeated here.

m_s是参考方向向量，i、j、k分别是x、y、z轴方向的单位向量，V_3iA、V_3jA、V_3kA是一选定测点对应的全张量磁梯度矩阵最小绝对特征值的特征向量在x、y、z坐标系中的坐标，V_3iB、V_3jB、V_3kB是另一选定测点对应的全张量磁梯度矩阵最小绝对特征值的特征向量在x、y、z坐标系中的坐标。需要注意的是，本实施例所述全张量磁梯度矩阵最小绝对特征值是指全张量磁梯度矩阵特征值中绝对值最小的一个，即λ₃。Wherein, the method for obtaining the reference direction vector includes: obtaining the corresponding eigenvector according to the minimum absolute eigenvalue of the full tensor magnetic gradient matrix corresponding to the two selected measuring points, and obtaining the vector product of the two eigenvectors to obtain Get the reference direction vector. This embodiment utilizes the eigenvector corresponding to the minimum absolute eigenvalue of the full tensor magnetic gradient matrix to be perpendicular to the magnetic moment vector of the magnetic source to be located and the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be located to the selected measuring point ( That is V ₃ *m=0, wherein V ₃ is the eigenvector corresponding to the minimum absolute eigenvalue λ ₃ of the full tensor magnetic gradient matrix, and m is the magnetic moment vector of the magnetic source to be located), by corresponding to the two selected measuring points Eigenvector obtains the vector product, thereby obtains the reference direction vector parallel to the direction vector of the magnetic moment of the magnetic source to be positioned in the static state (that is, the vector product obtained is the reference direction vector); wherein the reference direction vector

m _s is the reference direction vector, i, j, k are unit vectors in the directions of x, y, and z axes respectively, V _3iA , V _3jA , V _3kA are the minimum absolute features of the full tensor magnetic gradient matrix corresponding to a selected measuring point The coordinates of the eigenvector of the value in the x, y, z coordinate system, V _3iB , V _3jB , V _3kB are the eigenvectors of the minimum absolute eigenvalues of the full tensor magnetic gradient matrix corresponding to another selected measuring point in x, y , coordinates in the z coordinate system. It should be noted that the smallest absolute eigenvalue of the full tensor magnetic gradient matrix in this embodiment refers to the one with the smallest absolute value among the eigenvalues of the full tensor magnetic gradient matrix, that is, λ ₃ .

和所述待定位磁源到选定测点的所述全张量磁梯度测量组件的位置矢量的单位向量

均可由全张量磁梯度矩阵特征值λ₁、λ₂、λ₃和绝对值较大的两个特征值λ₁、λ₂对应的特征向量V₁、V₂表示，即

和

其中

可见磁矩矢量的单位向量

和位置矢量的单位向量～r均存在虚解，但鉴于磁矩矢量和位置矢量的夹角是确定的，故磁矩矢量的单位向量

和位置矢量的单位向量

只有如下四种组合，也即存在3个虚解；而在已知所述参考方向向量平行于静止状态下所述待定位磁源的磁矩的方向向量时，可根据所述参考方向向量去除两个虚解；如图4所示，在已知所述参考方向向量时，可将位于第二象限和第四象限中的虚解去除。Due to the unit vector of the magnetic moment vector of the magnetic source to be positioned

and the unit vector of the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to the selected measuring point

Both can be expressed by the eigenvalues λ ₁ , λ ₂ , λ ₃ of the full tensor magnetic gradient matrix and the eigenvectors V ₁ and V ₂ corresponding to the two eigenvalues λ ₁ and λ ₂ with relatively large absolute values, namely

and

in

The unit vector of the visible magnetic moment vector

and the unit vector ~r of the position vector have virtual solutions, but since the angle between the magnetic moment vector and the position vector is determined, the unit vector of the magnetic moment vector

and the unit vector of the position vector

There are only the following four combinations, that is, there are 3 virtual solutions; and when the reference direction vector is known to be parallel to the direction vector of the magnetic moment of the magnetic source to be located in the static state, it can be removed according to the reference direction vector Two virtual solutions; as shown in FIG. 4 , when the reference direction vector is known, the virtual solutions located in the second quadrant and the fourth quadrant can be removed.

