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CN112362086A - Method for acquiring simulation correction experiment data of three-axis magnetic sensor - Google Patents

Method for acquiring simulation correction experiment data of three-axis magnetic sensor Download PDF

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Publication number
CN112362086A
CN112362086A CN202110037075.7A CN202110037075A CN112362086A CN 112362086 A CN112362086 A CN 112362086A CN 202110037075 A CN202110037075 A CN 202110037075A CN 112362086 A CN112362086 A CN 112362086A
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parameters
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attitude
matrix
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石岗
梁东鑫
黄磊
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China University of Petroleum Beijing
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Abstract

本发明属于三轴磁传感器技术领域。针对三轴磁传感器的校正实验中，误差参数调整不便、实验装置移动不便、成本高的上述问题，提供三轴磁传感器仿真校正实验数据获取方法：在工业计算机上输入参数；计算与航姿角向量对应的载体坐标系磁向量坐标；计算传感器坐标系磁向量坐标

Figure 100004_DEST_PATH_IMAGE001
；计算每个航姿角状态下信号采样点数
Figure 381761DEST_PATH_IMAGE002
，将
Figure 100004_DEST_PATH_IMAGE003
按采样点数扩展为矩阵
Figure 648795DEST_PATH_IMAGE004
；由高斯白噪声方差生成噪声序列
Figure 100004_DEST_PATH_IMAGE005
,并生成与第
Figure 847695DEST_PATH_IMAGE006
个航姿角状态对应的传感器输出信号
Figure 100004_DEST_PATH_IMAGE007
：按以上述步计算每一个航姿角状态对应的传感器输出信号。该方法能够任意设定航姿角状态参数、测量误差模型参数，实验装置便于移动，成本低。The invention belongs to the technical field of three-axis magnetic sensors. Aiming at the above problems of inconvenient adjustment of error parameters, inconvenient movement of the experimental device and high cost in the calibration experiment of the three-axis magnetic sensor, a method for obtaining the experimental data of the three-axis magnetic sensor simulation correction is provided: input the parameters on the industrial computer; The magnetic vector coordinate of the carrier coordinate system corresponding to the vector; calculate the magnetic vector coordinate of the sensor coordinate system
Figure 100004_DEST_PATH_IMAGE001
; Calculate the number of signal sampling points in each attitude angle state
Figure 381761DEST_PATH_IMAGE002
,Will
Figure 100004_DEST_PATH_IMAGE003
Expand to a matrix by the number of samples
Figure 648795DEST_PATH_IMAGE004
;Generate noise sequence from Gaussian white noise variance
Figure 100004_DEST_PATH_IMAGE005
, and generate the same
Figure 847695DEST_PATH_IMAGE006
The sensor output signal corresponding to each heading angle state
Figure 100004_DEST_PATH_IMAGE007
: Calculate the sensor output signal corresponding to each attitude angle state according to the above steps. The method can arbitrarily set the state parameters of the attitude angle and the parameters of the measurement error model, the experimental device is easy to move, and the cost is low.

