基于Sage-Husa算法的拖曳式Overhauser海洋磁场传感器海浪磁场噪声实时抑制方法
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摘要
利用Weaver海浪模型,对拖曳式Overhauser海洋磁场传感器海浪磁噪声与深度、波幅等之间的关系进行了理论分析,证明了在极端海况条件下对海浪磁噪声进行抑制的必要性.为提高海洋磁测灵敏度,提出了一种基于改进的Sage-Husa自适应Kalman算法的海浪磁场噪声抑制方法.仿真结果表明,该方法能在不需要先验的噪声统计或实时参考噪声的情况下,实现磁场噪声协方差的快速收敛;且与常规的Sage-Husa算法相比,改进后的Sage-Husa算法降低了对初始参数的依赖性.另外,设计了一种拖曳式Overhauser海洋磁场传感器测试仪来测试上述算法.对比结果表明该方法不仅实现了磁场噪声统计参数的自适应估计,而且比经典Kalman滤波具有更好的滤波效果;此外,海浪磁噪声的功率谱密度由50 p T/Hz1/2@1Hz下降到6 p T/Hz1/2@1Hz.
Based on Weaver's model,we analyze the magnetic noise variations of the towed Overhauser marine magnetic sensor associated with the different ocean depths,wave periods and amplitudes in theory,proving the necessity of suppressing the magnetic noise in the extreme ocean conditions. In this paper,we propose a novel real-time reduction method of the magnetic noise via an improved SageHusa adaptive Kalman filter( KF) to improve the sensor sensitivity. The simulation results show that the proposed method could achieve the fast convergence of the covariance of magnetic noise without the priori noise statistics or real-time reference noise. Furthermore,thedependency on the initial parameters is reduced compared with the standard Sage-Husa algorithm. In addition,we implement a towed Overhauser marine magnetometer to test the proposed method. Over all,the comparison experiments show that the proposed method not only realizes the adaptive estimation of the magnetic noise statistics,but also has better suppression effect than the standard KF. The power spectral density of the magnetic noise is reduced to 6 p T/Hz1/2@ 1 Hz from 50 p T/Hz1/2@ 1 Hz after flitting.
Based on Weaver's model,we analyze the magnetic noise variations of the towed Overhauser marine magnetic sensor associated with the different ocean depths,wave periods and amplitudes in theory,proving the necessity of suppressing the magnetic noise in the extreme ocean conditions. In this paper,we propose a novel real-time reduction method of the magnetic noise via an improved SageHusa adaptive Kalman filter( KF) to improve the sensor sensitivity. The simulation results show that the proposed method could achieve the fast convergence of the covariance of magnetic noise without the priori noise statistics or real-time reference noise. Furthermore,thedependency on the initial parameters is reduced compared with the standard Sage-Husa algorithm. In addition,we implement a towed Overhauser marine magnetometer to test the proposed method. Over all,the comparison experiments show that the proposed method not only realizes the adaptive estimation of the magnetic noise statistics,but also has better suppression effect than the standard KF. The power spectral density of the magnetic noise is reduced to 6 p T/Hz1/2@ 1 Hz from 50 p T/Hz1/2@ 1 Hz after flitting.
引文
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Dhanak,M.,An,E.,Coulson,R.,et al.,2015.AUV-Based Characterization of EMF Emissions from Submerged Power Cables.2015 IEEE OCEANS,Genova.https://doi.org/10.1109/OCEANS-Genova.2015.7271719
Dhanak,M.,An,E.,Couson,R.,et al.,2013.Magnetic Field Surveys of Coastal Waters Using an AUV-Towed Magnetometer.2013 IEEE Oceans,San Diego.
Dostal,J.,Martinec,Z.,Thomas,M.,2012.The Modelling of the Toroidal Magnetic Field Induced by Tidal Ocean Circulation.Geophysical Journal International,189(2):782-798.https://doi.org/10.1111/j.1365-246x.2012.05407.x
Gao,X.D.,You,D.Y.,Katayama,S.,2012.Seam Tracking Monitoring Based on Adaptive Kalman Filter Embedded Elman Neural Network during High-Power Fiber Laser Welding.IEEE Transactions on Industrial Electronics,59(11):4315-4325.https://doi.org/10.1109/tie.2012.2193854
Ge,J.,Dong,H.B.,Liu,H.,et al.,2016.Overhauser Geomagnetic Sensor Based on the Dynamic Nuclear Polarization Effect for Magnetic Prospecting.Sensors,16(6):806.
