海底低功耗现场校正双模磁力仪系统研究

发布时间：2018-04-18 07:31

本文选题：海底 + 功耗　；参考：《浙江大学》2017年博士论文

【摘要】：海洋地磁场测量是海洋地球物理方法的重要组成部分,从星载、机载、船载、海面拖曳到近海底磁测,对海洋磁测的精度和分辨率要求越来越高。随着量子测量技术、MEMS器件技术和深海密封技术在各自领域的飞速发展,设计一种集成度高、功耗低、兼顾测量精度与工程适应性的海底磁力仪成为可能。海洋磁力仪从机制上主要分为两大类。一类是测量精度高,可适用与地磁场基准值绝对测量的标量磁力仪,一类是可测量地磁场在正交三轴上的分量投影值,工程适应度高的矢量磁力仪。受限于体积、功耗、电路复杂度等限制,而较难实现两种磁力仪的一体化设计。本文针对以上情况,创新性地提出了基于铷光泵绝对磁测技术与磁通门矢量磁测技术,设计实现一种优势互补的一体化双模磁力仪,并在本体磁性现场校正、地理三分量直读输出等关键技术上展开了深入研究。从系统整体设计、铷光泵小气室设计、集成化电路设计出发,实现了小型化、低功耗的海底双模磁力仪研制开发。结合工程应用需求,在功能设计上考虑了标量磁测与矢量磁测两种模式的优势互补,减小了标量磁测的初始扫频时间,减少了标量磁测的数据丢失几率,提高了矢量磁测的绝对精度,实现了地磁总场与地磁矢量场的同时测量。针对磁力仪在搭载过程中易受到搭载本体铁磁性材料的干扰这一技术难点,在现有各种磁校正算法的比较与分析基础上,提出并实现了一种基于拟牛顿迭代和粒子群优化的现场校正算法。通过实测数据对算法进行了评估,并通过湖试和海试验证了算法的有效性。与杭州地磁台站的高精度标量磁力仪和矢量磁力仪进行比测,考核了本文所研制磁力仪的技术指标。结合海底双模磁力仪的应用特点,搭载“潜龙二号”水下机器人,分别在千岛湖和中国南海进行了湖试与海试,验证了系统的海底磁力巡测能力;搭载舟山摘箬山岛附近的海底观测试验网,验证了系统的海底长期地磁监测能力。地磁三分量数据对于海底地质调查的磁反演具有重要价值,但需将磁力仪在仪器坐标系下的三分量变换到地理坐标系下。本文提出并设计实现了一种内置于磁力仪的惯性测量单元,可实时提供磁力仪在水下的三维姿态矩阵,从而实现地磁矢量在地理坐标系下的三分量数据直读输出。
[Abstract]:Marine geomagnetic field measurement is an important part of marine geophysical methods. From spaceborne, airborne, shipborne, sea surface towing to near-seabed magnetic survey, the accuracy and resolution of marine magnetic measurement are more and more demanding.With the rapid development of quantum measurement technology MEMS device technology and deep-sea seal technology in their respective fields it is possible to design a submarine magnetometer with high integration low power consumption and both measurement accuracy and engineering adaptability.Marine magnetometers are divided into two main categories from the mechanism.One is a scalar magnetometer with high measurement accuracy, which is suitable for absolute measurement with the geomagnetic reference value, the other is a vector magnetometer which can measure the component projection value of the geomagnetic field on the orthogonal triaxial axis and has high engineering fitness.Because of the limitation of volume, power consumption and circuit complexity, it is difficult to realize the integrated design of two magnetometers.In this paper, based on the absolute magnetic measurement technology of rubidium optical pump and flux gate vector magnetic measurement technology, an integrated dual-mode magnetometer with complementary advantages is designed and realized.The key technologies of three-component direct reading and output of geography have been deeply studied.Based on the whole design of the system, the design of rubidium light pump gas chamber and the design of integrated circuit, the development of a miniaturized and low power consumption submarine dual-mode magnetometer is realized.According to the requirements of engineering application, the complementary advantages of scalar magnetic measurement and vector magnetic measurement are considered in the functional design, the initial sweep time of scalar magnetic measurement is reduced, and the probability of data loss of scalar magnetic measurement is reduced.The absolute precision of vector magnetic measurement is improved and the simultaneous measurement of geomagnetic total field and geomagnetic vector field is realized.In view of the technical difficulty that magnetometer is liable to be interfered by ferromagnetic material during loading, based on the comparison and analysis of all kinds of magnetic correction algorithms,A field correction algorithm based on quasi Newton iteration and particle swarm optimization is proposed and implemented.The algorithm is evaluated by measured data, and the validity of the algorithm is verified by lake test and sea trial.Compared with the high precision scalar magnetometer and vector magnetometer of Hangzhou geomagnetic station, the technical indexes of the magnetometer developed in this paper are evaluated.Combined with the application characteristics of the submarine dual-mode magnetometer, the underwater vehicle "Dianlong 2" was carried out in Qiandao Lake and the South China Sea, respectively, to verify the submarine magnetic survey capability of the system.The long-term geomagnetic monitoring capability of the system is verified by carrying the submarine observation test network near Zhoushan Zailushan Island.The geomagnetic three component data is of great value for the magnetic inversion of submarine geological survey, but it is necessary to transform the three components of magnetometer in the instrument coordinate system to the geographical coordinate system.In this paper, a kind of inertial measurement unit built into magnetometer is proposed and implemented, which can provide the three-dimensional attitude matrix of magnetometer underwater in real time, and realize the direct reading output of geomagnetic vector in geographical coordinate system.
【学位授予单位】：浙江大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：TH766

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