CN105487124A - Bidirectional double-detection-point submarine detection system and detection method thereof - Google Patents
Bidirectional double-detection-point submarine detection system and detection method thereof Download PDFInfo
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- CN105487124A CN105487124A CN201510818294.3A CN201510818294A CN105487124A CN 105487124 A CN105487124 A CN 105487124A CN 201510818294 A CN201510818294 A CN 201510818294A CN 105487124 A CN105487124 A CN 105487124A
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- G01V3/081—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices the magnetic field is produced by the objects or geological structures
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Abstract
The invention discloses a bidirectional double-detection-point submarine detection system and a detection method thereof. The system comprises a first group of magnetic field probes, a second group of magnetic field probes, a collection module and a control module, wherein the first group of magnetic field probes is placed at a first detection point, and includes a first unidirectional probe and a second unidirectional probe which are used to measure magnetic-field components of two terrestrially magnetic fields, vertical to each other, in the horizontal direction; the second group of magnetic field probes is placed at a second detection point, and includes a third unidirectional probe and a fourth unidirectional probe which are used to measure magnetic-field components of two terrestrially magnetic fields, vertical to each other, in the horizontal direction; the collection module collects first to fourth magnetic-field component signals measured by the first to fourth unidirectional probes; and the control module collects the first to fourth magnetic-field component signals sent by the collection module, carries out differential processing on the signals to obtain first and second groups of differential signals, determines determination signals according to the differential signals, and determines whether there is a submarine is a preset range according to the determination signals. The system can achieve an ideal detection area contour and longer detection distance via fewer probes.
Description
Technical field
The present invention relates to submarine detection technical field, particularly relate to a kind of two-way pair of measuring point submarine detecting system and detection method thereof.
Background technology
At present in submarine detection field, except occupying traditional sonar method of critical role, also have infrared detecting method, radar-echo detection method and laser acquisition method etc.But these methods have certain limitation, such as, the most frequently used sonar method, due to the noise reduction process of Modern submarine, makes the Effect on Detecting of the method in decline; And radar-echo detection method affects comparatively large by meteorological condition, only under good meteorological condition, effect is just obvious; Laser acquisition method due to wave beam very narrow and cause investigative range little, detection time is long, and detection efficiency is low.Compare these methods above-mentioned, magnetic anomaly acquisition of signal method has unique advantage, there is good development prospect, the party's ratio juris is that submarine box hat can be magnetized by earth magnetism place and produce complementary field, thus making the magnetic field peripherally of this submarine occur ANOMALOUS VARIATIONS, can submarine detection be realized by detecting this anomalous field.Can find out, the advantage of magnetic anomaly acquisition of signal method is that positioning precision is high, good stability, not by complicated ocean environmental impact; And magnetic anomaly acquisition of signal is a kind of disguised well technology, measuring system is not easily detected by counter.
But, there is following problem in the submarine detection based on magnetic anomaly signal: is easily subject to the interference of terrestrial magnetic field Self-variation or the impact of other interference, this is because the diurnal variation of terrestrial magnetic field can reach as 100pT within one day, the change of solar activity also can make magnetic field have larger change, and the GEOMAGNETIC CHANGE that submarine causes in distance submarine certain limit is much smaller than this value, therefore, be difficult to judge the geomagnetic field variation caused by submarine arrival or the change of terrestrial magnetic field self, the changes of magnetic field be difficult to by directly measuring realizes submarine detection.Therefore how picking out the impact of the identical earth magnetism Self-variation of change or the sun in this wide area, is the problem needing at present to solve.
Summary of the invention
Object of the present invention is intended to solve one of above-mentioned technical matters at least to a certain extent.
For this reason, first object of the present invention is to propose a kind of two-way pair of measuring point submarine detecting system.This system is eliminated terrestrial magnetic field interference and is solved detection blind area problem, to strengthen submarine detection scope.
Second object of the present invention is to propose a kind of detection method for two-way pair of measuring point submarine detecting system.
For reaching above-mentioned purpose, first aspect present invention embodiment proposes a kind of two-way pair of measuring point submarine detecting system, comprise: be positioned at first group of magnet field probe on the first sensing point, described first group of magnet field probe comprises the first unidirectional probe and the second unidirectional probe, described first unidirectional probe is mutually vertical with described second unidirectional probe, and described first unidirectional probe and described second unidirectional probe are for measuring the magnetic-field component in two orthogonal earth magnetism magnetic fields in horizontal direction, be positioned at second group of magnet field probe on the second sensing point, described second group of magnet field probe comprises the 3rd unidirectional probe and the 4th unidirectional probe, described 3rd unidirectional probe is mutually vertical with described 4th unidirectional probe, and described 3rd unidirectional probe and described 4th unidirectional probe are for measuring the magnetic-field component in two orthogonal earth magnetism magnetic fields in horizontal direction, the acquisition module be connected with described first group of magnet field probe and described second group of magnet field probe respectively, for gathering the first magnetic-field component signal of described first unidirectional probe, the second unidirectional probe, the 3rd unidirectional probe and the 4th unidirectional probe measurement, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal respectively, the control module be connected with described acquisition module, the described first magnetic-field component signal that described control module sends for receiving described acquisition module, second magnetic-field component signal, 3rd magnetic-field component signal and the 4th magnetic-field component signal, and according to direction classification to described first magnetic-field component signal, second magnetic-field component signal, 3rd magnetic-field component signal and the 4th magnetic-field component signal carry out differential process, obtain first group of differential wave and second group of differential wave, and determine to judge signal according to described first group of differential wave and second group of differential wave, and judge that signal judges whether have submarine in preset range according to described.