Combination one:

Combination two:

Combination three:

Combination four:

及两选定测点对应的全张量磁梯度矩阵特征值判断静止状态下所述待定位磁源到两选定测点的所述全张量磁梯度测量组件的距离远近，从而确定静止状态下所述待定位磁源的磁矩矢量的单位向量。本实施例通过全张量不变量

及两选定测点对应的全张量磁梯度矩阵特征值得到两选定测点对应的MT值，并根据MT值越大，所述待定位磁源距离该选定测点的所述全张量磁梯度测量组件的距离越近，以去除另一虚解，从而确定静止状态下所述待定位磁源的磁矩矢量的单位向量。如图4所示，根据全张量不变量

及两选定测点对应的全张量磁梯度矩阵特征值可知待定位磁源到选定测点B1的距离小于待定位磁源到选定测点B2的距离，即待定位磁源距离选定测点B1更近，从而将所述待定位磁源锁定在第三象限(即确定所述待定位磁源的磁矩矢量的单位向量)。Wherein, the method for determining the unit vector of the magnetic moment vector of the magnetic source to be positioned in the static state includes: according to the full tensor invariant

and the eigenvalues of the full tensor magnetic gradient matrix corresponding to the two selected measuring points to judge the distance from the magnetic source to be positioned to the full tensor magnetic gradient measuring components of the two selected measuring points in the static state, thereby determining the static state The unit vector of the magnetic moment vector of the magnetic source to be located described below. This embodiment adopts the full tensor invariant

and the eigenvalues of the full tensor magnetic gradient matrix corresponding to the two selected measuring points to obtain the MT values corresponding to the two selected measuring points, and according to the larger the MT value, the distance between the magnetic source to be positioned and the full tensor of the selected measuring point The closer the distance of the tensor magnetic gradient measurement component is, the other dummy solution is removed, so as to determine the unit vector of the magnetic moment vector of the magnetic source to be positioned in the static state. As shown in Figure 4, according to the full tensor invariant

and the eigenvalues of the full tensor magnetic gradient matrix corresponding to the two selected measuring points, it can be seen that the distance from the magnetic source to be located to the selected measuring point B1 is smaller than the distance from the magnetic source to be located to the selected measuring point B2, that is, the distance to the magnetic source to be located is selected The measurement point B1 is closer, so that the magnetic source to be located is locked in the third quadrant (that is, the unit vector of the magnetic moment vector of the magnetic source to be located is determined).

Wherein, according to the unit vector of the magnetic moment vector of the magnetic source to be located, the method of obtaining the unit vector of the position vector of the full tensor magnetic gradient measurement assembly from the magnetic source to be located to two selected measuring points includes: according to the Describe the unit vector of the magnetic moment vector of the magnetic source to be positioned, and select a unique group of combinations from the four combinations, thereby obtaining the full tensor magnetic gradient measurement assembly from the magnetic source to be positioned to two selected measuring points The unit vector of the position vector.

和

其中，x、y、z是所述待定位磁源的初始位置坐标，A_x、A_y、A_z是一选定测点的所述全张量磁梯度测量组件的位置坐标，P_A、Q_A、H_A是静止状态下所述待定位磁源到一选定测点的所述全张量磁梯度测量组件的位置矢量的单位向量，B_x、B_y、B_z是另一选定测点的所述全张量磁梯度测量组件的位置坐标，P_B、Q_B、H_B是静止状态下所述待定位磁源到另一选定测点的所述全张量磁梯度测量组件的位置矢量的单位向量；即通过求取两条空间直线的交点得到所述待定位磁源的初始位置坐标。当然，也可将多组测点的相应数据代入上述空间直线模型以获取多组空间直线，再通过最小二乘等数值求解方法获得待定位磁源初始位置坐标的最优解。Specifically, the space linear model includes:

