阅读说明：本技术 磁探测系统多传感器数据同步方法 (Multi-sensor data synchronization method for magnetic detection system ) 是由 秦杰 周明 万双爱 魏克全 王同雷 于 2019-09-10 设计创作，主要内容包括：本发明涉及磁探测技术领域,公开了一种磁探测系统多传感器数据同步方法。其中,该方法包括：对光泵磁强计输出相对输入变化磁场的响应时间T进行测定；以三轴磁通门输出数据时间作为基准时间轴,将光泵磁强计实际输出数据时刻扣除响应时间T后同步到所述基准时间轴上的对应时刻；基于自驾仪多个时刻的输出数据计算所述对应时刻的载体位置和姿态信息。由此,可以消除光泵磁强计、三轴磁通门以及自驾仪数据采集结果时源偏差,得到当前时刻高精度总场磁场值和三轴磁场值以及载体位置、姿态、速度信息。(The invention relates to the technical field of magnetic detection, and discloses a multi-sensor data synchronization method for a magnetic detection system. Wherein, the method comprises the following steps: measuring the response time T of the output of the optical pump magnetometer relative to the input variable magnetic field; taking the data output time of the triaxial fluxgate as a reference time axis, and synchronizing the actual data output time of the optical pump magnetometer to the corresponding time on the reference time axis after deducting the response time T; and calculating the carrier position and attitude information at the corresponding moment based on the output data of the autopilot at a plurality of moments. Therefore, the time source deviation of data acquisition results of the optical pump magnetometer, the three-axis fluxgate and the autopilot can be eliminated, and the high-precision total field magnetic field value and the three-axis magnetic field value at the current moment as well as the position, the posture and the speed information of the carrier can be obtained.)

1. A method for synchronizing data of multiple sensors of a magnetic detection system, the method comprising:

measuring the response time T of the output of the optical pump magnetometer relative to the input variable magnetic field;

taking the data output time of the triaxial fluxgate as a reference time axis, and synchronizing the actual data output time of the optical pump magnetometer to the corresponding time on the reference time axis after deducting the response time T;

and calculating the carrier position and attitude information at the corresponding moment based on the output data of the autopilot at a plurality of moments.

2. The method of claim 1, wherein calculating the carrier position and attitude information for the corresponding time based on the autopilot output data for a plurality of times comprises:

and calculating to obtain the carrier position and attitude information at the corresponding moment by using a linear recursive least square method based on the output data of the autopilot at multiple moments.

3. The method of claim 1 or 2, wherein the optical pump magnetometer outputs data in digital form using an RS-232 interface.

4. The method of claim 1 or 2, wherein the autopilot uses an RS-232 interface to output data in the form of digital quantities, and wherein the data output by the autopilot comprises carrier position and attitude information.

5. The method according to claim 1 or 2, wherein the tri-axial fluxgate adopts a voltage analog interface to output data in the form of analog quantity.

Technical Field

The invention relates to the technical field of magnetic detection, in particular to a multi-sensor data synchronization method for a magnetic detection system.

Background

The magnetic detection technology utilizes various magnetic sensors to detect the environment and the target magnetic field so as to obtain the abnormal magnetic field characteristics of the target and further identify the target. The optical pump magnetometer utilizes atomic spin precession to detect a magnetic field to be detected, is suitable for the geomagnetic field environment, has high detection precision, but has lower sampling frequency and can only measure the total field intensity of the magnetic field. The fluxgate sensor is based on an electromagnetic induction technology, utilizes an induction coil to sense a magnetic field to be measured, has higher sampling frequency, can measure a triaxial magnetic field value, and has lower precision. The optical pump magnetometer and the fluxgate magnetometer are used for simultaneously measuring the magnetic field, the measurement results of the optical pump magnetometer and the fluxgate magnetometer can be fused and mutually supplemented, and the total magnetic field value and the triaxial magnetic field value with higher precision are obtained. However, the two magnetometers have different clock references and different sampling frequencies, and the commercial optical pump magnetometer does not have special synchronous signal output, so that if the two magnetometers are used for sampling data directly, great information acquisition time source deviation can be introduced, and the data cannot meet the requirement of precise magnetic anomaly characteristic extraction.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, provides a multi-sensor data synchronization method of a magnetic detection system, and can solve the problem of time-source deviation when a plurality of magnetometers are used simultaneously in the prior art.