Two-way pair of measuring point submarine detecting system of the embodiment of the present invention, two distance certain positions place the magnet field probe can measuring both direction respectively, namely two vertical magnetic-field components are measured in horizontal direction, and four the magnetic-field component signals recorded of popping one's head in two groups do differential process by direction, to obtain first, two groups of differential waves, and according to this first, two groups of differential waves are determined to judge signal, finally, judge that signal judges whether have submarine in preset range according to this, namely the interference of terrestrial magnetic field Self-variation can be eliminated by the differential process of two measuring point field signal, utilize bidirectional measurement can solve blind area in search coverage and blind spot problem, the object obtaining comparatively ideal search coverage profile and larger detection range with less probe can be realized.
In one embodiment of the invention, described control module obtains described first group of differential wave and second group of differential wave by following formula:
ΔB
x＝B
1x-B
2x
ΔB
y＝B
1y-B
2y
Wherein, Δ B
xfor described first group of differential wave, B
1xfor the first magnetic-field component signal in x direction, B
2xfor the 3rd magnetic-field component signal in described x direction, Δ B
yfor described second group of differential wave, B
1yfor the second magnetic-field component signal in y direction, B
2yfor the 4th magnetic-field component signal in described y direction.
In one embodiment of the invention, described control module is carried out size to described first group of differential wave and second group of differential wave and is compared, and using the higher value in described first group of differential wave and second group of differential wave as described judgement signal.
In one embodiment of the invention, described control module judges describedly to judge whether signal is more than or equal to predetermined threshold value, and when described judgement signal is more than or equal to described predetermined threshold value, judges to there is described submarine in described preset range.
In one embodiment of the invention, described acquisition module also for: periodically gather the first magnetic-field component signal of described first unidirectional probe, the second unidirectional probe, the 3rd unidirectional probe and the 4th unidirectional probe measurement, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal respectively; Described control module also for: by the described first magnetic-field component signal, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal sum-average arithmetic that collect in each cycle, obtain the judgement signal in described each cycle, and when judging to there is described submarine continuously according to the judgement signal in the multiple described cycle in the judgement signal in described each cycle, determine to there is described submarine in described preset range.
For reaching above-mentioned purpose, second aspect present invention embodiment proposes a kind of detection method of the two-way pair of measuring point submarine detecting system for first aspect present invention embodiment, comprises the following steps: gather the first magnetic-field component signal of described first unidirectional probe, the second unidirectional probe, the 3rd unidirectional probe and the 4th unidirectional probe measurement, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal respectively; According to direction classification, differential process is carried out to described first magnetic-field component signal, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal, obtain first group of differential wave and second group of differential wave; Determine to judge signal according to described first group of differential wave and second group of differential wave; And judge that signal judges whether have submarine in preset range according to described.
The detection method for two-way pair of measuring point submarine detecting system of the embodiment of the present invention, two distance certain positions place the magnet field probe can measuring both direction respectively, namely two vertical magnetic-field components are measured in horizontal direction, and four the magnetic-field component signals recorded of popping one's head in two groups do differential process by direction, to obtain first, two groups of differential waves, and according to this first, two groups of differential waves are determined to judge signal, finally, judge that signal judges whether have submarine in preset range according to this, namely the interference of terrestrial magnetic field Self-variation can be eliminated by the differential process of two measuring point field signal, utilize bidirectional measurement can solve blind area in search coverage and blind spot problem, the object obtaining comparatively ideal search coverage profile and larger detection range with less probe can be realized.
In one embodiment of the invention, described first group of differential wave and second group of differential wave is obtained by following formula:
ΔB
x＝B
1x-B
2x
ΔB
y＝B
1y-B
2y
Wherein, Δ B
xfor described first group of differential wave, B
1xfor the first magnetic-field component signal in x direction, B
2xfor the 3rd magnetic-field component signal in described x direction, Δ B
yfor described second group of differential wave, B
1yfor the second magnetic-field component signal in y direction, B
2yfor the 4th magnetic-field component signal in described y direction.
