CN-121978594-A - Dynamic magnetic interference compensation method and system for magnetic characteristic test of aircraft

CN121978594ACN 121978594 ACN121978594 ACN 121978594ACN-121978594-A

Abstract

The invention relates to the field of magnetic characteristic test, in particular to a dynamic magnetic interference compensation method for magnetic characteristic test of an aircraft, which comprises the following steps of (1) selecting a target field as a test area; the method comprises the steps of (1) setting an environment monitoring device at the periphery of a target area, positioning a magnetic source based on a measurement result of the environment monitoring device, and (3) dynamically compensating based on the positioned magnetic source position and magnetic source intensity and the position of the target area. The invention adopts a static magnetic source positioning analysis algorithm, adopts a closed loop structure of magnetic gradient tensor and Extended Kalman Filter (EKF), cancels the traditional particle swarm optimization and active excitation links, avoids the problem of initial value sensitivity, does not introduce external magnetic field interference, realizes millisecond-level static magnetic source positioning, and meets the requirements of magnetic characteristic test on quick, accurate and disturbance-free compensation.

Inventors

ZUO CHAO
CHEN ZHIWEI
YANG ZHEYU
Geng pan
SHEN MAOKANG
GUO ZHE
LI ZIYUAN
WANG SILIN
CHEN MENG
WANG JIANXUN
WANG ZUOSHUAI
XIAO HANCHEN

Assignees

中国船舶集团有限公司第七一九研究所
湖北大学

Dates

Publication Date: 20260505
Application Date: 20260119
Priority Date: 20251127

Claims (10)

