地磁总场测量阵列对磁性目标定位的方法
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摘要
提出了用地磁总场对磁性目标定位的方法.以远场磁偶极子原理构建了地磁总场的测量阵列,设计了阵列对目标的定位算法,求解中采用二重梯度算法消除了地磁总场随时间变化和空间分布不均匀对目标定位的影响.实验验证了这种二重梯度算法的有效性.利用MATHCAD对定位算法中的非线性方程组进行了仿真,采用LINGO软件求解了阵列方程组.在松花江沿岸某地,用光泵磁传感器阵列对航行中的目标船进行了定位实验,所测磁场数据曲线与理论曲线完全吻合,证明了定位算法物理模型的正确性.提出了改进的磁场梯度偏置定位算法,进一步提高了目标定位精度.实验证明了这种地磁总场目标定位方法的可行性.
We propose a method of locating a magnetic target based on geomagnetic total field.According to the principle of a magnetic dipole in the far field,a measuring array of geomagnetic total field and the algorithm of locating target are designed.However,the geomagnetic total field with time-varying and uneven spatial distribution may have some influence on locating target.To eliminate the influence,a conjugate gradient algorithm is introduced.In this method,MATHCAD is used to simulate the nonlinear equations,and LINGO is used to solve the equations.In the experiment,we measured the magnetic anomaly generated by a navigating ship using optically pumped magnetometers on the coast Songhua River.The measured data are closed to the theoretical value.It means that the physical models of the algorithm are valid.To improve the accuracy of location,a modified algorithm based on magnetic gradient bias is proposed.The results show that the methods of locating target are feasible.
We propose a method of locating a magnetic target based on geomagnetic total field.According to the principle of a magnetic dipole in the far field,a measuring array of geomagnetic total field and the algorithm of locating target are designed.However,the geomagnetic total field with time-varying and uneven spatial distribution may have some influence on locating target.To eliminate the influence,a conjugate gradient algorithm is introduced.In this method,MATHCAD is used to simulate the nonlinear equations,and LINGO is used to solve the equations.In the experiment,we measured the magnetic anomaly generated by a navigating ship using optically pumped magnetometers on the coast Songhua River.The measured data are closed to the theoretical value.It means that the physical models of the algorithm are valid.To improve the accuracy of location,a modified algorithm based on magnetic gradient bias is proposed.The results show that the methods of locating target are feasible.
引文
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Iacca G,Bakker F L,W9rtche B H.2014.Real-time magnetic dipole detection with single particle optimization.Applied Soft Computing,23(5):460-473,doi:10.1016/j.asoc.2014.06.026.
Liu G D.1997.Progress of marine geophysics in China.Acta Geophysica Sinica(in Chinese),40(S1):46-49.
Liu L B,Wan W X.2014.A brief overview on the issue on space physics and space weather.Chinese Journal of Geophysics(in Chinese),57(11):3493-3501,doi:10.6038/cjg20141101.
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Pang H F,Pan M C,Wan C B,et al.2014.Integrated compensation of magnetometer array magnetic distortion field and improvement of magnetic object localization.IEEE Transactions on Geoscience and Remote Sensing,52(9):5670-5676,doi:10.1109/TGRS.2013.2291839.
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Wahlstr9m N,Gustafsson F.2014.Magnetometer modeling and validation for tracking metallic targets.IEEE Transactions on Signal Processing,62(3):545-556,doi:10.1109/TSP.2013.2274639.
Wang G H,Zhu H,Guo Z D.2008.Analysis of magnetic dipole approximate range for a submarine.Journal of Naval University of Engineering(in Chinese),20(5):60-63,doi:10.7495/j.issn.1009-3486.2008.05.014.
Wen Z H,Zhang X H,Hao T Y,et al.2014.Progress in compilation of geoscience map series for China seas and adjacent regions.Chinese Journal of Geophysics(in Chinese),57(12):3907-3919,doi:10.6038/cjg20141205.
Weng A H,Li S W,Li J P,et al.2017.Progress in deep electromagnetic induction studies.Progress in Geophysics(in Chinese),32(4):1679-1692,doi:10.6038/pg20170436.
Weng X T,Cao M F.1994.A research on the calculation of the induced magnetic field of a submarine.Journal of Shanghai Jiaotong University(in Chinese),28(5):69-76.
Wu Y,Shi W.2015.On calibration of three-axis magnetometer.IEEE Sensors Journal,15(11):6424-6431,doi:10.1109/JSEN.2015.2459767.