Description

Method for acquiring simulation correction experiment data of three-axis magnetic sensor
Technical Field
The invention belongs to the technical field of three-axis magnetic sensors, and particularly relates to a method for acquiring simulation correction experiment data of a three-axis magnetic sensor.
Background
The triaxial magnetic sensor can measure the coordinate value of the geomagnetic vector in a carrier coordinate system, and in the process of guiding drilling in oil drilling operation, the inclination angle and the inclination angle of different measuring points need to be measured for determining the track of a well bore, and in addition, the tool face angle of a guiding tool needs to be measured for controlling the deflecting direction. The well inclination angle, the well inclination azimuth angle and the tool face angle are navigation attitude parameters of the drilling tool, and the three-axis magnetic sensor is a commonly used drilling tool navigation attitude parameter sensor. The measuring process of the three-axis magnetic sensor is affected by production errors, installation errors and soft and hard magnetic interference, and in order to improve the measuring precision of the three-axis magnetic sensor, the three-axis magnetic sensor needs to be corrected to compensate various error influences. The correction method is an important factor for determining the error compensation effect, and in order to improve and verify various correction methods, correction experiments are required to obtain the measured values of the magnetic sensor in a plurality of attitude of the attitude heading reference point.
In the experiment of the document 1 (Zhang German, et al, component error two-step correction method of three-axis magnetic sensor, journal of sensing technology, 2018, 31 (11): 1707-1713), a place suitable for the experiment is selected by using a high-precision proton magnetometer outdoors, and then a three-axis non-magnetic turntable is used for changing the attitude of the magnetic sensor and measuring the experimental data. The disadvantages of this method are: the experiment needs to be carried out outdoors, so that a plurality of experimental devices are provided, and the transportation and power supply of the devices are inconvenient; the high-precision proton magnetometer and the three-axis nonmagnetic turntable have high cost; every experimental point all needs adjustment revolving stage angle in the experiment to record navigation appearance parameter and measuring signal, experiment complex operation and consuming time are long, easily receive external magnetic interference influence in long-time experiment process.
Document 2 (Rong Pengfei et al, vector calibration method for three-axis magnetic sensor orthogonality correction, proceedings of space science, 2018,38 (6): 953: 958) performed an experiment indoors, generated a known standard magnetic field source using a standard three-dimensional Helmholtz coil, and performed an experiment with the magnetic sensor installed in a standard magnetic field homogeneity region. The disadvantages of this method are: the Helmholtz coil has high cost and has certain requirements on the temperature of the use environment; changing the attitude of the magnetic sensor navigation attitude angle in the experiment needs to reinstall the magnetic sensor, and the standard magnetic field uniform area has smaller volume, so that the navigation attitude adjustment operation is complicated, and when a multi-attitude experiment is carried out, the experiment consumes long time.
In summary, the common disadvantages of the methods shown in the above documents include: error parameters of a three-axis magnetic sensor measurement model are not convenient to adjust, and particularly specific error parameters are adjusted; the experimental device has high cost, large volume and inconvenient movement; the experiment operation is complicated and takes a long time.
Disclosure of Invention
Aiming at the problems that in a correction experiment of a three-axis magnetic sensor, experimental data needs to be obtained by frequently adjusting the position of an entity device, error parameters are inconvenient to adjust, the experimental device is inconvenient to move, and the experiment cost is high, the invention provides the method for obtaining the simulation correction experimental data of the three-axis magnetic sensor.
The invention is realized by the following technical scheme:
a method for acquiring simulation correction experiment data of a three-axis magnetic sensor comprises the following steps:
(1) inputting parameters on an industrial computer: magnetic vector coordinates of reference coordinate system
Figure 21939DEST_PATH_IMAGE001
(ii) a Duration of signal
Figure 312980DEST_PATH_IMAGE002
Sampling interval
Figure 279668DEST_PATH_IMAGE003
(ii) a The attitude and heading angle parameters comprise: course angle vector
