Research On The Localization Technique Of Magnetic Gradient Tensor Based On Motion Platform

The magnetic anomaly detection technology is of good classification capacity,great location accuracy,short execution time and is unaffected by complex environment of shallow water.So it can be used in the military field,such as detection of buried mine,detection of submarine,magnetic fuze of mine,protection of port security and so on.The magnetic gradient tensor localization method uses the magnetic gradient tensor as the sources of information,and deduces the target position through of proper magnetic information processing method.Magnetic gradient tensor contains more information of magnetic field;it is less affected by magnetization direction,and can describe the source of magnetic field commendably without extra treatment.This paper focus on the problem that the magnetic gradient tensor localization method can't be properly used on motion platform,firstly the magnetic dipole model of the magnetic target was established,then,three localization algorithm was put forward on the basis of this model;secondly,to calculate the parameters of the measurement error,the calibration model for signal magnetic sensor and the magnetic measurement array was established,the calibration method was proved to be true by the result of simulation and experiment;thirdly,an improved magnetic gradient tensor invariant localization algorithm that can be used on motion platform was put forward for magnetic dipole model,the affection to the localization accuracy caused by the measurement array mechanical structure was analyzed by simulation,the extended Kalman filtering was used to dealing with the noise that was brought about by the motion of the platform;fourthly,the detection test system of magnetic gradient tensor was set up,and the actual localization test with a magnetic iron mass was conducted,which proved the feasibility and validity of the localization algorithm.