The technical solution of the invention is as follows: a magnetic detection system multi-sensor data synchronization method, wherein the method comprises:

measuring the response time T of the output of the optical pump magnetometer relative to the input variable magnetic field;

taking the data output time of the triaxial fluxgate as a reference time axis, and synchronizing the actual data output time of the optical pump magnetometer to the corresponding time on the reference time axis after deducting the response time T;

and calculating the carrier position and attitude information at the corresponding moment based on the output data of the autopilot at a plurality of moments.

Preferably, calculating the carrier position and attitude information at the corresponding time based on the output data of the autopilot at a plurality of times comprises:

and calculating to obtain the carrier position and attitude information at the corresponding moment by using a linear recursive least square method based on the output data of the autopilot at multiple moments.

Preferably, the optical pump magnetometer adopts an RS-232 interface and outputs data in a digital quantity form.

Preferably, the autopilot adopts an RS-232 interface and outputs data in a digital quantity form, and the data output by the autopilot comprises carrier position and attitude information.

Preferably, the tri-axis fluxgate adopts a voltage analog interface to output data in the form of analog quantity.

By the technical scheme, the response time of the optical pump magnetometer can be measured in advance, then the actual data output time of the optical pump magnetometer can be converted into the actual sensitive time relative to the reference time axis, and the output hysteresis characteristic of the optical pump magnetometer is avoided; and further calculating the carrier position and attitude information at the actual sensitive moment based on the output data of the autopilot at multiple moments. Therefore, the source deviation of the data acquisition results of the optical pump magnetometer, the three-axis fluxgate and the autopilot (autopilot) can be eliminated, and the high-precision total field magnetic field value and the three-axis magnetic field value at the current moment as well as the position, the posture and the speed information of the carrier can be obtained.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 is a flow chart of a method for synchronizing data of multiple sensors of a magnetic detection system according to an embodiment of the present invention;

FIG. 2 is a diagram of a reference time axis according to an embodiment of the present invention.

Detailed Description

Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the following description, for purposes of explanation and not limitation, specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be apparent to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details.

It should be noted that, in order to avoid obscuring the present invention with unnecessary details, only the device structures and/or processing steps that are closely related to the scheme according to the present invention are shown in the drawings, and other details that are not so relevant to the present invention are omitted.

Fig. 1 is a flowchart of a multi-sensor data synchronization method for a magnetic detection system according to an embodiment of the present invention.

As shown in fig. 1, an embodiment of the present invention provides a method for synchronizing data of multiple sensors of a magnetic detection system, where the method includes:

s100, measuring the response time T of the output of the optical pump magnetometer relative to the input variable magnetic field;

s102, taking the time of the triaxial fluxgate output data (the high-frequency sampling time of the triaxial fluxgate output data) as a reference time axis, and synchronizing the actual output data time of the optical pump magnetometer to the corresponding time (the actual sensitive time) on the reference time axis after deducting the response time T;

for example, the characteristics of output signals of the triaxial fluxgate and the autopilot can be combined, a high-frequency sampling mode is adopted, the data output time of the triaxial fluxgate is taken as a reference time axis, and the data output time of the optical pump magnetometer after the response time T is deducted is synchronized to the corresponding time on the reference time axis.

And S104, calculating the carrier position and posture information at the corresponding moment based on the output data of the autopilot at multiple moments.

By the technical scheme, the response time of the optical pump magnetometer can be measured in advance, then the actual data output time of the optical pump magnetometer can be converted into the actual sensitive time relative to the reference time axis, and the output hysteresis characteristic of the optical pump magnetometer is avoided; and further calculating the carrier position and attitude information at the actual sensitive moment based on the output data of the autopilot at multiple moments. Therefore, the source deviation of the data acquisition results of the optical pump magnetometer, the three-axis fluxgate and the autopilot (autopilot) can be eliminated, and the high-precision total field magnetic field value and the three-axis magnetic field value at the current moment as well as the position, the posture and the speed information of the carrier can be obtained.