In one embodiment of the invention, describedly determine to judge that signal specifically comprises according to first group of differential wave and second group of differential wave: carry out size to described first group of differential wave and second group of differential wave and compare, and using the higher value in described first group of differential wave and second group of differential wave as described judgement signal.
In one embodiment of the invention, describedly judge that signal judges whether to have submarine specifically to comprise in preset range according to described: judge describedly to judge whether signal is more than or equal to predetermined threshold value; If when described judgement signal is more than or equal to described predetermined threshold value, judge to there is described submarine in described preset range.
In one embodiment of the invention, this detection method also comprises: periodically gather the first magnetic-field component signal of described first unidirectional probe, the second unidirectional probe, the 3rd unidirectional probe and the 4th unidirectional probe measurement, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal respectively; By the described first magnetic-field component signal, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal sum-average arithmetic that collect in each cycle, obtain the judgement signal in described each cycle; When judging to there is described submarine continuously according to the judgement signal in the multiple described cycle in the judgement signal in described each cycle, determine to there is described submarine in described preset range.
The aspect that the present invention adds and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
The present invention above-mentioned and/or additional aspect and advantage will become obvious and easy understand from the following description of the accompanying drawings of embodiments, wherein:
Fig. 1 is the structural representation of two-way according to an embodiment of the invention pair of measuring point submarine detecting system.
Fig. 2 is the schematic diagram of submarine movement direction and Probe arrangement according to an embodiment of the invention.
Fig. 3 is the exemplary plot of the search coverage scope of unidirectional according to an embodiment of the invention dual probe system.
Fig. 4 is the exemplary plot of two-way according to an embodiment of the invention pair of measuring point system looks regional extent.
Fig. 5 is the process flow diagram of the detection method of two-way according to an embodiment of the invention pair of measuring point submarine detecting system.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise one or more these features.In describing the invention, the implication of " multiple " is two or more, unless otherwise expressly limited specifically.
Below with reference to the accompanying drawings two-way pair of measuring point submarine detecting system of the embodiment of the present invention and the detection method for two-way pair of measuring point submarine detecting system are described.
Fig. 1 is the structural representation of two-way pair of measuring point submarine detecting system of one embodiment of the invention.As shown in Figure 1, this two-way pair of measuring point submarine detecting system can comprise: first group of magnet field probe 101, first unidirectional probe 1011, second unidirectional probe, 1012, second group of magnet field probe 102, the unidirectional probe 1022 of the 3rd unidirectional probe the 1021, the 43, acquisition module 103 and control module 104.Wherein, as shown in Figure 2, this first group of magnet field probe 101 can be positioned on the first sensing point A, and this second group of magnet field probe 102 can be positioned on the second sensing point B.In addition, the distance between this first sensing point A and the second sensing point B can be decided by the detectivity of popping one's head in, the empirical value that also can obtain according to great many of experiments, and such as, this distance can from several meters to hundreds of rice etc.
Particularly, this first group of magnet field probe 101 can comprise the first unidirectional probe 1011 and the second unidirectional probe 1012, first unidirectional probe 1011 is mutually vertical with the second unidirectional probe 1012, and the first unidirectional probe 1011 and the second unidirectional probe 1012 are for measuring the magnetic-field component in two orthogonal earth magnetism magnetic fields in horizontal direction.
Second group of magnet field probe 102 can comprise the 3rd unidirectional probe 1021 and the 4th unidirectional probe 1022,3rd unidirectional probe 1021 is mutually vertical with the 4th unidirectional probe 1022, and the 3rd unidirectional probe 1021 and the 4th unidirectional probe 1022 are for measuring the magnetic-field component in two orthogonal earth magnetism magnetic fields in horizontal direction.
Be appreciated that, if the one direction magnetic-field measurement signal be positioned on two sensing points for employing also carries out differential process, when on the perpendicular bisector that submarine is in two measuring point or some specific positions time, the field signal that two measuring points produce is identical, making the rear differential wave of difference is zero, then cannot detect submarine, create detection blind area problem, investigative range is affected.Such as, Fig. 3 gives the search coverage areal map of the differential system of the magnet field probe composition of one group of particular sensitivity, and wherein two probes lay respectively at x=± 500 place, and probe measurement direction and submarine equivalent magnetic dipole direction are x-axis direction.Can find out, the search coverage shape of unidirectional dual probe system is two four lobe regions, there is obvious blind area.Therefore, the present invention is by adopting two-way dual probe system can effective dead zone-eliminating.
More specifically, can choose two sensing points in marine or land, as shown in Figure 2, the first sensing point A and the second sensing point B, the spacing between the first sensing point A and the second sensing point B can from several meters to hundreds of rice.One group of magnet field probe (i.e. first group of magnet field probe 101 and second group of magnet field probe 102) can be placed respectively to measure earth magnetism magnetic field on each sensing point, often organize magnet field probe and can comprise two orthogonal unidirectional probes, the i.e. unidirectional probe 1012 of the first unidirectional probe 1011, second, the 3rd unidirectional probe 1021 and the 4th unidirectional probe 1022, these probes can measure two orthogonal magnetic-field components in horizontal direction respectively, such as, the magnetic field B in x direction is set to
1x, B
2xwith the magnetic field B in y direction
1y, B
2y.