1. A method of dynamic magnetic disturbance compensation for magnetic property testing of an aircraft, the method comprising: step (1), selecting a target site as a test area, and setting an environment monitoring device at the periphery of the target area to position a magnetic source based on the measurement result of the environment monitoring device; Wherein, the step (2) comprises (2.1) constructing a six-dimensional state vector comprising three-dimensional space position and triaxial magnetic moment of the magnetic source, (2.2) constructing a state transition system and an observation model of the magnetic source, constructing an observation function of the magnetic source, Wherein To observe noise, X k is a six-dimensional state vector, i.e , wherein, For the spatial coordinates of the magnetic source at time k, And (2.3) linearizing the observation model to obtain a linearized observation matrix of the magnetic source: ; (2.4) performing error covariance update iteration and state vector iteration update of the observed value by using Kalman gain calculation; (2.5) performing observation noise covariance and process noise covariance estimation and iterative update, (2.6) repeatedly performing the steps (2.1) - (2.5), and outputting optimal state estimation of the magnetic source The state estimate includes a position And magnetic moment And (3) determining a magnetic field generated by the magnetic source in the target area based on the positioned magnetic source position, the magnetic source intensity and the position of the target area, and generating a reverse magnetic field in the target position according to the calculated magnetic field generated by the magnetic source in the target position.
2. The method of dynamic magnetic disturbance compensation for an aircraft according to claim 1, wherein the method includes: magnetic field measurement is performed by using a cross plane type measuring array, which comprises four or 4N vector magnetic sensors, wherein the cross plane type measuring array tensor matrix expression at the center o point is as follows: Wherein, (B 1x ,B 1y ,B 1z ,) is the magnetic field triaxial value measured by the vector magnetic sensor on the first cross branch of the cross planar measurement array, (B 2x ,B 2y ,B 2z ,) is the magnetic field triaxial value measured by the vector magnetic sensor on the second cross branch of the cross planar measurement array, (B 3x ,B 3y ,B 3z ,) is the magnetic field triaxial value measured by the vector magnetic sensor on the third cross branch of the cross planar measurement array, (B 4x ,B 4y ,B 4z ,) is the magnetic field triaxial value measured by the vector magnetic sensor on the fourth cross branch of the cross planar measurement array.
3. A method of dynamic magnetic disturbance compensation for an aircraft according to claim 1, wherein the method includes collecting a plurality of sets of initial observation data to statistically analyze and determine an initial covariance, the method including the steps of (2.21) collecting N sets of initial magnetic field data Z 1 ,Z 2 ,……Z N , and estimating an initial state from the initial observation data ; Step (2.22), calculating variance for the estimated initial state: , , , , , ; x i ,y i ,z i denotes the i-th set of measured magnetic source coordinates, m xi ,m yi , m zi denotes the magnetic moment of the magnetic source, step (2.23), combining the above variances into a 6 x6 diagonal matrix: 。
4. A method for dynamic magnetic disturbance compensation for an aircraft according to claim 3 and further comprising collecting initial observations of the magnetic field to determine an initial covariance of the magnetic field as an initial value of a priori covariance, and for subsequent moments utilizing a last moment posterior covariance And process noise covariance Q k to make a priori error covariance for the next time instant The prediction is made that, Q k is a process noise covariance obtained by collecting magnetic source magnetic field information and calculating a variance of the magnetic moment estimate.
5. The method for compensating for dynamic magnetic interference of an aircraft according to claim 4, further comprising using the obtained observation matrix H k to bring into the formula Calculating to obtain Kalman gain , To observe the noise covariance, use is made of the observation residual and the Kalman gain Correcting the prior state to obtain a posterior state: wherein Is the difference between the "actual observations" and the "observations predicted based on a priori state"; Updating posterior error covariance: wherein I is an identity matrix.
6. The method of dynamic magnetic disturbance compensation for an aircraft according to claim 5, wherein said step (4) includes: based on the formula To calculate the compensation magnetic field strength of the target position, Is the position vector of the magnetic source relative to the center of the compensation coil, To expand the magnetic source moment of the kalman filter output, Is vacuum magnetic permeability.
7. The method of dynamic magnetic disturbance compensation for an aircraft according to claim 6, wherein the observation function is: , wherein m x 、m y 、m z is the magnetic moment of the magnetic source in the x, y and z directions, r is the distance from the target point to the magnetic source, and x, y and z are the coordinates of the target point.
8. The method of compensating for dynamic magnetic interference for an aircraft according to claim 1, further comprising performing category detection of magnetic field interference and compensating for different categories of interference, respectively, the step comprising classifying the interfering magnetic field into near field interference, far field interference, and grid interference, and for near field interference, performing magnetic source positioning by using step (2) of the method of claim 1, determining a magnetic source position, and determining a magnetic source position based on a formula To calculate the compensation magnetic field strength of the target position, Is the position vector of the magnetic source relative to the center of the compensation coil, To expand the magnetic source moment of the kalman filter output, For the power grid interference, the magnetic field data of the peak area of the power grid interference is brought into the step (2) of the method in claim 1 for the magnetic source positioning of the power grid interference according to the measured power grid period, and the magnetic source position and the magnetic source intensity of the power grid interference after positioning are based on a formula The peak compensation magnetic field intensity of the target position is calculated, and the reverse magnetic field compensation is performed with the peak compensation magnetic field intensity being the maximum value at the same period.
9. The method for compensating for dynamic magnetic interference of an aircraft according to claim 1, wherein the determining of the magnetic interference class comprises arranging N triaxial magnetic sensors at different positions of the target area in a three-dimensional and equidistant manner, each of the magnetic sensors measuring the magnetic field at the position of the magnetic sensor to obtain a corresponding magnetic sensor signal (1) The obtained magnetic sensor signal is preprocessed, and the variance of the magnetic field in the time period T is measured; Measuring kurtosis of the magnetic field in a time period T; extracting spectral features from the magnetic field signal using a fast fourier transform; Calculating a magnetic field gradient tensor through spatial sampling of a magnetic field vector B (x, y, z, t) = (Bx, by, bz); classifying different magnetic field interferences by using the obtained time domain characteristic quantity, frequency domain characteristic quantity and space sampling result, The method further comprises distinguishing geomagnetic interference from white noise, if the geomagnetic interference is the same as the environment monitoring area, considering that geomagnetic field change of the test area is the same as the environment monitoring area, performing reverse compensation directly through the size and the direction of a magnetic field obtained through magnetic sensing, if the geomagnetic interference is the white noise, not performing compensation, and performing denoising processing by adopting a conventional wiener filtering method.
10. The dynamic magnetic interference compensation system for the aircraft is characterized by comprising a magnetic field generating coil winding, a magnetic field measuring device, an environment monitoring device, a magnetic field compensation coil winding, a control device, a bearing module and a power supply device, wherein the magnetic field generating coil winding is used for stably generating a uniform magnetic field with micro tesla level in a local space, and the magnetic field strength and the direction are adjustable; The magnetic field compensation coil winding consists of X, Y and Z three-way coils, and can generate a magnetic field with the same size and opposite directions as the external disturbance in the coil so as to counteract external geomagnetic fluctuation and environmental magnetic disturbance; the control device is used for controlling the whole magnetic measurement system; the power supply device is used for supplying power to the whole measurement system; Load bearing means, a device to be tested for simulation and result testing of disturbance compensation, said control means determining the compensation field strength by the method according to one of claims 1-9 and determining the output magnetic field of the field compensation coil winding based on the compensation field strength.

