CN112130217B - Electrical detection system and method for angle between geometric axis and magnetic axis of coil vector magnetometer - Google Patents
Electrical detection system and method for angle between geometric axis and magnetic axis of coil vector magnetometer Download PDFInfo
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Abstract
本发明提供了线圈矢量磁力仪几何轴与磁轴夹角电学检测系统及方法。将所述电学检测系统放置于地磁环境下，保持所述Helmholtz线圈与所述无磁转台为关闭状态，获得地磁环境磁场大小；向所述Helmholtz线圈中施加激励电流，产生线圈磁场，计算出线圈磁场大小；持续向所述Helmholtz线圈中施加激励电流，且电流大小不变，开启所述无磁转台，利用所述无磁转台带动所述Helmholtz线圈在水平面上旋转一周，通过所述总场传感器获得所述地磁环境磁场与所述线圈磁场的合成磁场值的最大值和最小值；基于所述合成磁场值的最大值和最小值，计算出所述Helmholtz线圈的几何中心轴向与磁轴向的偏离角度。本发明的有益效果是：操作简单，成本低，实现了无需借助额外检测工具的情况下对线圈矢量磁力仪几何轴向与磁轴向一致性的高精度检测。
The invention provides an electrical detection system and method for the angle included between the geometric axis and the magnetic axis of a coil vector magnetometer. Place the electrical detection system in a geomagnetic environment, keep the Helmholtz coil and the non-magnetic turntable in a closed state, and obtain the magnetic field size of the geomagnetic environment; apply an excitation current to the Helmholtz coil to generate a coil magnetic field, and calculate the coil magnetic field. The size of the magnetic field; the excitation current is continuously applied to the Helmholtz coil, and the current size does not change, the non-magnetic turntable is turned on, and the non-magnetic turntable is used to drive the Helmholtz coil to rotate once on the horizontal plane, through the total field sensor Obtain the maximum and minimum values of the combined magnetic field value of the geomagnetic environment magnetic field and the coil magnetic field; based on the maximum and minimum values of the combined magnetic field value, calculate the geometric center axis and magnetic axis of the Helmholtz coil deviation angle. The beneficial effects of the invention are that the operation is simple, the cost is low, and the high-precision detection of the consistency between the geometric axis and the magnetic axis of the coil vector magnetometer is realized without the aid of additional detection tools.
Description
Technical Field
The invention relates to the field of magnetic field measurement, in particular to an electrical detection system and method for an included angle between a geometric axis and a magnetic axis of a coil vector magnetometer.
Background
The geomagnetic measurement is used for measuring geomagnetic elements and the change of the geomagnetic elements along with time and space, and provides basic data for research of geomagnetic fields. The geomagnetic field is a vector field and consists of seven elements, namely a total field F, a horizontal component H, a north component X, an east component Y, a vertical component Z, a magnetic dip angle I and a magnetic declination angle D. Traditional earth magnetism is measured and is mainly observed to total field of earth magnetism and three-component development, and the target information of acquireing is limited, and earth magnetism full factor is surveyed and then can be acquireed more magnetic field information, accurately reflects the characteristic of study object, has more the advantage on weak magnetism target detection. The high-precision geomagnetic element observation can be widely applied to the fields of geoscience research, disaster monitoring and early warning, military detection, resource exploration and the like, so that the research on geomagnetic total element measurement is of great significance.
The main tool for geomagnetic measurement is a high-precision magnetometer. At present, geomagnetic vector measurement mainly comprises three-component measurement, such as a fluxgate magnetometer, but the method has the problems of low precision, temperature drift and the like. A small number of instruments realize partial information measurement such as magnetic direction or geomagnetic components in a mode of combined measurement of different sensors. And coil type vector magnetometer, like FHD, ZHD etc. through the mode that total field sensor and Helmholtz coil combined together, can effectively acquire earth magnetism full factor information, and compare in other instruments have higher stability and measurement accuracy, have extensive application prospect.