Ge,J.,Lu,C.D.,Dong,H.B.,et al.,2015.The Detection Technology of Near-Surface UXO Based on Magnetic Gradient Method and Overhauser Sensor.Chinese Journal of Scientific Instrument,36(5):38-50(in Chinese with English abstract).
Huan,Y.C.,Hu,H.B.,Fang,S.,2009.Simulation and Removal of Magnetic Field Noise Generated by Ocean Waves.Marine Electric&Electronic Engineering,29(11):61-63(in Chinese with English abstract).
Hughes,M.,Tomic,M.,2010.Geomagnetic Noise Analysis and Suppression from Next Generation Autonomous Systems2009 Sea Trials.2010 MTS/IEEE Oceans Seattle.https://doi.org/10.1109/OCEANS.2010.5664294
Lilley,F.E.M.,Hitchman,A.P.,Milligan,P.R.,et al.,2004.SeaSurface Observations of the Magnetic Signals of Ocean Swells.Geophysical Journal International,159(2):565-572.https://doi.org/10.1111/j.1365-246x.2004.02420.x
Liu,D.G.,Xu,X.,Huang,C.,et al.,2014.Adaptive Cancellation of Geomagnetic Background Noise for Magnetic Anomaly Detection Using Coherence.Measurement Science and Technology,26(1):015008.https://doi.org/10.1088/0957-0233/26/1/015008
Longuet-Higgins,M.S.,Stern,M.E.,Stommel,H.M.,1954.The Electrical Field Induced by Ocean Currents and Waves,with Applications to the Method of Towed Electrodes.Papers in Physical Oceanography and Meteorology XIII,I,Massachusetts Institute of Technology and Woods Hole O-ceanographic Institution.https://doi.org/10.1575/1912/1064
Lyall,R.,Li,X.,Rowe,J.,2014.Identification and Removal of O-cean Swell Effects in Aeromagnetic Surveys.SEG(Society of Exploration Geophysicists)Annual Meeting.
Mathieu,J.L.,Koch,S.,Callaway,D.S.,2013.State Estimation and Control of Electric Loads to Manage Real-Time Energy Imbalance.IEEE Transactions on Power Systems,28(1):430-440.https://doi.org/10.1109/tpwrs.2012.2204074
Naets,F.,Cuadrado,J.,Desmet,W.,2015.Stable Force Identification in Structural Dynamics Using Kalman Filtering and Dummy-Measurements.Mechanical Systems and Signal Processing,50-51:235-248.https://doi.org/10.1016/j.ymssp.2014.05.042
Quinquis,A.,1998.Multisensors Detection of Underwater Magnetic Signals:A Wavelet Packets Application.Traitement du Signal,15(1):57-66.
Sage,A.P.,Husa,G.W.,1969.Adaptive Filtering with Unknown Prior Statistics.Joint Automatic Control Conference,7:760-769.https://doi.org/10.1109/jacc.1969.4169325
Semkin,S.V.,Smagin,V.P.,2012.The Effect of Self-Induction on Magnetic Field Generated by Sea Surface Waves.Izvestiya,Atmospheric and Oceanic Physics,48(2):207-213.https://doi.org/10.1134/s0001433812020119
Smit,P.B.,Janssen,T.T.,Herbers,T.H.C.,2015.Stochastic Modeling of Inhomogeneous Ocean Waves.Ocean Modelling,96:26-35.https://doi.org/10.1016/j.ocemod.2015.06.009
Tumanski,S.,2016.Handbook of Magnetic Measurements.CRCPress,Boca Raton.
Wang,Z.G.,2011.Study on Noise Removing by Wavelet Transform for Dynamic Measuring of Ship Magnetic Field.Ship Electronic Engineering,31(4):158-160(in Chinese with English abstract).
Weaver,J.T.,1965.Magnetic Variations Associated with Ocean Waves and Swell.Journal of Geophysical Research,70(8):1921-1929.https://doi.org/10.1029/jz070i008p01921
Weaver,J.T.,1997.Generation of Magnetic Signal by Waves and Swell,in Transient and Induced Variations in Aeromagnetic.Rec Aust Geol Surv Organ,27:15-16.