Xu R G,Gu Z W,Li Z J,et al.2014.Application of Chinese geomagnetic survey and geomagnetic model for 2005-2010.Progress in Geophysics(in Chinese),29(5):2092-2099,doi:10.6038/pg20140515.
Xu W Y,Wei Z G,Xia G H.2005.Regional features of the secular variation of the geomagnetic field in China for 2000.Chinese Journal of Geophysics(in Chinese),48(3):551-560,doi:10.3321/j.issn:0001-5733.2005.03.012.
Yang W A,Hu C,Li M,et al.2010.A new tracking system for three magnetic objectives.IEEE Transactions on Magnetics,46(12):4023-4029,doi:10.1109/TMAG.2010.2076823.
Yao Z N,Liu D M,Liu D S,et al.2014.A real-time magnetic localization method of underwater non-cooperative magnetic targets based on unscented particle filter.Acta Physica Sinica(in Chinese),63(22):309-314,doi:10.7498/aps.63.227502.
Yin C C,Zhang B,Liu Y H,et al.2015.Review on airborne EMtechnology and developments.Chinese Journal of Geophysics(in Chinese),58(8):2637-2653,doi:10.6038/cjg20150804.
Zalfvsky Z,Bregman Y,Salomonski N,et al.2012.Resolution enhanced magnetic sensing system for wide coverage real time UXO detection.Journal of Applied Geophysics,84(4):70-76,doi:10.1016/j.jappgeo.2012.06.003.
Zhang A M,Chen W T,Yu W Q,et al.2014.The equivalent calculation for the induced magnetic fields of a ship hull module.Chinese Journal of Ship Research(in Chinese),9(3):109-112,doi:10.3969/j.issn.1673-3185.2014.03.017.
Zheng Y H,Liu Y Y,Zhang J S,et al.2013.Modeling of magnetic anomaly and Analysis about performance of geomagnetic matching of MF7.Progress in Geophysics(in Chinese),28(5):2256-2263,doi:10.6038/pg20130507.
陈斌,顾左文,高金田等.2011.2005.0年代中国地区地磁场及其长期变化球冠谐和分析.地球物理学报,54(3):771-779,doi:10.3969/j.issn.0001-5733.2011.03.017.
冯彦,潘剑君,安振昌等.2010.中国地区地磁场水平梯度的计算与分析.地球物理学报,53(12):2899-2906,doi:10.3969/j.issn.0001-5733.2010.12.013.
高金田,安振昌,顾左文等.2005.地磁正常场的选取与地磁异常场的计算.地球物理学报,48(1):56-62,doi:10.3321/j.issn:0001-5733.2005.01.010.
刘光鼎.1997.中国海洋地球物理进展.地球物理学报,40(S1):46-49.
刘立波,万卫星.2014.我国空间物理研究进展.地球物理学报,57(11):3493-3501,doi:10.6038/cjg20141101.
孙烨,肖昌汉,周国华.2012.磁主动式海底磁传感器定位方法及其解析公式.海洋测绘,32(4):25-28,doi:10.3969/j.issn.1671-3044.2012.04.008.
王光辉,朱海,郭正东.2008.潜艇磁偶极子近似距离条件分析.海军工程大学学报,20(5):60-63,doi:10.7495/j.issn.1009-3486.2008.05.014.
温珍河,张训华,郝天珧等.2014.我国海洋地学编图现状、计划与主要进展.地球物理学报,57(12):3907-3919,doi:10.6038/cjg20141205.
翁爱华,李世文,李建平等.2017.深部电磁感应研究进展.地球物理学进展,32(4):1679-1692,doi:10.6038/pg20170436.
翁行泰,曹梅芬.1994.潜艇感应磁场的三维有限元法计算研究.上海交通大学学报,28(5):69-76.
徐如刚,顾左文,黎哲君等.2014.2005-2010年中国地磁测量与地磁场模型的应用.地球物理学进展,29(5):2092-2099,doi:10.6038/pg20140515.
徐文耀,魏自刚,夏国辉.2005.2000年中国地区地磁场长期变化的区域特征.地球物理学报,48(3):551-560,doi:10.3321/j.issn:0001-5733.2005.03.012.
姚振宁,刘大明,刘胜道等.2014.基于不敏粒子滤波的水中非合作磁性目标实时磁定位方法.物理学报,63(22):309-314,doi:10.7498/aps.63.227502.
