The Research Of Positioning System For Underwater Magnetic Target Based On Array Of Magnetometer

In the context of the new era that our military go deeper in the ocean,improving the level of monitoring about naval strategic information is vital to implement first-hand strikes and master the initiative in ocean operations.For tactical weapons such as the world’s advanced ships and submarines,the development of magnetic detection methods is of utmost importance.In our country,the development of technology about underwater magnetic target detection is late relatively,and key instruments are importments.It is urgent to realize the localization of the technology in terms of underwater magnetic target detection and identification and positioning.This article aims at the features of detection and positioning of underwater magnetic target,compares main advantages and disadvantages of different sensors,select three-axis fluxgate sensor as the basis of hardware to meet the prerequisites for use.The focus on the research is array arrangement of fluxgate and the design of environmental adaptability,the calibration and compensation for the installation error angle are in-depth researched.On this basis,the full tensor module of the magnetic field is constructed,and equivalent relationship between the three components of the full tensor in the magnetic field and the magnetic target position are established,to achieve magnetic target positioning.Provide a theoretical basis for subsequent magnetic target feature recognition.First,aiming at the features of underwater magnetic target detection and recognition,the three-dimensional magnetic dipole module is established,simultaneous magnetic field full tensor establishes the equivalent relationship among the three components of the magnetic field,the full tensor of the magnetic field and the three components of the magnetic target position,and carries out the discussion of the single-point positioning algorithm and the two-point cooperative positioning algorithm on the basis.Secondly,analyze the principle of the fluxgate sensor,and on this basis,design the sensor and environmental adaptability,to obtain a closed-loop feedback three-axis fluxgate sensor which is water-proof and pressure-resistant racetrack type.Carrying out the comparative analysis and design of the array configuration,obtaining the spatial right-angled tetrahedral array structure,and designing the supporting upper computer for hardware.Then,research is carried out on the calibration and compensation of the installation error angle of the system.On the basis of the traditional schemes of calibration installation error angle,simplifying the steps,a calculation model based on the three-position method of calibration and compensation installation error angle is proposed to improve the efficiency of calibration and accuracy of detection of the system.Finally,the positioning performance of the magnetic target positioning system based on the fluxgate array is verified by simulation and experiments.The results show that the magnetic target positioning system based on the array of fluxgate have better detection performance than a single fluxgate,the positioning error does not exceed 10% within 15 meters,and can meet the needs of underwater magnetic targets detection and positioning basically.