It should be noted that, be the Weak magentic-field of approximate DC because submarine magnetizes the rear complementary field produced in terrestrial magnetic field, along with the increase apart from submarine distance, complementary field value decays rapidly.Usually, when detection range is greater than 500m, just there is practical value, and the complementary field of 500m submarine generation is at a distance at about 10nT, and 1000 meters of distant places are in nT rank.Therefore, required magnetic survey probe at least should be able to have resolution and the detection accuracy of nT.The magnetic survey probe that can reach this requirement is at present mainly: fluxgate magnetic survey probe, Proton Precession Magnetometer, optically pumped magnetometer etc.Therefore, in an embodiment of the present invention, the unidirectional probe 1012 of the first unidirectional probe 1011, second, the 3rd unidirectional probe 1021 and the 4th unidirectional probe 1022 are respectively fluxgate magnetic survey probe, Proton Precession Magnetometer or optically pumped magnetometer etc.
As shown in Figure 1, acquisition module 103 can be connected with first group of magnet field probe 101 and second group of magnet field probe 102 respectively, and acquisition module 103 can be used for gathering respectively the first magnetic-field component signal, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal that the unidirectional probe 1012 of the first unidirectional probe 1011, second, the 3rd unidirectional probe 1021 and the 4th unidirectional probe 1022 are measured.
Control module 104 is connected with acquisition module 103, control module 104 can be used for the first magnetic-field component signal receiving acquisition module 103 transmission, second magnetic-field component signal, 3rd magnetic-field component signal and the 4th magnetic-field component signal, and according to direction classification to this first magnetic-field component signal, second magnetic-field component signal, 3rd magnetic-field component signal and the 4th magnetic-field component signal carry out differential process, obtain first group of differential wave and second group of differential wave, and determine to judge signal according to first group of differential wave and second group of differential wave, and according to judging that signal judges whether have submarine in preset range.
Specifically, in one embodiment of the invention, control module 104 obtains first group of differential wave and second group of differential wave by following formula:
ΔB
x＝B
1x-B
2x
ΔB
y＝B
1y-B
2y(1)
Wherein, Δ B
xbe first group of differential wave, B
1xfor the first magnetic-field component signal in x direction, B
2xfor the 3rd magnetic-field component signal in x direction, Δ B
ybe second group of differential wave, B
1yfor the second magnetic-field component signal in y direction, B
2yfor the 4th magnetic-field component signal in y direction.
More specifically, control module 104 is after the first to fourth magnetic-field component signal receiving acquisition module 103 transmission, by above-mentioned formula (1), differential process is carried out to these four magnetic-field component signals, obtain first group of differential wave and second group of differential wave, afterwards, can judge that this first group of differential wave and second group of differential wave are carried out size and compared, and using the higher value in first group of differential wave and second group of differential wave as judging signal, then, this judgement signal and predetermined threshold value can be carried out size to compare, namely judge that this judges whether signal is more than or equal to predetermined threshold value, if this judgement signal is more than or equal to this predetermined threshold value, then control module 104 can judge to there is submarine in preset range.
Wherein, in an embodiment of the present invention, above-mentioned predetermined threshold value can be the magnetic field reference sample value obtained by measuring in advance when not having submarine, the environmental magnetic field of (such as 10 minutes) can be measured a period of time in advance, namely there is no magnetic field during submarine, as system noise reference sample, analyze the statistical property of this signal, according to this reference sample statistical property, obtain the variance of signal, the party's difference is set as above-mentioned predetermined threshold value the most at last.
Be appreciated that the background geomagnetic field variation that the sun or diastrophic activity are caused, be characterized in changing in time but being spatially consistent, namely in a space in a big way, the terrestrial magnetic field of a little going up change in time simultaneously, but spatial diversity is very little.Utilize this characteristic that the differential method of two measuring point can be used to reduce, even eliminate the interference of terrestrial magnetic field in submarine detection.This is because when not having submarine, the field of two measuring points is identical, the signal after being subtracted each other by measured value is zero, can judge do not have submarine around; And when submarine is near a measuring point, differential wave is no longer zero, can think there is submarine around when signal exceedes certain threshold value.