Description

Dynamic magnetic interference compensation method and system for magnetic characteristic test of aircraft Technical Field The invention relates to a magnetic interference compensation system for magnetic performance test, and belongs to the technical field of magnetic field precise control and signal processing. Background In the navigation process of an aircraft, a magnetic field is often needed, and the direction is confirmed and the target is searched and rescued through the magnetic field. The existing magnetic characteristic test system mostly adopts a static background deduction or unified feedback compensation mode, so that the position and the motion condition of a magnetic source cannot be accurately positioned, and different types of interference such as geomagnetic daily variation, mechanical disturbance and power grid harmonic waves cannot be distinguished, so that compensation hysteresis, overcompensation or undercompensation are caused, and the test repeatability is poor. Disclosure of Invention In view of the above, the invention provides a dynamic magnetic interference compensation method and a system for an aircraft, which are used for maintaining the stability of the magnetic characteristics of the aircraft. The magnetic disturbance compensation system includes a magnetic field compensation coil winding and a compensation algorithm integrated into the control module. The invention focuses on the improvement and innovation of the environmental magnetic interference compensation, and ensures the stability of a magnetic field in an aircraft test system. The invention aims to solve the problem that the existing uniform magnetic field generation system is easily influenced by external disturbance in a complex environment, and provides a dynamic magnetic interference compensation method and a system. In one aspect, the present invention provides a dynamic magnetic disturbance compensation method for magnetic property testing of an aircraft, the method comprising: step (1), selecting a target site as a test area, and setting an environment monitoring device at the periphery of the target area to position a magnetic source based on the measurement result of the environment monitoring device; Wherein, the step (2) comprises (2.1) constructing a six-dimensional state vector comprising three-dimensional space position and triaxial magnetic moment of the magnetic source, (2.2) constructing a state transition system and an observation model of the magnetic source, constructing an observation function of the magnetic source, WhereinTo observe noise, X k is a six-dimensional state vector, i.e, wherein,For the spatial coordinates of the magnetic source at time k,And (2.3) linearizing the observation model to obtain a linearized observation matrix of the magnetic source:; (2.4) performing error covariance update iteration and state vector iteration update of the observed value by using Kalman gain calculation; (2.5) performing observation noise covariance and process noise covariance estimation and iterative update, (2.6) repeatedly performing the steps (2.1) - (2.5), and outputting optimal state estimation of the magnetic source The state estimate includes a positionAnd magnetic momentAnd (3) determining a magnetic field generated by the magnetic source in the target area based on the positioned magnetic source position, the magnetic source intensity and the position of the target area, and generating a reverse magnetic field in the target position according to the calculated magnetic field generated by the magnetic source in the target position. Further, the method comprises the step of conducting magnetic field measurement by using a cross plane type measurement array, wherein the magnetic field measurement comprises four or 4N vector magnetic sensors, and the cross plane type measurement array has the following tensor matrix expression at the center o point: Wherein, (B 1x,B1y,B1z,) is the magnetic field triaxial value measured by the vector magnetic sensor on the first cross branch of the cross planar measurement array, (B 2x,B2y,B2z,) is the magnetic field triaxial value measured by the vector magnetic sensor on the second cross branch of the cross planar measurement array, (B 3x,B3y,B3z,) is the magnetic field triaxial value measured by the vector magnetic sensor on the third cross branch of the cross planar measurement array, (B 4x,B4y,B4z,) is the magnetic field triaxial value measured by the vector magnetic sensor on the fourth cross branch of the cross planar measurement array. Further, the method includes collecting several sets of initial observation data to statistically analyze to determine an initial covariance, the steps including the steps of (2.21) collecting N sets of initial magnetic field data Z 1,Z2,……ZN, and estimating an initial state from the initial observation data; Step (2.22), calculating variance for the estimated initial state: , , , , , X i,yi,zi denotes the i-th set of mea