Figure 612561DEST_PATH_IMAGE004
Vector of pitch angle
Figure 50102DEST_PATH_IMAGE005
Transverse roll angle vector
Figure 59515DEST_PATH_IMAGE006
(ii) a Measuring error model parameters, including: hard magnetic interference
Figure 264231DEST_PATH_IMAGE007
Soft magnetic interference matrix
Figure 151547DEST_PATH_IMAGE008
Non-aligned matrix
Figure 758109DEST_PATH_IMAGE009
Non-orthogonal matrix
Figure 938423DEST_PATH_IMAGE010
Matrix of proportionality coefficients
Figure 855121DEST_PATH_IMAGE011
Zero offset of sensor
Figure 529816DEST_PATH_IMAGE012
Variance of Gaussian white noise
Figure 177835DEST_PATH_IMAGE013
；
(2) Calculating the magnetic vector coordinates of a carrier coordinate system corresponding to the attitude vector: is provided with the first
Figure 296095DEST_PATH_IMAGE014
Three parameters of each attitude and heading angle state: the course angle vector, the pitch angle vector and the roll angle vector are respectively
Figure 537721DEST_PATH_IMAGE015
Then it is first
Figure 937478DEST_PATH_IMAGE016
Magnetic vector coordinate of carrier coordinate system corresponding to each attitude of navigation attitude angle
Figure 518632DEST_PATH_IMAGE017
The calculation formula of (A) is as follows:
Figure 476967DEST_PATH_IMAGE019
；
(3) calculating magnetic vector coordinates of sensor coordinate system from error parameters
Figure 330523DEST_PATH_IMAGE020
：
Figure 409337DEST_PATH_IMAGE021
(4) The number of signal sampling points under each attitude and heading angle state can be obtained according to the signal duration and the sampling interval
Figure 595730DEST_PATH_IMAGE022
Will be
Figure 305060DEST_PATH_IMAGE023
Expansion into a matrix by number of sampling points
Figure 442649DEST_PATH_IMAGE024
I.e. by
Figure 262838DEST_PATH_IMAGE025
A matrix of which each column is
Figure 300808DEST_PATH_IMAGE026
；
(5) Generation of noise sequences from gaussian white noise variance
Figure 243356DEST_PATH_IMAGE027
And generates the sum
Figure 618974DEST_PATH_IMAGE028
Sensor output signal corresponding to attitude of individual attitude heading reference
Figure 226541DEST_PATH_IMAGE029
：
Figure 325210DEST_PATH_IMAGE030
(6) And (5) calculating the sensor output signal corresponding to each attitude of the attitude heading reference model according to the steps (2) to (5), storing and displaying the signal calculation result, and simultaneously sending a simulation signal to a data interface.
Furthermore, an industrial control computer used in the method is an industrial control all-in-one machine.
The experimental device used by the method comprises a power supply interface, a charging power supply, an industrial control all-in-one machine and a data interface, wherein all the parts are arranged in a portable case and are used for power supply and signal connection in the case.
Compared with the prior art, the invention has the following beneficial effects:
(1) the data acquisition method can set attitude parameters and measurement error model parameters of the attitude and heading reference angle at will, and particularly can set specific types of error parameters, so that the method has the advantages of wide range of experimental conditions, specific parameter setting and complete experimental functions.
(2) According to the experimental method, various experimental parameters are input through the touch screen of the all-in-one machine, the experimental result is displayed on line, and the experimental operation is simple.
(3) The experimental device is small in size, light in weight, convenient to move, provided with a charging power supply and capable of working for a long time without external power supply.
Drawings
FIG. 1 is a schematic diagram showing the connection relationship between various components of a simulation experiment apparatus;
FIG. 2 is a diagram of a result of a three-axis magnetic sensor simulation signal;
FIG. 3 is a chart of attitude profiles of attitude angles; the sphere in the figure is a unit sphere in a carrier coordinate system, and each asterisk corresponds to a navigation attitude angle state.
Detailed Description
The present invention will be described in further detail with reference to the following embodiments and the accompanying drawings.
Example (b):