and

Wherein, x, y, z are the initial position coordinates of the magnetic source to be located, A _x , A _y , A _z are the position coordinates of the full tensor magnetic gradient measurement component at a selected measuring point, _PA , Q _A , H _A are the unit vectors of the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to a selected measuring point in a static state, and B _x , By _y , B _z are another options The position coordinates of the full tensor magnetic gradient measurement component of the fixed measuring point, P _B , Q _B , H _B are the described full tensor magnetic gradients from the magnetic source to be positioned to another selected measuring point in a static state The unit vector of the position vector of the measurement component; that is, the initial position coordinates of the magnetic source to be positioned are obtained by calculating the intersection of two space straight lines. Of course, the corresponding data of multiple sets of measuring points can also be substituted into the above-mentioned spatial straight line model to obtain multiple sets of spatial straight lines, and then the optimal solution of the initial position coordinates of the magnetic source to be located can be obtained by numerical solution methods such as least squares.

建立所述全张量磁梯度测量组件与所述待定位磁源之间的距离比值模型

其中，MT为全张量不变量，MT₁为静止状态下的待定位磁源在同一测点的全张量磁梯度测量组件处产生的全张量不变量，MT₂为运动状态下的待定位磁源在同一测点的全张量磁梯度测量组件处产生的全张量不变量，λ₁、λ₂、λ₃为全张量磁梯度矩阵的特征值，μ₀为真空磁导率，M为待定位磁源的磁矩的模，R为全张量磁梯度测量组件与待定位磁源之间的距离，R₁为同一测点处全张量磁梯度测量组件与静止状态下的待定位磁源之间的距离，R₂为同一测点处全张量磁梯度测量组件与运动状态下的待定位磁源之间的距离。As an example, the method for establishing the distance ratio model between the full tensor magnetic gradient measurement component and the magnetic source to be located according to the full tensor invariant includes: according to the full tensor invariant

Establishing a distance ratio model between the full tensor magnetic gradient measurement component and the magnetic source to be located

Among them, MT is the full tensor invariant, MT ₁ is the full tensor invariant generated by the magnetic source to be located in the static state at the full tensor magnetic gradient measurement component at the same measuring point, and MT ₂ is the undetermined magnetic source in the moving state The full tensor invariant produced by the bit magnetic source at the full tensor magnetic gradient measurement component at the same measuring point, λ ₁ , λ ₂ , λ ₃ are the eigenvalues of the full tensor magnetic gradient matrix, and μ ₀ is the vacuum permeability , M is the modulus of the magnetic moment of the magnetic source to be positioned, R is the distance between the full tensor magnetic gradient measurement component and the magnetic source to be positioned, R ₁ is the distance between the full tensor magnetic gradient measurement component at the same measuring point and the static state _R2 is the distance between the full tensor magnetic gradient measurement component at the same measuring point and the magnetic source to be located in the moving state.

As an example, the method for obtaining the real-time position coordinates of the magnetic source to be positioned in a moving state includes:

According to the magnetic field gradient value generated at the full tensor magnetic gradient measurement component of the selected measuring point by the magnetic source to be positioned in the moving state, the distance from the magnetic source to be positioned to the selected measuring point in the moving state is obtained. The unit vector of the position vector of the full tensor magnetic gradient measurement assembly (that is, according to the motion continuity of the magnetic source to be positioned, that is, according to the initial position coordinates of the magnetic source to be positioned in the static state can directly determine the motion state. The quadrant where the magnetic source to be positioned is located, thereby obtaining the unit vector of the magnetic moment vector corresponding to the magnetic source to be positioned in the motion state, and then obtaining the full tensor from the magnetic source to be positioned to the selected measuring point in the motion state unit vector of the position vector of the magnetic gradiometric component);