Namely, different sensor information is aligned by data according to a reference time axis, and time source deviation is eliminated.

According to one embodiment of the invention, calculating the carrier position and attitude information at the corresponding time based on the output data of the autopilot at a plurality of times comprises the following steps:

and calculating to obtain the carrier position and attitude information at the corresponding moment by using a linear recursive least square method based on the output data of the autopilot at multiple moments.

FIG. 2 is a diagram of a reference time axis according to an embodiment of the present invention.

According to one embodiment of the invention, the optical pump magnetometer adopts an RS-232 interface and outputs data in the form of digital quantity.

In fig. 2, the actual data output time (relative reference time axis) of the optical pump magnetometer is indicated by a solid arrow from the top to the bottom in the vertical direction, and P is_nIndicating the most recent actual moment of output data, P, of the optical pump magnetometer_n-1Indicating the moment when the actual data was output from the last beat of the optical pump magnetometer. The actual time (relative to the reference time axis) at which the optical pump magnetometer is sensitive after deducting the response time T is indicated by the vertical top-down dashed arrow in FIG. 2, R_nRepresenting the nearest actual sensitive moment R of the optical pump magnetometer after deducting the response time T_n-1Representing the actual sensitive moment of the last beat of the optical pump magnetometer after the response time T is deducted.

According to one embodiment of the invention, the autopilot adopts an RS-232 interface and outputs data in a digital quantity form, and the data output by the autopilot comprises carrier position and attitude information.

In fig. 2, the actual data output time of the self-driving device is indicated by a solid arrow from the bottom to the top in the vertical direction, An represents the time (relative to the reference time axis) of the last actual data output of the self-driving device, (a)_n-1、A_n-2… …) represents the time of the actual output data of the autopilot in the first few beats, and combines the first few beats (A) by utilizing the characteristic that the change of the motion posture of the carrier is linear in a short time_n-1、A_n-2… …) self-driving instrument output data, that is, R can be calculated by using linear recursive least square method_nTime carrier position, attitude information (shown by the dashed arrow a from bottom to top in fig. 2). The measures eliminate the time-source deviation of the triaxial fluxgate data, the optical pump magnetometer data and the autopilot data, and realize the data synchronization among the multiple sensors.

According to an embodiment of the invention, the tri-axis fluxgate adopts a voltage analog interface to output data in an analog quantity form.

The voltage signals output by the three-axis fluxgate sensor can be acquired and converted through an AD conversion chip, the acquisition frequency meets the requirements of a rear-end filter and the requirements of synchronous errors at the same time, and the current carrier magnetic attitude can be represented by directly using the latest acquisition result.

As shown in fig. 2, the time when the tri-axis fluxgate sensor outputs data is used as a reference time axis of data synchronization, which is shown by black horizontal arrows in the figure, and each scale mark on the arrows represents the time when the fluxgate sensor outputs the data acquisition result.

In addition, the invention can also utilize a hardware timer in the processor as a common time stamp of the acquisition result of each sensor.

It can be seen from the above embodiments that the method of the above embodiments of the present invention can implement data synchronization of multiple sensors without depending on hardware synchronization signals, and the implementation is simple and convenient, and the synchronization precision meets the magnetic detection requirement of multiple sensors when the carrier moves at low speed; the core sensor is realized based on the optical pump magnetometer, the autopilot and the three-axis fluxgate, special customization is not needed, the product standardization degree is improved, and the expenditure and the development period are saved. And after the method provided by the invention is adopted to carry out data synchronization on the related sensors, the source deviation of data information can meet the requirement of precise magnetic anomaly characteristic extraction.

Features that are described and/or illustrated above with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments and/or in combination with or instead of the features of the other embodiments.

It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps, components or groups thereof.

The many features and advantages of these embodiments are apparent from the detailed specification, and thus, it is intended by the appended claims to cover all such features and advantages of these embodiments which fall within the true spirit and scope thereof. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the embodiments of the invention to the exact construction and operation illustrated and described, and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope thereof.

The invention has not been described in detail and is in part known to those of skill in the art.