For a coil type vector magnetometer, a measurement system of the coil type vector magnetometer has special requirements on the direction of a magnetic field generated by a Helmholtz coil, and a uniform magnetic field generated by the coil needs to be ensured to face a certain specific direction so as to realize geomagnetic element measurement. Ideally, the magnetic field direction of the uniform area of the Helmholtz coil is along the axial direction of the geometric center of the coil, but when the Helmholtz coil has the problems of asymmetric coil winding and the like in the processing process, the magnetic field direction of the uniform area of the coil deviates from the axial direction of the geometric center, so that the uniform magnetic field applied in the coil-type vector magnetometer deviates from the expected orientation. In the occasion with low precision requirement, the geometric axial direction of the coil is usually the direction of the magnetic field uniform area by default, but in the vector measurement, second-level observation is needed, the deviation of the magnetic field direction generated by the coil and the geometric axial direction can cause the geomagnetic vector measurement precision to be reduced, a non-negligible measurement error is generated, and the accuracy of measurement data is affected, so that the consistency of the geometric axial direction and the magnetic axial direction of the coil vector magnetometer needs to be known. Generally, this problem is determined by the directional sensitivity of the fluxgate sensor, but the fluxgate is bulky and cannot be applied to the coil vector magnetometer. Although some semiconductor sensors, such as AMR and GMR, have small size and high spatial resolution, they often have the problems of low magnetic measurement accuracy, insufficient stability, etc., and are difficult to meet the requirement of high-precision measurement.
Disclosure of Invention
In order to solve the problems, the invention provides an electrical detection system and method for an included angle between a geometric axis and a magnetic axis of a coil vector magnetometer;
coil vector magnetometer geometric axis and magnetic axis contained angle electricity detecting system includes: the magnetic field sensor comprises Helmholtz coils, a total field sensor and a non-magnetic turntable, wherein the Helmholtz coils comprise two coils which are arranged in parallel, the total field sensor is placed at the center of an area surrounded by the two coils which are arranged in parallel, the magnetic field in the area surrounded by the two coils which are arranged in parallel is uniformly distributed, the non-magnetic turntable keeps a horizontal state, one of the Helmholtz coils is placed on the non-magnetic turntable in parallel with a horizontal plane, and the axial direction of the geometric center of each Helmholtz coil and the rotating axis of the non-magnetic turntable keep coaxial;
the method for electrically detecting the included angle between the geometric axis and the magnetic axis of the coil vector magnetometer is realized by using the system for electrically detecting the included angle between the geometric axis and the magnetic axis of the coil vector magnetometer, and comprises the following steps of:
s1, placing the electric detection system in a geomagnetic environment, keeping the Helmholtz coil and the non-magnetic turntable in a closed state, and obtaining the magnitude of a geomagnetic environment magnetic field through the total field sensor;
s2, applying excitation current to the Helmholtz coil to generate a coil magnetic field, and calculating the size of the coil magnetic field;
s3, continuously applying exciting current to the Helmholtz coil, enabling the current to be unchanged, starting the nonmagnetic turntable, driving the Helmholtz coil to rotate for a circle on a horizontal plane by using the nonmagnetic turntable, and obtaining the maximum value and the minimum value of the synthesized magnetic field value of the magnetic field of the geomagnetic environment and the magnetic field of the coil through the total field sensor;
s4, calculating the deviation angle between the geometric center axial direction and the magnetic axial direction of the Helmholtz coil based on the maximum value and the minimum value of the synthesized magnetic field value; the magnetic axial direction is the magnetic field direction of the coil in the step S2;
further, in step S1, the method for keeping the Helmholtz coil turned off is as follows: current is not introduced into the Helmholtz coil, so that the coil does not generate a coil magnetic field; keeping the non-magnetic turntable in a closed state is as follows: stopping the rotation of the non-magnetic turntable;
further, in step S2, the coil magnetic field magnitude is calculated by equation (1):
A＝k×i (1)
wherein k is a coil constant, i is the magnitude of an excitation current applied to the Helmholtz coil, and A is the magnitude of a coil magnetic field;
further, in step S3, a coordinate system is established with the center of the magnetic field of the coil as an origin, the geometric central axis of the Helmholtz coil as a z-axis, the horizontal direction of the vertical plane where the magnetic field of the geomagnetic environment is located as an x-axis, and the straight line perpendicular to the xoz plane as a y-axis;
in the rotation process of the non-magnetic turntable, the magnetic field of the coil
Expressed as formula (2):
wherein A represents the size of a coil magnetic field, theta represents the included angle between the non-magnetic turntable and the x axis, namely the rotation angle of the non-magnetic turntable, and alpha represents the included angle between the coil magnetic field and the z axis, namely the included angle between the geometric axial direction and the magnetic axial direction of the coil vector magnetometer;
in the rotation process of the non-magnetic turntable, according to a vector algorithm, a synthetic magnetic field of the geomagnetic environment magnetic field and the coil magnetic field is expressed as a formula (3):
wherein, the magnetic field of geomagnetic environment
F0Representing a geomagnetic environmentThe magnitude of the magnetic field, I represents the included angle between the magnetic field in the geomagnetic environment and the horizontal plane, namely the inclination angle of the magnetic field in the geomagnetic environment;
as can be seen from the formula (3), the change relationship of the synthetic magnetic field value F along with the rotation angle theta of the non-magnetic turntable is shown in the formula (4):
simplifying the formula (4) to obtain a formula (5):
calculating the maximum value and the minimum value of the synthesized magnetic field values through the formulas (6), (7) and (8):
wherein, FmaxRepresenting the maximum value of the resultant magnetic field value, FminRepresents the minimum value of the resultant magnetic field value.