得到该选定测点的所述全张量磁梯度测量组件与运动状态下所述待定位磁源之间的距离R₂)；According to the distance ratio model between the full tensor magnetic gradient measurement component and the magnetic source to be located, the magnetic field gradient values in different states corresponding to the same selected measuring point, and the initial position of the magnetic source to be located Coordinates and the position coordinates corresponding to the selected measuring point obtain the distance between the full tensor magnetic gradient measurement component of the selected measuring point and the magnetic source to be positioned under the motion state (that is, according to the same selected measuring point corresponding The magnetic field gradient values in different states of different states are respectively obtained from the full tensor invariant MT ₁ generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement component of the selected measuring point in the static state and the MT in the moving state. The full tensor invariant MT ₂ produced by the magnetic source to be positioned at the full tensor magnetic gradient measurement component of the selected measuring point; and according to the initial position coordinates of the magnetic source to be positioned and the corresponding to the selected measuring point The position coordinates obtain the distance _R1 between the full tensor magnetic gradient measurement component of the selected measuring point and the magnetic source to be positioned in the static state; then substitute the above data into

Obtain the distance R ₂ between the full tensor magnetic gradient measurement component of the selected measuring point and the magnetic source to be positioned in the moving state;

According to the distance between the full tensor magnetic gradient measurement component at the selected measuring point and the magnetic source to be positioned in the moving state and the full distance from the magnetic source to be positioned to the selected measuring point in the moving state The unit vector of the position vector of the tensor magnetic gradient measurement component obtains the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to the selected measuring point in the motion state, thereby obtaining the position to be determined in the motion state The real-time position coordinates of the bit magnetic source (that is, the distance _R between the full tensor magnetic gradient measurement assembly of the selected measuring point and the magnetic source to be positioned under the motion state is multiplied by the magnetic field to be positioned under the motion state. The unit vector of the position vector of the full tensor magnetic gradient measurement component from the source to the selected measuring point can obtain the full tensor magnetic gradient measurement from the magnetic source to be positioned to the selected measuring point in a moving state The position vector of the component, and then project it on the coordinate system to obtain the real-time position coordinates of the magnetic source to be positioned in the motion state).

It should be noted that, based on the above method, this embodiment can also use the real-time position coordinates of the magnetic source to be positioned measured this time as the initial position coordinates of the next time, so as to realize real-time positioning of the magnetic source to be positioned in motion, Thus, the trajectory of the magnetic source to be positioned is obtained.

In summary, a static positioning device and a static positioning method for a magnetic source of the present invention use a static positioning device composed of a mounting bracket or a cryogenic container, a full tensor magnetic gradient measurement component, a position locator, and a measurement and control component to first obtain The initial position coordinates of the magnetic source in a stationary state, and then obtain the corresponding magnetic field gradient value of the magnetic source in a moving state, so as to obtain the real-time position coordinates of the magnetic source in a moving state according to the distance ratio model; when obtaining the initial position coordinates , collect the magnetic field gradient value at the full tensor magnetic gradient measurement component from the magnetic source to the two selected measuring points, and combine the attitude-independent full tensor invariant to obtain the full tensor magnetic gradient from the magnetic source to the two selected measuring points Measure the unit vector of the position vector of the component, remove the virtual solution, and then combine the position coordinates of the two selected measuring points to establish a space linear model to obtain the initial position coordinates of the magnetic source in a static state. It can be seen that the static positioning method of the present invention does not need to know the total field information of the magnetic source, only the initial position coordinates of the magnetic source in the static state, the magnetic field gradient value and the distance ratio model of the magnetic source in the moving state can realize the magnetic source positioning. High-precision real-time positioning in a moving state; at the same time, the static positioning device and static positioning method of the present invention can give full play to the sensitivity advantages of the full tensor magnetic gradient measurement component based on the superconducting magnetic sensor, and realize long-distance high-precision real-time positioning ; Moreover, the static positioning device and the static positioning method of the present invention are simple, quick and easy to implement, and are very suitable for application in the field of magnetic positioning measurement. Therefore, the present invention effectively overcomes various shortcomings in the prior art and has high industrial application value.

