消磁站水下磁传感器定位方法研究

doi:10.19595/j.cnki.1000-6753.tces.222079

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Abstract At present, the main way to measure ship's magnetic field is by the magnetic sensor array installed on the submarine plane of the fixed deperming station. The installation of underwater magnetic sensor is particularly difficult due to the complex and changeable submarine environment. There is a certain position deviation bet-ween the installation position of the underwater magnetic sensor and the preset position in actual engineering, which is the main factor affecting the magnetic field measurement of the ship. In addition, with the continuous development of magnetic mines and airborne magnetic prospecting, the requirements for the magnetic protection capability of ships are becoming increasingly strict. To solve this problem, combining magnetic field and depth measurement data,a localization method for underwater magnetic sensors based on optimization of magnetic field gradient has been proposed.
Firstly, the pier is meshed with a suitable grid spacing l. Secondly, the energized solenoid coil is equivalent to a magnetic dipole. When the magnetic dipole is located at each grid node, the average magnetic field gradients in the x-axis and y-axis directions of the region 60×60×60cm centered on the sensor is calculated respectively, Simultaneously, the coil coordinates are recorded. Then the average gradients of magnetic field in the three directions are sorted from large to small respectively. Thirdly, the magnetic source is moved on the grid nodes corresponding to the first k average magnetic field gradients in the x-axis and y-axis directions respectively, and underwater magnetic sensors measure the magnetic field of the magnetic source. Fourthly, the magnetic source data measured in the x-axis and y-axis directions and the depth data are respectively used to construct the objective function. A novel multi-swarm particle swarm optimization with dynamic learning strategy is used to obtain x-axis and y-axis components of the position deviation. In the locating model, the moving positions of the magnetic source are determined by optimization of the average magnetic field gradients in the x-axis and y-axis directions, which greatly improves the localization accuracy of the magnetic sensors in the x-axis and y-axis directions. In addition, the depth of the magnetic sensor is measured by the depth sensor, which avoids the imprecise solution of z-axis components.
In this paper, the effectiveness of this method is proved by numerical simulation experiments and physical scale model experiments under the size of typical degaussing stations, and the following main conclusions are drawn as follows: (1) The relationship between the position correction error and the number of moving positions k of magnetic source is studied quantitatively. The research shows that when the number of moving positions k of magnetic source reaches 12 times under the grid spacing of 2m, the position correction error no longer decreases with the increase of k, and basically reaches the saturation state. (2) Through numerical simulation experiments, the influence of environmental magnetic noises, accuracy of the depth sensor and other factors on the localization of underwater magnetic sensor is systematically analyzed, and the environmental noise brings the greatest influence. The numerical localization experiment of underwater magnetic sensor in different position deviation states was carried out. After correction, the mean value of the average error of sensors was 0.023 m, the mean value of the maximum error was 0.056 m, and the mean value of the variance was 2.26×10-4 m², that met the requirement for magnetic field measurement of ships in degaussing station. (3) The physical scale model experiment of the fixed deperming station is designed. The experimental results show that the average error of the sensor is 5 mm, and its amplification is 0.043 m according to the scale (1:8.5), which is basically consistent with the results of the numerical simulation experiment, and verifies the effectiveness and accuracy of the proposed method.

Key words： magnetic field gradients localization underwater magnetic sensor depth sensor

Received: 03 November 2022

PACS:

P229

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	Wang Yufen
	Zhou Guohua
	Wu Kena
	Li Linfeng

Cite this article:

Wang Yufen,Zhou Guohua,Wu Kena等. Research on Localization Method for Underwater Magnetic Sensors in the Fixed Deperming Station[J]. Transactions of China Electrotechnical Society, 0, (): 119-119.

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https://dgjsxb.ces-transaction.com/EN/10.19595/j.cnki.1000-6753.tces.222079 OR https://dgjsxb.ces-transaction.com/EN/Y0/V/I/119

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