殷长春,张博,刘云鹤等.2015.航空电磁勘查技术发展现状及展望.地球物理学报,58(8):2637-2653,doi:10.6038/cjg20150804.
张安明,陈文涛,虞伟乔等.2014.舰船壳体模块感应磁场的等效计算.中国舰船研究,9(3):109-112,doi:10.3969/j.issn.1673-3185.2014.03.017.
郑玉航,刘元元,张金生等.2013.MF7磁异常场模型的建模与匹配性能分析.地球物理学进展,28(5):2256-2263,doi:10.6038/pg20130507.
Chen B,Gu Z W,Gao J T,et al.2011.Analyses of geomagnetic field and its secular variation over China for 2005.0epoch using Spherical Cap Harmonic method.Chinese Journal of Geophysics(in Chinese),54(3):771-779,doi:10.3969/j.issn.0001-5733.2011.03.017.
Feng Y,Pan J J,An Z C,et al.2010.Calculation and analysis of geomagnetic field horizontal gradients in China.Chinese Journal of Geophysics(in Chinese),53(12):2899-2906,doi:10.3969/j.issn.0001-5733.2010.12.013.
Gao J T,An Z C,Gu Z W,et al.2005.Selections of the geomagnetic normal field and calculations of the geomagnetic anomalous field.Chinese Journal of Geophysics(in Chinese),48(1):56-62,doi:10.3321/j.issn:0001-5733.2005.01.010.
Iacca G,Bakker F L,W9rtche B H.2014.Real-time magnetic dipole detection with single particle optimization.Applied Soft Computing,23(5):460-473,doi:10.1016/j.asoc.2014.06.026.
Liu G D.1997.Progress of marine geophysics in China.Acta Geophysica Sinica(in Chinese),40(S1):46-49.
Liu L B,Wan W X.2014.A brief overview on the issue on space physics and space weather.Chinese Journal of Geophysics(in Chinese),57(11):3493-3501,doi:10.6038/cjg20141101.
Novik O B,Ershov S V,Volgin M N,et al.2016.Magnetic location of a possible earthquake epicentre area:A mathematical model.Geomatics,Natural Hazards and Risk,7(1):113-126,doi:10.1080/19475705.2013.878398.
Pang H F,Pan M C,Wan C B,et al.2014.Integrated compensation of magnetometer array magnetic distortion field and improvement of magnetic object localization.IEEE Transactions on Geoscience and Remote Sensing,52(9):5670-5676,doi:10.1109/TGRS.2013.2291839.
Sun Y,Xiao C H,Zhou G H.2012.An active method and its analytical formulas of magnetic sensor positioning using the magnetic source.Hydrographic Surveying and Charting(in Chinese),32(4):25-28,doi:10.3969/j.issn.1671-3044.2012.04.008.
Wahlstr9m N,Gustafsson F.2014.Magnetometer modeling and validation for tracking metallic targets.IEEE Transactions on Signal Processing,62(3):545-556,doi:10.1109/TSP.2013.2274639.
Wang G H,Zhu H,Guo Z D.2008.Analysis of magnetic dipole approximate range for a submarine.Journal of Naval University of Engineering(in Chinese),20(5):60-63,doi:10.7495/j.issn.1009-3486.2008.05.014.
Wen Z H,Zhang X H,Hao T Y,et al.2014.Progress in compilation of geoscience map series for China seas and adjacent regions.Chinese Journal of Geophysics(in Chinese),57(12):3907-3919,doi:10.6038/cjg20141205.
Weng A H,Li S W,Li J P,et al.2017.Progress in deep electromagnetic induction studies.Progress in Geophysics(in Chinese),32(4):1679-1692,doi:10.6038/pg20170436.
Weng X T,Cao M F.1994.A research on the calculation of the induced magnetic field of a submarine.Journal of Shanghai Jiaotong University(in Chinese),28(5):69-76.
Wu Y,Shi W.2015.On calibration of three-axis magnetometer.IEEE Sensors Journal,15(11):6424-6431,doi:10.1109/JSEN.2015.2459767.
Xu R G,Gu Z W,Li Z J,et al.2014.Application of Chinese geomagnetic survey and geomagnetic model for 2005-2010.Progress in Geophysics(in Chinese),29(5):2092-2099,doi:10.6038/pg20140515.
Xu W Y,Wei Z G,Xia G H.2005.Regional features of the secular variation of the geomagnetic field in China for 2000.Chinese Journal of Geophysics(in Chinese),48(3):551-560,doi:10.3321/j.issn:0001-5733.2005.03.012.