The complementary field produced due to terrestrial magnetic field and submarine is a vector, has directivity.If only consider horizontal component and ignore the component of vertical ground, then magnetic field can be expressed as the component Bx in x direction and the component By in y direction.The characteristic that submarine complementary field shows on magnetic-field measurement point is: if the measured value in (as x direction) is minimal value in one direction, then the component of other direction (y direction) must reach maximum value.Therefore, vertical placement two probes (as shown in Figure 2) on each measuring point, measure the magnetic field in both direction (x direction and y direction) respectively, four signals are done by after formula (1) carries out merging differential process above, carry out size to first group of differential wave and second group of differential wave to compare, and using the higher value in first group of differential wave and second group of differential wave as judging signal.Like this, search coverage contour shape can be optimized, make it close to the smooth elliptic region of an outward flange, (as shown in Figure 4, being a search coverage range profile figure), thus strengthen investigative range.
Control module 104 is after determining to judge signal, be appreciated that by above-mentioned differential process, this judgement signal does not comprise background terrestrial magnetic field, for no other reason than that the field signal that submarine occurs and causes, like this when judging that signal exceedes above-mentioned predetermined threshold value, control module 104 can judge to there is submarine in preset range, and when judging that signal does not exceed this predetermined threshold value, control module 104 can judge to there is not submarine in preset range.Be appreciated that above-mentioned preset range is two groups of maximum regions that can detect of magnet field probe.
Be appreciated that the present invention is detected by differential type, eliminate the interference problem of background terrestrial magnetic field.But, when truly measuring, also there is measurement system error problem, comprising the noise that skew or drift error and system produce.Wherein offset error can lean on the mode of system self-regulation zero to solve, namely threshold value setting and judgment mode is utilized can to process the noise problem of measuring system, namely when detectable signal (namely above-mentioned judgement signal) is greater than set threshold value, just think there is submarine, think noise signal and garbage signal when being less than threshold value, think without submarine.Theoretically, when threshold value is greater than maximum noise value, namely can solve noise problem.But its cost to reduce effective scope of detection, and set threshold value is larger, and effective scope of detection is less.The setting of predetermined threshold value should be determined based on the noise level of actual measuring system.White Gaussian noise can be thought by approximate for system noise, thus utilize the relation of the probability distribution theory of signal and false-alarm and misinformation probability to determine rational predetermined threshold value.
In order to improve the degree of accuracy of result of detection, further, in one embodiment of the invention, acquisition module 103 also can be used for: periodically gather the first magnetic-field component signal, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal that the unidirectional probe 1012 of the first unidirectional probe 1011, second, the 3rd unidirectional probe 1021 and the 4th unidirectional probe 1022 are measured respectively.Control module 104 also can be used for the first magnetic-field component signal, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal sum-average arithmetic that will collect in each cycle, obtain the judgement signal in each cycle, and when judging to there is submarine continuously according to the judgement signal in the multiple cycles in the judgement signal in each cycle, determine to there is submarine in preset range.
More specifically, a time interval T can be set, by the first magnetic-field component signal, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal that collect in each time interval T, sum-average arithmetic, obtain the judgement signal in each cycle, owing to not being utilize the data in a moment as judging signal, accidental impulse noise interference can be removed like this.Also can set and postpone to judge duration, namely be not signal in a time period T be the conclusion having submarine information just to make submarine, but utilize the information of several (as 5) time period to carry out re-checking judgement, when only having continuously the information in multiple (as 5) time interval to be submarine conclusion, side thinks to there is submarine in measured zone.
Two-way pair of measuring point submarine detecting system of the embodiment of the present invention, two distance certain positions place the magnet field probe can measuring both direction respectively, namely two vertical magnetic-field components are measured in horizontal direction, and four the magnetic-field component signals recorded of popping one's head in two groups do differential process by direction, to obtain first, two groups of differential waves, and according to this first, two groups of differential waves are determined to judge signal, finally, according to judging that signal judges whether have submarine in preset range, namely the interference of terrestrial magnetic field Self-variation can be eliminated by the differential process of two measuring point field signal, utilize bidirectional measurement can solve blind area in search coverage and blind spot problem, the object obtaining comparatively ideal search coverage profile and larger detection range with less probe can be realized.
In order to realize above-described embodiment, the invention allows for a kind of detection method for two-way pair of measuring point submarine detecting system.
Fig. 5 is according to an embodiment of the invention for the process flow diagram of the detection method of two-way pair of measuring point submarine detecting system.It should be noted that, in an embodiment of the present invention, this two-way pair of measuring point submarine detecting system can be two-way pair of measuring point submarine detecting system 100 described in any one embodiment above-mentioned.
As shown in Figure 5, this detection method can comprise:
S501, gathers the first magnetic-field component signal of the first unidirectional probe, the second unidirectional probe, the 3rd unidirectional probe and the 4th unidirectional probe measurement, the second magnetic-field component signal, the 3rd magnetic-field component signal the and the 4th magnetic-field component signal respectively.
S502, carries out differential process according to direction classification to the first magnetic-field component signal, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal, obtains first group of differential wave and second group of differential wave.