The above-mentioned embodiments only illustrate the principles and effects of the present invention, but are not intended to limit the present invention. Anyone skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed in the present invention should still be covered by the claims of the present invention.

Claims (14)

1. A kind of static positioning device of magnetic source, it is characterized in that, described static positioning device comprises: The mounting bracket is used to provide a mounting platform; The full tensor magnetic gradient measurement component is arranged on the installation bracket, and is used to measure the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement component; A position locator, rigidly connected to the full tensor magnetic gradient measurement component, for measuring the position coordinates of the full tensor magnetic gradient measurement component in the geographic coordinate system; The measurement and control component is electrically connected to the full tensor magnetic gradient measurement component and the position locator, and is used to collect the magnetic field gradient value and the position coordinates, and to locate the to-be-positioned object in a moving state according to the collected data. The magnetic source performs real-time positioning; the magnetic field gradient value includes the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement component at two selected measuring points in a static state, and the position coordinates include two The position coordinates of the described full tensor magnetic gradient measurement component of the selected measuring point; Wherein, The method for obtaining the magnetic field gradient values generated by the full tensor magnetic gradient measurement components at the two selected measuring points of the magnetic source to be positioned in the static state includes: directly obtaining the magnetic field gradient values of the magnetic source to be positioned in the static state at the two selected points The magnetic field gradient value generated at the full tensor magnetic gradient measurement component at the fixed measurement point; or, obtain the magnetic field generated at the full tensor magnetic gradient measurement component at different measurement points by the magnetic source to be positioned in a static state Gradient value, and compare the signal-to-noise ratio of the magnetic field gradient values corresponding to different measuring points to select the two magnetic field gradient values with the best signal-to-noise ratio, wherein the selected two magnetic field gradient values correspond to The measuring point is used as the selected measuring point; When there is no spatial distance between the full tensor magnetic gradient measurement component and the position locator, the method for obtaining the position coordinates of the full tensor magnetic gradient measurement component includes: directly acquiring the position coordinates of the full tensor magnetic gradient measurement component through the position locator Describe the positional coordinates of the full tensor magnetic gradient measurement component; When there is a spatial distance between the full tensor magnetic gradient measurement component and the position locator, the method for acquiring the position coordinates of the full tensor magnetic gradient measurement component includes: acquiring the position coordinates of the position locator, And obtain the offset between the full tensor magnetic gradient measurement component and the position locator; modify the position coordinates based on the offset to obtain the full tensor magnetic gradient measurement component Position coordinates. 2 . The static positioning device for a magnetic source according to claim 1 , wherein the full tensor magnetic gradient measurement component comprises: at least one magnetometer. 3 . 3. The static positioning device of the magnetic source according to claim 1, wherein the installation bracket comprises a cryogenic container for providing an installation platform for the full tensor magnetic gradient measurement assembly, and at the same time for the full tensor magnetic gradient measurement assembly The magnetic gradient measurement component provides a low temperature environment. 4 . The static positioning device for a magnetic source according to claim 3 , wherein the full tensor magnetic gradient measurement component comprises: at least one planar gradiometer. 5. The static positioning device for a magnetic source according to claim 3, wherein the cryogenic container comprises a cryogenic Dewar. 6. The static positioning device for magnetic sources according to claim 1, wherein the position locator comprises: a differential GPS receiver or an integrated inertial navigation system. 