Yang W A,Hu C,Li M,et al.2010.A new tracking system for three magnetic objectives.IEEE Transactions on Magnetics,46(12):4023-4029,doi:10.1109/TMAG.2010.2076823.
Yao Z N,Liu D M,Liu D S,et al.2014.A real-time magnetic localization method of underwater non-cooperative magnetic targets based on unscented particle filter.Acta Physica Sinica(in Chinese),63(22):309-314,doi:10.7498/aps.63.227502.
Yin C C,Zhang B,Liu Y H,et al.2015.Review on airborne EMtechnology and developments.Chinese Journal of Geophysics(in Chinese),58(8):2637-2653,doi:10.6038/cjg20150804.
Zalfvsky Z,Bregman Y,Salomonski N,et al.2012.Resolution enhanced magnetic sensing system for wide coverage real time UXO detection.Journal of Applied Geophysics,84(4):70-76,doi:10.1016/j.jappgeo.2012.06.003.
Zhang A M,Chen W T,Yu W Q,et al.2014.The equivalent calculation for the induced magnetic fields of a ship hull module.Chinese Journal of Ship Research(in Chinese),9(3):109-112,doi:10.3969/j.issn.1673-3185.2014.03.017.
Zheng Y H,Liu Y Y,Zhang J S,et al.2013.Modeling of magnetic anomaly and Analysis about performance of geomagnetic matching of MF7.Progress in Geophysics(in Chinese),28(5):2256-2263,doi:10.6038/pg20130507.
陈斌,顾左文,高金田等.2011.2005.0年代中国地区地磁场及其长期变化球冠谐和分析.地球物理学报,54(3):771-779,doi:10.3969/j.issn.0001-5733.2011.03.017.
冯彦,潘剑君,安振昌等.2010.中国地区地磁场水平梯度的计算与分析.地球物理学报,53(12):2899-2906,doi:10.3969/j.issn.0001-5733.2010.12.013.
高金田,安振昌,顾左文等.2005.地磁正常场的选取与地磁异常场的计算.地球物理学报,48(1):56-62,doi:10.3321/j.issn:0001-5733.2005.01.010.
刘光鼎.1997.中国海洋地球物理进展.地球物理学报,40(S1):46-49.
刘立波,万卫星.2014.我国空间物理研究进展.地球物理学报,57(11):3493-3501,doi:10.6038/cjg20141101.
孙烨,肖昌汉,周国华.2012.磁主动式海底磁传感器定位方法及其解析公式.海洋测绘,32(4):25-28,doi:10.3969/j.issn.1671-3044.2012.04.008.
王光辉,朱海,郭正东.2008.潜艇磁偶极子近似距离条件分析.海军工程大学学报,20(5):60-63,doi:10.7495/j.issn.1009-3486.2008.05.014.
温珍河,张训华,郝天珧等.2014.我国海洋地学编图现状、计划与主要进展.地球物理学报,57(12):3907-3919,doi:10.6038/cjg20141205.
翁爱华,李世文,李建平等.2017.深部电磁感应研究进展.地球物理学进展,32(4):1679-1692,doi:10.6038/pg20170436.
翁行泰,曹梅芬.1994.潜艇感应磁场的三维有限元法计算研究.上海交通大学学报,28(5):69-76.
徐如刚,顾左文,黎哲君等.2014.2005-2010年中国地磁测量与地磁场模型的应用.地球物理学进展,29(5):2092-2099,doi:10.6038/pg20140515.
徐文耀,魏自刚,夏国辉.2005.2000年中国地区地磁场长期变化的区域特征.地球物理学报,48(3):551-560,doi:10.3321/j.issn:0001-5733.2005.03.012.
姚振宁,刘大明,刘胜道等.2014.基于不敏粒子滤波的水中非合作磁性目标实时磁定位方法.物理学报,63(22):309-314,doi:10.7498/aps.63.227502.
殷长春,张博,刘云鹤等.2015.航空电磁勘查技术发展现状及展望.地球物理学报,58(8):2637-2653,doi:10.6038/cjg20150804.
张安明,陈文涛,虞伟乔等.2014.舰船壳体模块感应磁场的等效计算.中国舰船研究,9(3):109-112,doi:10.3969/j.issn.1673-3185.2014.03.017.
郑玉航,刘元元,张金生等.2013.MF7磁异常场模型的建模与匹配性能分析.地球物理学进展,28(5):2256-2263,doi:10.6038/pg20130507.
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