Further, in step S4, an included angle α between the geometric axial direction and the magnetic axial direction of the coil vector magnetometer is calculated by formula (7) and formula (8), as shown in formula (9):
wherein, F0Representing the magnitude of the magnetic field of the geomagnetic environment, A representing the magnitude of the magnetic field of the coil, FmaxIndication boxMaximum value of magnetic field value, FminRepresents the minimum value of the resultant magnetic field value.
The technical scheme provided by the invention has the beneficial effects that: the method is simple to operate and low in cost, and high-precision detection of the consistency of the geometric axial direction and the magnetic axial direction of the coil vector magnetometer is achieved without the help of an additional detection tool.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of an electrical detection method for an included angle between a geometric axis and a magnetic axis of a coil vector magnetometer in an embodiment of the invention;
FIG. 2 is a schematic diagram of an electrical detection system for an included angle between a geometric axis and a magnetic axis of a coil vector magnetometer in an embodiment of the invention;
FIG. 3 is a schematic diagram of a detection principle model in an embodiment of the invention;
FIG. 4 is a schematic diagram of total field sensor accuracy error relationships in an embodiment of the present invention;
FIG. 5 is a schematic illustration of the resultant magnetic field as a function of rotational angle in an embodiment of the present invention;
FIG. 6 is a schematic illustration of the maximum and minimum errors of the resultant magnetic field in an embodiment of the present invention;
FIG. 7 is a schematic diagram of a coil field fluctuation error in an embodiment of the present invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
The embodiment of the invention provides an electrical detection system and method for an included angle between a geometric axis and a magnetic axis of a coil vector magnetometer.
As shown in fig. 2, the electrical detection system for the included angle between the geometric axis and the magnetic axis of the coil vector magnetometer comprises: helmholtz coil, total field sensor and no magnetism revolving stage, include two parallel arrangement's coil in the Helmholtz coil, total field sensor place in the center department in the region is enclosed into to two parallel arrangement's coil, just magnetic field evenly distributed in the region is enclosed into to two parallel arrangement's coil, no magnetism revolving stage keeps the horizontality, one of them coil and horizontal plane parallel placement in the Helmholtz coil are in on the no magnetism revolving stage, just the geometric centre axial of Helmholtz coil with the rotation axis of no magnetism revolving stage keeps coaxial.
The method for electrically detecting the included angle between the geometric axis and the magnetic axis of the coil vector magnetometer is realized by using the system for electrically detecting the included angle between the geometric axis and the magnetic axis of the coil vector magnetometer.