7. A static positioning method for a magnetic source, characterized in that the static positioning method comprises: Build the static positioning device as described in any one of claims 1 to 6; When the magnetic source to be positioned is in a static state, obtain the magnetic field gradient values generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement components at two selected measuring points in the static state, and obtain two selected The position coordinates of the full tensor magnetic gradient measurement component of the measuring point, so as to obtain the initial position coordinates of the magnetic source to be positioned in a static state according to the full tensor invariant; When the magnetic source to be positioned is in a moving state, obtain the magnetic field gradient value generated by the magnetic source to be positioned at the full tensor magnetic gradient measurement component at any one of the selected measuring points in the moving state; Establishing a distance ratio model between the full tensor magnetic gradient measurement component and the magnetic source to be located according to the full tensor invariant, so as to realize the magnetic field gradient values, The initial position coordinates of the magnetic source to be located and the position coordinates corresponding to the selected measuring point acquire the real-time position coordinates of the magnetic source to be located in a moving state; Wherein, the method for acquiring the magnetic field gradient values generated by the full tensor magnetic gradient measurement components at two selected measuring points of the magnetic source to be positioned in the static state includes: directly obtaining the magnetic field gradient value of the magnetic source to be positioned in the static state The magnetic field gradient values generated at the full tensor magnetic gradient measurement components of the two selected measuring points; or, obtaining the magnetic source to be positioned in a static state generated at the full tensor magnetic gradient measurement components of different measuring points The magnetic field gradient value, and compare the signal-to-noise ratio of the magnetic field gradient values corresponding to different measuring points to select the two magnetic field gradient values with the best signal-to-noise ratio, wherein the selected two magnetic field gradient values The corresponding measuring point is used as the selected measuring point; When there is no spatial distance between the full tensor magnetic gradient measurement component and the position locator, the method for obtaining the position coordinates of the full tensor magnetic gradient measurement component includes: directly acquiring the position coordinates of the full tensor magnetic gradient measurement component through the position locator Describe the positional coordinates of the full tensor magnetic gradient measurement component; When there is a spatial distance between the full tensor magnetic gradient measurement component and the position locator, the method for acquiring the position coordinates of the full tensor magnetic gradient measurement component includes: acquiring the position coordinates of the position locator, And obtain the offset between the full tensor magnetic gradient measurement component and the position locator; modify the position coordinates based on the offset to obtain the full tensor magnetic gradient measurement component Position coordinates. 8. The static positioning method of the magnetic source according to claim 7, wherein the method for obtaining the initial position coordinates of the magnetic source to be positioned comprises: Acquire the unit of the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to the two selected measuring points in a static state according to the magnetic field gradient values corresponding to the two selected measuring points and the full tensor invariant vector; According to the position coordinates corresponding to the two selected measuring points and the unit vector of the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to the two selected measuring points in a static state, a space linear model is established to obtain the Describe the initial position coordinates of the magnetic source to be located. 9. The static location method of magnetic source according to claim 8, is characterized in that, obtains the position vector of the described full tensor magnetic gradient measuring assembly of described magnetic source to be positioned under static state to two selected measuring points Methods for unit vectors include: Obtaining the full tensor magnetic gradient matrix eigenvalues corresponding to the two selected measuring points respectively according to the magnetic field gradient values corresponding to the two selected measuring points; According to the eigenvalues of the full tensor magnetic gradient matrix corresponding to the two selected measuring points, the minimum absolute eigenvalues of the full tensor magnetic gradient matrix corresponding to the two selected measuring points are respectively obtained, and according to the full tensor magnetic gradient matrix corresponding to the two selected measuring points The minimum absolute eigenvalue of the matrix obtains a reference direction vector; wherein, the reference direction vector is parallel to the direction vector of the magnetic moment of the magnetic source to be located in a static state; According to the full tensor invariant

