摘要
采用消磁站海底平面磁传感器阵列进行测量是获取舰艇磁场的主要途径,水下磁传感器位置误差是影响舰艇磁场测量的主要因素。针对该问题,将磁场与深度测量数据相融合,提出一种基于磁场梯度优化的消磁站水下磁传感器定位方法。将通电螺线管线圈等效成磁偶极子,通过磁传感器位置偏差区域x和y方向的平均磁场梯度优化确定线圈的两组磁源移动位置,结合深度测量数据分别建立方程组构造目标函数,并采用动态学习策略多群体粒子群算法进行优化求解,从而实现消磁站水下磁传感器的高精度定位。在系统分析和评估深度传感器精度、环境磁噪声等影响规律的基础上,开展位置校正数值模拟和物理缩比模型实验。实验结果表明,该方法可有效地解决消磁站水下磁传感器的定位问题,定位误差小于0.1 m,能够满足舰艇磁场的测量要求。
At present,the main way to measure a ship's magnetic field is by the magnetic sensor array installed on the submarine plane of the fixed deperming station.The installation of underwater magnetic sensors is particularly difficult due to the complex and changeable submarine environment.There is a certain position deviation between the installation position of the underwater magnetic sensors and the preset position in actual engineering,which is the main factor affecting the magnetic field measurement of the ship.In addition,with the continuous development of magnetic mines and airborne magnetic prospecting,the requirements for the magnetic protection capability of ships are becoming increasingly strict.Therefore,combining magnetic field and depth measurement data,a localization method for underwater magnetic sensors is proposed based on optimizing the magnetic field gradient has been proposed.Firstly,the pier meshes with a suitable grid spacing l.Secondly,the energized solenoid coil is equivalent to a magnetic dipole.When the magnetic dipole is located at each grid node,the average magnetic field gradients in the x-axis and y-axis directions of the region 60 cm×60 cm×60 cm centered on the sensor are calculated.Simultaneously,the coil coordinates are recorded.Then the average magnetic field gradients in the three directions are sorted from large to small.Thirdly,the magnetic source is moved on the grid nodes corresponding to the first k average magnetic field gradients in the x-axis and y-axis directions,and underwater magnetic sensors measure the magnetic field of the magnetic source.Fourthly,the magnetic source data are measured in the x-axis and y-axis directions,and the depth data are used to construct the objective function.A novel multi-swarm particle swarm optimization with a dynamic learning strategy is used to obtain the x-axis and y-axis components of the position deviation.In the locating model,the moving positions of the magnetic source are determined by optimizing the average magnetic field gradients
作者
王玉芬
周国华
吴轲娜
李林锋
Wang Yufen;Zhou Guohua;Wu Kena;Li Linfeng(College of Electrical EngineeringNaval University of Engineering,Wuhan 430033 China)
出处
《电工技术学报》
EI
CSCD
北大核心
2024年第4期956-965,共10页
Transactions of China Electrotechnical Society
基金
国家自然科学基金项目(51377165)
海军工程大学自主立项项目(2022504070)资助。
关键词
磁场梯度
定位
水下磁传感器
深度传感器
Magnetic field gradients
localization
underwater magnetic sensor
depth sensor