Particularly, after collecting above-mentioned first to fourth magnetic-field component signal, by above-mentioned formula (1), differential process is carried out to these four magnetic-field component signals, obtain first group of differential wave and second group of differential wave.Fig. 4 is the schematic diagram of submarine movement direction and Probe arrangement according to an embodiment of the invention, and as shown in Figure 4, on each measuring point, vertical placement two probes, measure the magnetic field in both direction (x direction and y direction) respectively.
S503, determines to judge signal according to first group of differential wave and second group of differential wave.
Specifically, in an embodiment of the present invention, size can be carried out to first group of differential wave and second group of differential wave and compare, and using the higher value in first group of differential wave and second group of differential wave as judging signal.
Be appreciated that the background geomagnetic field variation that the sun or diastrophic activity are caused, be characterized in changing in time but being spatially consistent, namely in a space in a big way, the terrestrial magnetic field of a little going up change in time simultaneously, but spatial diversity is very little.Utilize this characteristic that the differential method of two measuring point can be used to reduce, even eliminate the interference of terrestrial magnetic field in submarine detection.This is because when not having submarine, the field of two measuring points is identical, the signal after being subtracted each other by measured value is zero, can judge do not have submarine around; And when submarine is near a measuring point, differential wave is no longer zero, can think there is submarine around when signal exceedes certain threshold value.
The complementary field produced due to terrestrial magnetic field and submarine is a vector, has directivity.If only consider horizontal component and ignore the component of vertical ground, then magnetic field can be expressed as the component Bx in x direction and the component By in y direction.The characteristic that submarine complementary field shows on magnetic-field measurement point is: if the measured value in (as x direction) is minimal value in one direction, then the component of other direction (y direction) must reach maximum value.Therefore, vertical placement two probes (as shown in Figure 2) on each measuring point, measure the magnetic field in both direction (x direction and y direction) respectively, four signals are done by after formula (1) carries out merging differential process above, carry out size to first group of differential wave and second group of differential wave to compare, and using the higher value in first group of differential wave and second group of differential wave as judging signal.Like this, search coverage contour shape can be optimized, make it close to the smooth elliptic region of an outward flange, (as shown in Figure 4, being a search coverage range profile figure), thus strengthen investigative range.
S504, according to judging that signal judges whether have submarine in preset range.
Particularly, after determining to judge signal, be appreciated that by above-mentioned differential process, this judgement signal does not comprise background terrestrial magnetic field, for no other reason than that the field signal that submarine occurs and causes, like this when judging that signal exceedes above-mentioned predetermined threshold value, can judge to exist in preset range submarine, when judging that signal does not exceed this predetermined threshold value, can judge to there is not submarine in preset range.Be appreciated that above-mentioned preset range is two groups of maximum regions that can detect of magnet field probe.Wherein, in an embodiment of the present invention, above-mentioned predetermined threshold value can be the magnetic field reference sample value obtained by measuring in advance when not having submarine, the environmental magnetic field of (such as 10 minutes) can be measured a period of time in advance, namely there is no magnetic field during submarine, as system noise reference sample, analyze the statistical property of this signal, according to this reference sample statistical property, obtain the variance of signal, the party's difference is set as above-mentioned predetermined threshold value the most at last.
Be appreciated that the present invention is detected by differential type, eliminate the interference problem of background terrestrial magnetic field.But, when truly measuring, also there is measurement system error problem, comprising the noise that skew or drift error and system produce.Wherein offset error can lean on the mode of system self-regulation zero to solve, namely threshold value setting and judgment mode is utilized can to process the noise problem of measuring system, namely when detectable signal (namely above-mentioned judgement signal) is greater than set threshold value, just think there is submarine, think noise signal and garbage signal when being less than threshold value, think without submarine.Theoretically, when threshold value is greater than maximum noise value, namely can solve noise problem.But its cost to reduce effective scope of detection, and set threshold value is larger, and effective scope of detection is less.The setting of predetermined threshold value should be determined based on the noise level of actual measuring system.White Gaussian noise can be thought by approximate for system noise, thus utilize the relation of the probability distribution theory of signal and false-alarm and misinformation probability to determine rational predetermined threshold value.
In order to improve the degree of accuracy of result of detection, in one embodiment of the invention, this detection method also can comprise: periodically gather the first magnetic-field component signal of the first unidirectional probe, the second unidirectional probe, the 3rd unidirectional probe and the 4th unidirectional probe measurement, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal respectively; By the first magnetic-field component signal, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal sum-average arithmetic that collect in each cycle, obtain the judgement signal in each cycle; When judging to there is submarine continuously according to the judgement signal in the multiple cycles in the judgement signal in each cycle, determine in preset range, to there is described submarine.
More specifically, a time interval T can be set, by the first magnetic-field component signal, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal that collect in each time interval T, sum-average arithmetic, obtain the judgement signal in each cycle, owing to not being utilize the data in a moment as judging signal, accidental impulse noise interference can be removed like this.Also can set and postpone to judge duration, namely be not signal in a time period T be the conclusion having submarine information just to make submarine, but utilize the information of several (as 5) time period to carry out re-checking judgement, when only having continuously the information in multiple (as 5) time interval to be submarine conclusion, side thinks to there is submarine in measured zone.