Xiong,X.,Yang,R.J.,Wang,H.J.,2015.Airborne Magnetic A-nomaly Detection Algorithm for Moving Target under Ocean Wave Generated Magnetic Noise.Journal of Huazhong University of Science and Technology(Natural Science Edition),43(3):101-106(in Chinese with English abstract).
Zhu,X.L.,Xiao,C.H.,Yao,Z.N.,2014.Noise Elimination of Wave-Generated Magnetic Field at Limited Depth in Ship's Dynamic Magnetic Measurement.Journal of Naval University of Engineering,26(3):48-51(in Chinese with English abstract).
邓鹏,林春生,2009.基于LMS算法的自适应滤波器在海浪磁场噪声中的应用.电子测量技术,32(12):58-60.
葛健,陆承达,董浩斌,等,2015.基于Overhauser传感器的近地表UXO磁梯度法探测技术.仪器仪表学报,36(5):38-50.
还迎春,胡海滨,方石,2009.海浪磁场噪声的仿真与消除.船电技术,29(11):61-63.
王志刚,2011.舰船磁场动态测量中的小波消噪技术研究.舰船电子工程,31(4):158-160.
熊雄,杨日杰,王鸿吉,2015.海浪磁噪声背景中动目标航空磁异常检测算法.华中科技大学学报(自然科学版),43(3):101-106.
朱兴乐,肖昌汉,姚振宁,2014.舰艇动态磁性检测中有限深海浪磁场的噪声消除.海军工程大学学报,26(3):48-51.
Deng,P.,Lin,C.S.,2009.Implementation of Adaptive Filter on Wave-Generated Magnetic Noise Based on LMS Algorithm.Electronic Measurement Technology,32(12):58-60(in Chinese with English abstract).
Dhanak,M.,An,E.,Coulson,R.,et al.,2015.AUV-Based Characterization of EMF Emissions from Submerged Power Cables.2015 IEEE OCEANS,Genova.https://doi.org/10.1109/OCEANS-Genova.2015.7271719
Dhanak,M.,An,E.,Couson,R.,et al.,2013.Magnetic Field Surveys of Coastal Waters Using an AUV-Towed Magnetometer.2013 IEEE Oceans,San Diego.
Dostal,J.,Martinec,Z.,Thomas,M.,2012.The Modelling of the Toroidal Magnetic Field Induced by Tidal Ocean Circulation.Geophysical Journal International,189(2):782-798.https://doi.org/10.1111/j.1365-246x.2012.05407.x
Gao,X.D.,You,D.Y.,Katayama,S.,2012.Seam Tracking Monitoring Based on Adaptive Kalman Filter Embedded Elman Neural Network during High-Power Fiber Laser Welding.IEEE Transactions on Industrial Electronics,59(11):4315-4325.https://doi.org/10.1109/tie.2012.2193854
Ge,J.,Dong,H.B.,Liu,H.,et al.,2016.Overhauser Geomagnetic Sensor Based on the Dynamic Nuclear Polarization Effect for Magnetic Prospecting.Sensors,16(6):806.
Ge,J.,Lu,C.D.,Dong,H.B.,et al.,2015.The Detection Technology of Near-Surface UXO Based on Magnetic Gradient Method and Overhauser Sensor.Chinese Journal of Scientific Instrument,36(5):38-50(in Chinese with English abstract).
Huan,Y.C.,Hu,H.B.,Fang,S.,2009.Simulation and Removal of Magnetic Field Noise Generated by Ocean Waves.Marine Electric&Electronic Engineering,29(11):61-63(in Chinese with English abstract).
Hughes,M.,Tomic,M.,2010.Geomagnetic Noise Analysis and Suppression from Next Generation Autonomous Systems2009 Sea Trials.2010 MTS/IEEE Oceans Seattle.https://doi.org/10.1109/OCEANS.2010.5664294
Lilley,F.E.M.,Hitchman,A.P.,Milligan,P.R.,et al.,2004.SeaSurface Observations of the Magnetic Signals of Ocean Swells.Geophysical Journal International,159(2):565-572.https://doi.org/10.1111/j.1365-246x.2004.02420.x
Liu,D.G.,Xu,X.,Huang,C.,et al.,2014.Adaptive Cancellation of Geomagnetic Background Noise for Magnetic Anomaly Detection Using Coherence.Measurement Science and Technology,26(1):015008.https://doi.org/10.1088/0957-0233/26/1/015008
Longuet-Higgins,M.S.,Stern,M.E.,Stommel,H.M.,1954.The Electrical Field Induced by Ocean Currents and Waves,with Applications to the Method of Towed Electrodes.Papers in Physical Oceanography and Meteorology XIII,I,Massachusetts Institute of Technology and Woods Hole O-ceanographic Institution.https://doi.org/10.1575/1912/1064
Lyall,R.,Li,X.,Rowe,J.,2014.Identification and Removal of O-cean Swell Effects in Aeromagnetic Surveys.SEG(Society of Exploration Geophysicists)Annual Meeting.