Determine the unit vector of the magnetic moment vector of the magnetic source to be positioned in the static state, thereby obtaining the unit of the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to the two selected measuring points in the static state vector; where, MT is the full tensor invariant, λ ₁ , λ ₂ , λ ₃ are the eigenvalues of the full tensor magnetic gradient matrix, μ ₀ is the vacuum permeability, M is the modulus of the magnetic moment of the magnetic source to be positioned, R is the distance between the full tensor magnetic gradient measurement component and the magnetic source to be located. 10. The static location method of the magnetic source according to claim 9, wherein the method for obtaining the reference direction vector comprises: obtaining the minimum absolute eigenvalue of the full tensor magnetic gradient matrix corresponding to the two selected measuring points. corresponding eigenvectors, and obtain the reference direction vector by calculating the vector product of the two eigenvectors. 11. The static location method of magnetic source according to claim 9, it is characterized in that, the method for determining the unit vector of the magnetic moment vector of the magnetic source to be positioned under the static state comprises: according to the full tensor invariant

and the eigenvalues of the full tensor magnetic gradient matrix corresponding to the two selected measuring points to judge the distance from the magnetic source to be positioned to the full tensor magnetic gradient measuring components of the two selected measuring points in the static state, thereby determining the static state The unit vector of the magnetic moment vector of the magnetic source to be located described below. 12. The static positioning method of the magnetic source according to claim 8, wherein the space linear model comprises:

Wherein, x, y, z are the initial position coordinates of the magnetic source to be located, A _x , A _y , A _z are the position coordinates of the full tensor magnetic gradient measurement component at a selected measuring point, _PA , Q _A , H _A are the unit vectors of the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to a selected measuring point in a static state, and B _x , By _y , B _z are another options The position coordinates of the full tensor magnetic gradient measurement component of the fixed measuring point, P _B , Q _B , H _B are the described full tensor magnetic gradients from the magnetic source to be positioned to another selected measuring point in a static state A unit vector that measures the component's position vector. 13. The static location method of the magnetic source according to any one of claims 7 to 12, characterized in that, according to the full tensor invariant, the distance between the full tensor magnetic gradient measurement component and the magnetic source to be positioned is established. The method of the distance ratio model consists of: according to the full tensor invariant

Establishing a distance ratio model between the full tensor magnetic gradient measurement component and the magnetic source to be located

Among them, MT is the full tensor invariant, MT ₁ is the full tensor invariant generated by the magnetic source to be located in the static state at the full tensor magnetic gradient measurement component at the same measuring point, and MT ₂ is the undetermined magnetic source in the moving state The full tensor invariant produced by the bit magnetic source at the full tensor magnetic gradient measurement component at the same measuring point, λ ₁ , λ ₂ , λ ₃ are the eigenvalues of the full tensor magnetic gradient matrix, and μ ₀ is the vacuum permeability , M is the modulus of the magnetic moment of the magnetic source to be positioned, R is the distance between the full tensor magnetic gradient measurement component and the magnetic source to be positioned, R ₁ is the distance between the full tensor magnetic gradient measurement component at the same measuring point and the static state _R2 is the distance between the full tensor magnetic gradient measurement component at the same measuring point and the magnetic source to be located in the moving state. 14. The static positioning method of the magnetic source according to claim 13, wherein the method for obtaining the real-time position coordinates of the magnetic source to be positioned in a moving state comprises: According to the magnetic field gradient value generated at the full tensor magnetic gradient measurement component of the selected measuring point by the magnetic source to be positioned in the moving state, the distance from the magnetic source to be positioned to the selected measuring point in the moving state is obtained. The unit vector of the position vector of the full tensor magnetic gradient measurement component; According to the distance ratio model between the full tensor magnetic gradient measurement component and the magnetic source to be located, the magnetic field gradient values in different states corresponding to the same selected measuring point, and the initial position of the magnetic source to be located The coordinates and the position coordinates corresponding to the selected measuring point obtain the distance between the full tensor magnetic gradient measurement component of the selected measuring point and the magnetic source to be positioned in the motion state; According to the distance between the full tensor magnetic gradient measurement component at the selected measuring point and the magnetic source to be positioned in the moving state and the full distance from the magnetic source to be positioned to the selected measuring point in the moving state The unit vector of the position vector of the tensor magnetic gradient measurement component obtains the position vector of the full tensor magnetic gradient measurement component from the magnetic source to be positioned to the selected measuring point in the motion state, thereby obtaining the position to be determined in the motion state The real-time position coordinates of the bit magnetic source.

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