四面体磁梯度张量系统的载体磁干扰补偿方法

摘要

针对搭载于水下无人航行器(UUV)的四面体磁梯度张量系统易受载体磁场干扰的问题，提出了一种载体磁干扰补偿方法.该方法在载体磁干扰产生机理的基础上，利用磁梯度张量差分测量算法融合四面体磁梯度张量系统中四个矢量磁力仪的载体磁干扰，建立了磁梯度张量系统载体磁干扰数学模型；然后在此数学模型的基础上提出了磁干扰补偿方法，并根据磁梯度张量9分量的数学关系提出了补偿参数辨识方法；最后通过仿真实验对方法进行了验证，结果表明该补偿方法可以有效补偿磁梯度张量系统95.9%的载体磁干扰.该方法利用补偿参数对磁梯度张量系统的输出值直接进行磁干扰补偿，从理论上解决了磁梯度张量系统中各个矢量磁力仪载体磁干扰的统一补偿问题.%The magnetic noise of a vehicle has a strong impact on the magnetic gradiometer, so a vehicle magnetic noise compensation method is proposed. Based on the production mechanism of the vehicle magnetic noise, a mathematic model for vehicle magnetic noise on the tetrahedron magnetic gradiometer is proposed, in which the difference algorithm of the magnetic gradiometer is used to fuse the magnetic noise of each vector magnetometer. In terms of this math-ematic model, we propose the noise compensation algorithm and the compensation coeffcients recognition method by using the mathematic relations of the 9 components of the magnetic gradient tensor. Simulation results show that the proposed method can effciently compensate 95.9% vehicle magnetic noise on the magnetic gradiometer. This method can compensate vehicle magnetic noise on the magnetic gradiometer output directly by the compensation coeffcients, and realize the holistic noise compensation of the magnetic gradiometer theoretically.