the experimental device consists of an industrial control all-in-one machine, a power interface, a power switch, a charging power supply, a USB interface, an RS232 interface, an RS485/422 interface and a portable case. The connection relation inside the case is shown in fig. 1, and a power supply interface, a power supply switch, a charging power supply and the industrial control all-in-one machine are in power supply connection; the industrial control all-in-one machine is in signal connection with each data interface. When the power switch is turned off, the external power supply can be switched on by the power interface to charge the charging power supply, and when the power switch is switched on, the charging power supply supplies power to the industrial control all-in-one machine, and at the moment, the external power supply is not needed to supply power. The industrial control all-in-one machine receives various experimental parameter settings through the touch screen, realizes signal simulation calculation of the three-axis magnetic sensor, stores and displays experimental results, and simultaneously sends experimental data to the data interface. The USB interface, the RS232 interface and the RS485/422 interface are all data interfaces, and a proper interface can be selected according to the data transmission requirement in use. The components are arranged in a portable case, wherein a power interface, a power switch, a data interface and an industrial control all-in-one machine are arranged on a front panel so as to be convenient to use.
The method for acquiring the simulation correction experiment data of the three-axis magnetic sensor comprises the following steps:
step one, inputting the following parameters through a touch screen of the industrial control integrated machine:
magnetic vector coordinates of reference coordinate system
Figure 563293DEST_PATH_IMAGE031
=[17888, 22986, -16466]In nT;
duration of signal
Figure 488524DEST_PATH_IMAGE032
=20 seconds, sampling interval
Figure 650515DEST_PATH_IMAGE033
=0.01 second;
the attitude and heading angle parameters comprise: course angle vector
Figure 335180DEST_PATH_IMAGE034
=[0 30 60 90 120 150 180 210 240 270 300 330]Vector of pitch angle
Figure 806482DEST_PATH_IMAGE035
=[180 180 180 180 180 180 180 180 180 180 180 180]Transverse roll angle vector
Figure 845107DEST_PATH_IMAGE036
=[10 10 10 10 10 10 10 10 10 10 10 10]All the angle units are degrees;
and measuring error model parameters, including: hard magnetic interference
Figure 810789DEST_PATH_IMAGE037
=[15 29 19]Unit of nT, soft magnetic interference matrix
Figure 117006DEST_PATH_IMAGE038
=[1 0.3 0.1; 0.2 1 0.1; 0.2 0.2 1]Non-aligned matrix
Figure 306679DEST_PATH_IMAGE039
=[0.95 0.22 -0.17; -0.2 0.96 0.13; 0.19 -0.09 0.97]Non-orthogonal matrix
Figure 829670DEST_PATH_IMAGE040
=[0.98 0.1 0.08; 0 0.97 0.05; 0 0 1]Matrix of proportionality coefficients
Figure 582732DEST_PATH_IMAGE041
=[1.2 0 0; 0 0.8 0; 0 0 0.95]Zero offset of sensor
Figure 884400DEST_PATH_IMAGE042
=[20 30 40]In nT, Gaussian white noise variance
Figure 182657DEST_PATH_IMAGE043
=[10000 10000 10000]In the unit of nT2。
Step two, calculating the magnetic vector coordinates of the carrier coordinate system corresponding to the attitude of the attitude heading reference
Figure 258192DEST_PATH_IMAGE044
The calculation formula is as follows:
Figure 565676DEST_PATH_IMAGE046
in the formula (1), the reaction mixture is,
Figure 643223DEST_PATH_IMAGE047
and
Figure 63446DEST_PATH_IMAGE048
respectively represent
Figure 609965DEST_PATH_IMAGE049
Three parameters corresponding to the attitude of each attitude heading reference: course angle vector, pitch angle vector and roll angle vector. When the course angle vector, the pitch angle vector and the roll angle vector of the 1 st attitude status are 0, 180 and 10 respectively, the magnetic vector coordinate of the carrier coordinate system corresponding to the attitude status can be calculated by the formula (1)
Figure 908092DEST_PATH_IMAGE050
=[14757 -22987 19323]。
Step three, calculating the magnetic vector coordinates of the sensor coordinate system according to the error parameters by the formula (2)
Figure 918773DEST_PATH_IMAGE051
。
Figure 512828DEST_PATH_IMAGE052
In the 1 st attitude of attitude and heading reference
Figure 733593DEST_PATH_IMAGE053
=[3417 -12747 19947]。
Step four, calculating the number of signal sampling points under each attitude of attitude heading reference angle
Figure 130683DEST_PATH_IMAGE054
The specific numerical values are introduced,
Figure 58188DEST_PATH_IMAGE055
will be
Figure 823144DEST_PATH_IMAGE056
Is extended to
Figure 406572DEST_PATH_IMAGE057
Matrix array
Figure 780921DEST_PATH_IMAGE058
Each column of which is arranged as
Figure 451681DEST_PATH_IMAGE059
。
In the 1 st attitude of attitude and heading reference
Figure 823756DEST_PATH_IMAGE060
Is listed as [ 3417-]。
Step five, generating a noise sequence by Gaussian white noise variance
Figure 894481DEST_PATH_IMAGE061
And generating a sensor simulation signal by equation (3)
Figure DEST_PATH_IMAGE062
。
Figure 636303DEST_PATH_IMAGE063
FIG. 2 shows the simulation signal results of the sensor in the 1 st attitude of attitude heading reference.
And step (six), calculating the sensor signal corresponding to each attitude of the attitude heading reference attitude according to the steps (two) to (five), storing and displaying the signal calculation result, and simultaneously sending a simulation signal to the data interface. FIG. 3 is a chart of attitude profiles of attitude of the aircraft.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.

