Signal Processing Improvements for Interactive Localization with a Man/AUV-Portable Tensor Magnetic Gradiometer.

摘要

Our long-term goal is to provide a robust suite of algorithms capable of performing real-time localization of both isolated and grouped ferromagnetic targets. It is intended that these algorithms be applicable to any tensor magnetic gradiometer system used for surface or subsurface platforms. These algorithms will be most robust when used in conjunction with conventional navigational systems, but will be provided with a self- navigating capability that exploits the magnetic fields and gradients of the sources being localized. Our objectives are to: (1) Perform a thorough analysis of the motion compensation process used to allow tensor fluxgate gradiometers to be moved about in the presence of the earth s magnetic field. Incorporate the results into interactive real time gradient motion compensation software running on a PC platform. (2) Upgrade tensor fluxgate gradiometer localization software to make it more interactive and self-contained. Generalize it to incorporate GPS positional information, when available, and to allow real time data input from either GPIB/VXI interfaces or Serial interfaces. (3) Develop software to use angular rate sensor data to correct for rotational changes in the gradient tensor measured by a moving gradiometer in the presence of magnetic targets.