Mathieu,J.L.,Koch,S.,Callaway,D.S.,2013.State Estimation and Control of Electric Loads to Manage Real-Time Energy Imbalance.IEEE Transactions on Power Systems,28(1):430-440.https://doi.org/10.1109/tpwrs.2012.2204074
Naets,F.,Cuadrado,J.,Desmet,W.,2015.Stable Force Identification in Structural Dynamics Using Kalman Filtering and Dummy-Measurements.Mechanical Systems and Signal Processing,50-51:235-248.https://doi.org/10.1016/j.ymssp.2014.05.042
Quinquis,A.,1998.Multisensors Detection of Underwater Magnetic Signals:A Wavelet Packets Application.Traitement du Signal,15(1):57-66.
Sage,A.P.,Husa,G.W.,1969.Adaptive Filtering with Unknown Prior Statistics.Joint Automatic Control Conference,7:760-769.https://doi.org/10.1109/jacc.1969.4169325
Semkin,S.V.,Smagin,V.P.,2012.The Effect of Self-Induction on Magnetic Field Generated by Sea Surface Waves.Izvestiya,Atmospheric and Oceanic Physics,48(2):207-213.https://doi.org/10.1134/s0001433812020119
Smit,P.B.,Janssen,T.T.,Herbers,T.H.C.,2015.Stochastic Modeling of Inhomogeneous Ocean Waves.Ocean Modelling,96:26-35.https://doi.org/10.1016/j.ocemod.2015.06.009
Tumanski,S.,2016.Handbook of Magnetic Measurements.CRCPress,Boca Raton.
Wang,Z.G.,2011.Study on Noise Removing by Wavelet Transform for Dynamic Measuring of Ship Magnetic Field.Ship Electronic Engineering,31(4):158-160(in Chinese with English abstract).
Weaver,J.T.,1965.Magnetic Variations Associated with Ocean Waves and Swell.Journal of Geophysical Research,70(8):1921-1929.https://doi.org/10.1029/jz070i008p01921
Weaver,J.T.,1997.Generation of Magnetic Signal by Waves and Swell,in Transient and Induced Variations in Aeromagnetic.Rec Aust Geol Surv Organ,27:15-16.
Xiong,X.,Yang,R.J.,Wang,H.J.,2015.Airborne Magnetic A-nomaly Detection Algorithm for Moving Target under Ocean Wave Generated Magnetic Noise.Journal of Huazhong University of Science and Technology(Natural Science Edition),43(3):101-106(in Chinese with English abstract).
Zhu,X.L.,Xiao,C.H.,Yao,Z.N.,2014.Noise Elimination of Wave-Generated Magnetic Field at Limited Depth in Ship's Dynamic Magnetic Measurement.Journal of Naval University of Engineering,26(3):48-51(in Chinese with English abstract).
邓鹏,林春生,2009.基于LMS算法的自适应滤波器在海浪磁场噪声中的应用.电子测量技术,32(12):58-60.
葛健,陆承达,董浩斌,等,2015.基于Overhauser传感器的近地表UXO磁梯度法探测技术.仪器仪表学报,36(5):38-50.
还迎春,胡海滨,方石,2009.海浪磁场噪声的仿真与消除.船电技术,29(11):61-63.
王志刚,2011.舰船磁场动态测量中的小波消噪技术研究.舰船电子工程,31(4):158-160.
熊雄,杨日杰,王鸿吉,2015.海浪磁噪声背景中动目标航空磁异常检测算法.华中科技大学学报(自然科学版),43(3):101-106.
朱兴乐,肖昌汉,姚振宁,2014.舰艇动态磁性检测中有限深海浪磁场的噪声消除.海军工程大学学报,26(3):48-51.