Claims (3)

1.一种三轴磁传感器仿真校正实验数据获取方法，其特征在于，包括以下步骤：1. a three-axis magnetic sensor simulation correction experimental data acquisition method, is characterized in that, comprises the following steps: （1）在工业计算机上输入参数：参考坐标系磁向量坐标
Figure DEST_PATH_IMAGE001
；信号时长
Figure DEST_PATH_IMAGE002
，采样间隔
Figure DEST_PATH_IMAGE003
；航姿角参数，包括：航向角向量
Figure DEST_PATH_IMAGE004
，俯仰角向量
Figure DEST_PATH_IMAGE005
及横滚角向量
Figure DEST_PATH_IMAGE006
；测量误差模型参数，包括：硬磁干扰
Figure DEST_PATH_IMAGE007
，软磁干扰矩阵
Figure DEST_PATH_IMAGE008
，非对准矩阵
Figure DEST_PATH_IMAGE009
，非正交矩阵
Figure DEST_PATH_IMAGE010
，比例系数矩阵
Figure DEST_PATH_IMAGE011
，传感器零偏
Figure DEST_PATH_IMAGE012
及高斯白噪声方差
Figure DEST_PATH_IMAGE013
；(1) Input parameters on the industrial computer: the magnetic vector coordinates of the reference coordinate system
Figure DEST_PATH_IMAGE001
; signal duration
Figure DEST_PATH_IMAGE002
,sampling interval
Figure DEST_PATH_IMAGE003
; Heading angle parameters, including: heading angle vector
Figure DEST_PATH_IMAGE004
, the pitch vector
Figure DEST_PATH_IMAGE005
and the roll angle vector
Figure DEST_PATH_IMAGE006
;Measurement error model parameters, including: hard magnetic interference
Figure DEST_PATH_IMAGE007
, the soft magnetic interference matrix
Figure DEST_PATH_IMAGE008
, a non-aligned matrix
Figure DEST_PATH_IMAGE009
, a non-orthogonal matrix
Figure DEST_PATH_IMAGE010
, the scale coefficient matrix
Figure DEST_PATH_IMAGE011
, sensor bias
Figure DEST_PATH_IMAGE012
and Gaussian white noise variance
Figure DEST_PATH_IMAGE013
; （2）计算与航姿角向量对应的载体坐标系磁向量坐标：设第
Figure DEST_PATH_IMAGE014
个航向角向量、俯仰角向量及横滚角向量分别为
Figure DEST_PATH_IMAGE015
及
Figure DEST_PATH_IMAGE016
，则对应载体坐标系磁向量坐标
Figure DEST_PATH_IMAGE017
的计算式为：(2) Calculate the magnetic vector coordinates of the carrier coordinate system corresponding to the heading angle vector: set the first
Figure DEST_PATH_IMAGE014
The heading angle vector, pitch angle vector and roll angle vector are respectively
Figure DEST_PATH_IMAGE015
and
Figure DEST_PATH_IMAGE016
, then corresponds to the magnetic vector coordinate of the carrier coordinate system
Figure DEST_PATH_IMAGE017
The calculation formula is:
Figure DEST_PATH_IMAGE018
Figure DEST_PATH_IMAGE018
 （3）由误差参数计算传感器坐标系磁向量坐标
Figure DEST_PATH_IMAGE019
：(3) Calculate the magnetic vector coordinates of the sensor coordinate system from the error parameters
Figure DEST_PATH_IMAGE019
:
Figure DEST_PATH_IMAGE020
Figure DEST_PATH_IMAGE020
 （4）计算每个航姿角状态下信号采样点数：
Figure DEST_PATH_IMAGE021
，将
Figure DEST_PATH_IMAGE022
按采样点数扩展为矩阵
Figure DEST_PATH_IMAGE023
，即
Figure DEST_PATH_IMAGE024
为
Figure DEST_PATH_IMAGE025
矩阵，其每一列为
Figure DEST_PATH_IMAGE026
；(4) Calculate the number of signal sampling points in each attitude angle state:
Figure DEST_PATH_IMAGE021
,Will
Figure DEST_PATH_IMAGE022
Expand to a matrix by the number of samples
Figure DEST_PATH_IMAGE023
,Right now
Figure DEST_PATH_IMAGE024
for
Figure DEST_PATH_IMAGE025
matrix with each column
Figure DEST_PATH_IMAGE026
; （5）由高斯白噪声方差生成噪声序列
Figure DEST_PATH_IMAGE027
, 并生成与第
Figure DEST_PATH_IMAGE028
个航姿角状态对应的传感器输出信号
Figure DEST_PATH_IMAGE029
：(5) Generate noise sequence from Gaussian white noise variance
Figure DEST_PATH_IMAGE027
, and generate the same
Figure DEST_PATH_IMAGE028
The sensor output signal corresponding to each heading angle state
Figure DEST_PATH_IMAGE029
:
Figure DEST_PATH_IMAGE030
Figure DEST_PATH_IMAGE030
 （6）按以上（2）至（5）步计算每一个航姿角状态对应的传感器输出信号，存贮并显示信号计算结果，同时向数据接口发送仿真信号。(6) Calculate the sensor output signal corresponding to each attitude angle state according to the above steps (2) to (5), store and display the signal calculation result, and send the simulation signal to the data interface at the same time. 2.根据权利要求1所述的数据获取方法，其特征在于，该方法使用的工业控制计算机为工控一体机。2 . The data acquisition method according to claim 1 , wherein the industrial control computer used in the method is an industrial control integrated computer. 3 . 3.根据权利要求2所述的数据获取方法，其特征在于，该方法使用的实验装置由电源接口、充电电源、工控一体机及数据接口构成，上述各部件安装于便携式机箱内，并在机箱内进行供电与信号连接。3. data acquisition method according to claim 2 is characterized in that, the experimental device that this method uses is made up of power supply interface, charging power supply, industrial control integrated machine and data interface, above-mentioned each part is installed in portable case, and in case Power and signal connections are made inside.
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Citations (5)

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CN103363921A (en) * 2013-07-09 2013-10-23 中国工程物理研究院总体工程研究所 Improved three-point method turning error and roundness error calculation method
CN103808331A (en) * 2014-03-05 2014-05-21 北京理工大学 MEMS (micro-electromechanical system) three-axis gyroscope error calibration method
CN106525079A (en) * 2016-11-29 2017-03-22 北京科技大学 Three-axis magnetic sensor calibration method and device
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