The detection method of two-way pair of measuring point submarine detecting system of the embodiment of the present invention, two distance certain positions place the magnet field probe can measuring both direction respectively, namely two vertical magnetic-field components are measured in horizontal direction, and four the magnetic-field component signals recorded of popping one's head in two groups do differential process by direction, to obtain first, two groups of differential waves, and according to this first, two groups of differential waves are determined to judge signal, finally, according to judging that signal judges whether have submarine in preset range, namely the interference of terrestrial magnetic field Self-variation can be eliminated by the differential process of two measuring point field signal, utilize bidirectional measurement can solve blind area in search coverage and blind spot problem, the object obtaining comparatively ideal search coverage profile and larger detection range with less probe can be realized.
In describing the invention, it is to be appreciated that term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or the implicit quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise at least one this feature.In describing the invention, the implication of " multiple " is at least two, such as two, three etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements, unless otherwise clear and definite restriction.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the description of this instructions, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in one or more embodiment in office or example in an appropriate manner.In addition, when not conflicting, the feature of the different embodiment described in this instructions or example and different embodiment or example can carry out combining and combining by those skilled in the art.
Describe and can be understood in process flow diagram or in this any process otherwise described or method, represent and comprise one or more for realizing the module of the code of the executable instruction of the step of specific logical function or process, fragment or part, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can not according to order that is shown or that discuss, comprise according to involved function by the mode while of basic or by contrary order, carry out n-back test, this should understand by embodiments of the invention person of ordinary skill in the field.
In flow charts represent or in this logic otherwise described and/or step, such as, the sequencing list of the executable instruction for realizing logic function can be considered to, may be embodied in any computer-readable medium, for instruction execution system, device or equipment (as computer based system, comprise the system of processor or other can from instruction execution system, device or equipment instruction fetch and perform the system of instruction) use, or to use in conjunction with these instruction execution systems, device or equipment.With regard to this instructions, " computer-readable medium " can be anyly can to comprise, store, communicate, propagate or transmission procedure for instruction execution system, device or equipment or the device that uses in conjunction with these instruction execution systems, device or equipment.The example more specifically (non-exhaustive list) of computer-readable medium comprises following: the electrical connection section (electronic installation) with one or more wiring, portable computer diskette box (magnetic device), random access memory (RAM), ROM (read-only memory) (ROM), erasablely edit ROM (read-only memory) (EPROM or flash memory), fiber device, and portable optic disk ROM (read-only memory) (CDROM).In addition, computer-readable medium can be even paper or other suitable media that can print described program thereon, because can such as by carrying out optical scanning to paper or other media, then carry out editing, decipher or carry out process with other suitable methods if desired and electronically obtain described program, be then stored in computer memory.
Should be appreciated that each several part of the present invention can realize with hardware, software, firmware or their combination.In the above-described embodiment, multiple step or method can with to store in memory and the software performed by suitable instruction execution system or firmware realize.Such as, if realized with hardware, the same in another embodiment, can realize by any one in following technology well known in the art or their combination: the discrete logic with the logic gates for realizing logic function to data-signal, there is the special IC of suitable combinational logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc.
Those skilled in the art are appreciated that realizing all or part of step that above-described embodiment method carries is that the hardware that can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, this program perform time, step comprising embodiment of the method one or a combination set of.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, also can be that the independent physics of unit exists, also can be integrated in a module by two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and the form of software function module also can be adopted to realize.If described integrated module using the form of software function module realize and as independently production marketing or use time, also can be stored in a computer read/write memory medium.
The above-mentioned storage medium mentioned can be ROM (read-only memory), disk or CD etc.Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, and those of ordinary skill in the art can change above-described embodiment within the scope of the invention, revises, replace and modification.
Claims (10)
1. a two-way pair of measuring point submarine detecting system, is characterized in that, comprising:
Be positioned at first group of magnet field probe on the first sensing point, described first group of magnet field probe comprises the first unidirectional probe and the second unidirectional probe, described first unidirectional probe is mutually vertical with described second unidirectional probe, and described first unidirectional probe and described second unidirectional probe are for measuring the magnetic-field component in two orthogonal earth magnetism magnetic fields in horizontal direction;
Be positioned at second group of magnet field probe on the second sensing point, described second group of magnet field probe comprises the 3rd unidirectional probe and the 4th unidirectional probe, described 3rd unidirectional probe is mutually vertical with described 4th unidirectional probe, and described 3rd unidirectional probe and described 4th unidirectional probe are for measuring the magnetic-field component in two orthogonal earth magnetism magnetic fields in horizontal direction;
The acquisition module be connected with described first group of magnet field probe and described second group of magnet field probe respectively, for gathering the first magnetic-field component signal of described first unidirectional probe, the second unidirectional probe, the 3rd unidirectional probe and the 4th unidirectional probe measurement, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal respectively;
The control module be connected with described acquisition module, the described first magnetic-field component signal that described control module sends for receiving described acquisition module, second magnetic-field component signal, 3rd magnetic-field component signal and the 4th magnetic-field component signal, and according to direction classification to described first magnetic-field component signal, second magnetic-field component signal, 3rd magnetic-field component signal and the 4th magnetic-field component signal carry out differential process, obtain first group of differential wave and second group of differential wave, and determine to judge signal according to described first group of differential wave and second group of differential wave, and judge that signal judges whether have submarine in preset range according to described.