Referring to fig. 1, fig. 1 is a flowchart of an electrical detection method for an included angle between a geometric axis and a magnetic axis of a coil vector magnetometer in an embodiment of the present invention, which specifically includes the following steps:
s1, placing the electric detection system in a geomagnetic environment, keeping the Helmholtz coil and the non-magnetic turntable in a closed state, and obtaining the magnitude of a geomagnetic environment magnetic field through the total field sensor; keeping the Helmholtz coil in the off state is: current is not introduced into the Helmholtz coil, so that the coil does not generate a coil magnetic field; keeping the non-magnetic turntable in a closed state is as follows: stopping the rotation of the non-magnetic turntable;
s2, applying excitation current to the Helmholtz coil to generate a coil magnetic field, and calculating the size of the coil magnetic field; calculating the coil magnetic field size by the formula (1):
A＝k×i (1)
wherein k is a coil constant, i is the magnitude of an excitation current applied to the Helmholtz coil, and A is the magnitude of a coil magnetic field;
s3, continuously applying exciting current to the Helmholtz coil, enabling the current to be unchanged, starting the nonmagnetic turntable, driving the Helmholtz coil to rotate for a circle on a horizontal plane by using the nonmagnetic turntable, and obtaining the maximum value and the minimum value of the synthesized magnetic field value of the magnetic field of the geomagnetic environment and the magnetic field of the coil through the total field sensor;
establishing a coordinate system by taking the center of a magnetic field of the coil as an origin, taking a geometric central axis of the Helmholtz coil as a z axis, taking the horizontal direction of a vertical plane where the magnetic field of the geomagnetic environment is located as an x axis and taking a straight line perpendicular to a plane xoz as a y axis;
in the rotation process of the non-magnetic turntable, the magnetic field of the coil
Expressed as formula (2):
wherein A represents the size of a coil magnetic field, theta represents the included angle between the non-magnetic turntable and the x axis, namely the rotation angle of the non-magnetic turntable, and alpha represents the included angle between the coil magnetic field and the z axis, namely the included angle between the geometric axial direction and the magnetic axial direction of the coil vector magnetometer;
in the rotation process of the non-magnetic turntable, according to a vector algorithm, a synthetic magnetic field of the geomagnetic environment magnetic field and the coil magnetic field is expressed as a formula (3):
wherein, the magnetic field of geomagnetic environment
F0The method comprises the steps of representing the magnitude of a magnetic field in a geomagnetic environment, wherein I represents an included angle between the magnetic field in the geomagnetic environment and a horizontal plane, namely an inclination angle of the magnetic field in the geomagnetic environment;
as can be seen from the formula (3), the change relationship of the synthetic magnetic field value F along with the rotation angle theta of the non-magnetic turntable is shown in the formula (4):
simplifying the formula (4) to obtain a formula (5):
calculating the maximum value and the minimum value of the synthesized magnetic field values through the formulas (6), (7) and (8):
wherein, FmaxRepresenting the maximum value of the resultant magnetic field value, FminRepresents the minimum value of the resultant magnetic field value;
s4, calculating the deviation angle between the geometric center axial direction and the magnetic axial direction of the Helmholtz coil based on the synthetic magnetic field; the magnetic axial direction is the magnetic field direction of the coil in the step S2;
the calculation process of the deviation angle between the geometric center axial direction and the magnetic axial direction of the Helmholtz coil is as follows:
calculating an included angle alpha between the geometric axial direction and the magnetic axial direction of the coil vector magnetometer according to a formula (7) and a formula (8), wherein the included angle alpha is shown as a formula (9):
wherein, F0Representing the magnitude of the magnetic field of the geomagnetic environment, A representing the magnitude of the magnetic field of the coil, FmaxRepresenting the maximum value of the resultant magnetic field value, FminRepresents the minimum value of the resultant magnetic field value.
In order to further determine and improve the detection precision of the electrical detection method for the included angle between the geometric axis and the magnetic axis of the coil vector magnetometer, indexes such as the precision of a total field sensor, the stepping amount of a non-magnetic turntable, the stability of a coil magnetic field generated by a Helmholtz coil and the like in the detection method need to be provided so as to ensure the accuracy of the detection result of the detection system.