2. two-way pair of measuring point submarine detecting system as claimed in claim 1, is characterized in that, described control module obtains described first group of differential wave and second group of differential wave by following formula:
ΔB
x＝B
1x-B
2x
ΔB
y＝B
1y-B
2y
Wherein, Δ B
xfor described first group of differential wave, B
1xfor the first magnetic-field component signal in x direction, B
2xfor the 3rd magnetic-field component signal in described x direction, Δ B
yfor described second group of differential wave, B
1yfor the second magnetic-field component signal in y direction, B
2yfor the 4th magnetic-field component signal in described y direction.
3. two-way pair of measuring point submarine detecting system as claimed in claim 1, it is characterized in that, described control module is carried out size to described first group of differential wave and second group of differential wave and is compared, and using the higher value in described first group of differential wave and second group of differential wave as described judgement signal.
4. two-way pair of measuring point submarine detecting system as claimed any one in claims 1 to 3, it is characterized in that, described control module judges describedly to judge whether signal is more than or equal to predetermined threshold value, and when described judgement signal is more than or equal to described predetermined threshold value, judge to there is described submarine in described preset range.
5. two-way pair of measuring point submarine detecting system as claimed in claim 1, is characterized in that,
Described acquisition module also for: periodically gather the first magnetic-field component signal of described first unidirectional probe, the second unidirectional probe, the 3rd unidirectional probe and the 4th unidirectional probe measurement, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal respectively;
Described control module also for: by the described first magnetic-field component signal, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal sum-average arithmetic that collect in each cycle, obtain the judgement signal in described each cycle, and when judging to there is described submarine continuously according to the judgement signal in the multiple described cycle in the judgement signal in described each cycle, determine to there is described submarine in described preset range.
6., for a detection method for two-way pair of measuring point submarine detecting system such as according to any one of claim 1 to 5, it is characterized in that, comprise the following steps:
Gather the first magnetic-field component signal of described first unidirectional probe, the second unidirectional probe, the 3rd unidirectional probe and the 4th unidirectional probe measurement, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal respectively;
According to direction classification, differential process is carried out to described first magnetic-field component signal, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal, obtain first group of differential wave and second group of differential wave;
Determine to judge signal according to described first group of differential wave and second group of differential wave; And
Judge that signal judges whether have submarine in preset range according to described.
7. method as claimed in claim 6, is characterized in that, obtains described first group of differential wave and second group of differential wave by following formula:
ΔB
x＝B
1x-B
2x
ΔB
y＝B
1y-B
2y
Wherein, Δ B
xfor described first group of differential wave, B
1xfor the first magnetic-field component signal in x direction, B
2xfor the 3rd magnetic-field component signal in described x direction, Δ B
yfor described second group of differential wave, B
1yfor the second magnetic-field component signal in y direction, B
2yfor the 4th magnetic-field component signal in described y direction.
8. method as claimed in claim 6, is characterized in that, describedly determines to judge that signal specifically comprises according to first group of differential wave and second group of differential wave:
Carry out size to described first group of differential wave and second group of differential wave to compare, and using the higher value in described first group of differential wave and second group of differential wave as described judgement signal.
9. the method according to any one of claim 6 to 8, is characterized in that, describedly judges that signal judges whether to have submarine specifically to comprise in preset range according to described:
Judge describedly to judge whether signal is more than or equal to predetermined threshold value;
If when described judgement signal is more than or equal to described predetermined threshold value, judge to there is described submarine in described preset range.
10. method as claimed in claim 6, is characterized in that, also comprise:
Periodically gather the first magnetic-field component signal of described first unidirectional probe, the second unidirectional probe, the 3rd unidirectional probe and the 4th unidirectional probe measurement, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal respectively;
By the described first magnetic-field component signal, the second magnetic-field component signal, the 3rd magnetic-field component signal and the 4th magnetic-field component signal sum-average arithmetic that collect in each cycle, obtain the judgement signal in described each cycle;
When judging to there is described submarine continuously according to the judgement signal in the multiple described cycle in the judgement signal in described each cycle, determine to there is described submarine in described preset range.
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