Referring to fig. 4, fig. 4 is a schematic diagram of a precision error relationship of a total field sensor in an embodiment of the present invention, and key values of a detection system are all obtained through the total field sensor, and if the total field sensor has an error, the detection system will be affected. And if the measurement precision of the total field sensor is k, the maximum detection result obtained by using the detection method is shown as the formula (10):
then the maximum error of the detection system is error when the sensor precision is kαAs shown in formula (11):
errorα＝α′-α (11)
in Chinese Wuhan (F)0For example, 50000nT, I47.2 °), when a is 15000nT, the total field sensor accuracy error relationship diagram shown in fig. 4 can be obtained from equations (10) and (11) when the sensor accuracy k varies between 0nT and 1nT, and as can be seen from fig. 4, when the sensor accuracy k is 0.1nT, the maximum error of the detection system can be controlled to be less than 5 ".
Referring to fig. 5, fig. 5 is a schematic diagram of the variation of the synthetic magnetic field with the rotation angle according to the embodiment of the present invention, which is wuhan (F) in china0Taking 50000nT and I47.2 °), a 15000nT, the relationship between the change in the synthetic magnetic field F when the rotation angle θ of the nonmagnetic turntable rotates one revolution can be obtained from the formula (4), as shown in fig. 5. It can be seen that the synthetic magnetic field F changes periodically with one rotation of the non-magnetic turntable, but when the stepping amount of the non-magnetic turntable is too large, the total field sensor loses part of the sampling points, so that the finally needed Fmax、FminAnd errors exist between the measured value and the true maximum value and the true minimum value, and the measurement precision is finally influenced.
Referring to fig. 6, fig. 6 is a schematic diagram illustrating maximum and minimum errors of the synthesized magnetic field according to an embodiment of the present invention. When F is presentmaxAnd FminWhen an error occurs, if the error is set as e, the maximum detection result obtained by using the detection method is as shown in formula (12):
then the system maximum error is detectedαComprises the following steps:
errorα＝α′-α (13)
in Chinese Wuhan (F)0For example, 50000nT, I47.2 °), when a 15000nT is taken, and when the extreme value error e varies between 0nT and 1nT, the maximum value and minimum value errors of the resultant magnetic field shown in fig. 6 can be obtained by equations (12) and (13).
The measurement error of the maximum value and the minimum value of the synthetic magnetic field caused by the step amount of the non-magnetic turntable can be determined from fig. 5, the detection system error caused by the measurement error of the maximum value and the minimum value of the synthetic magnetic field can be determined from fig. 6, and the combination of fig. 5 and fig. 6 can determine that when the step amount of the non-magnetic turntable is less than 0.5 degrees, the measurement error e of the maximum value and the minimum value of the synthetic magnetic field is less than 0.1nT, and the detection system error is less than 2 ".
Referring to fig. 7, fig. 7 is a schematic diagram of a coil magnetic field fluctuation error according to an embodiment of the present invention. When the excitation current is unstable, the coil magnetic field generated by the Helmholtz coil fluctuates, and the detection system result is influenced. And if the fluctuation of the magnetic field of the coil is m, the maximum detection result obtained by the detection method is shown as the formula (14):
then when the fluctuation of the coil magnetic field is m, the maximum error of the detection system is errorαAs in equation (15):
errorα＝α′-α (15)
in Chinese Wuhan (F)0Taking 50000nT and 47.2 ° as an example, a 15000nT, when the coil magnetic field fluctuation m varies between 0 to 1nT, the schematic diagram of the coil magnetic field fluctuation as shown in fig. 7 can be obtained from equations (14) and (15).
As can be seen from fig. 7, when the coil magnetic field fluctuation is controlled to be within 0.5nT, the detection system error can be made 3 ".
In combination with the foregoing analysis, the electrical detection system and method for the included angle between the geometric axis and the magnetic axis of the coil vector magnetometer provided by the invention have the detection result shown in formula (9), and when the relevant parameters of the control detection system are as follows: the accuracy of the total field sensor is better than 0.1nT, the stepping amount of the non-magnetic rotary table is less than 0.5 degrees, and the accuracy of the detection system is 10' when the fluctuation of the magnetic field of the coil is less than 0.5 nT.
The invention has the beneficial effects that: the method is simple to operate and low in cost, and high-precision detection of the consistency of the geometric axial direction and the magnetic axial direction of the coil vector magnetometer is achieved without the help of an additional detection tool.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
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| CN113608273B (en) * | 2021-08-12 | 2022-08-30 | 中国地质大学（武汉） | Geomagnetic daily variation error correction method for coil type vector magnetometer |
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