KR101444620B1 - 3-axis magnetic survey system and method for magnetic survey using the same - Google Patents

Abstract

The present invention relates to a triaxial magnetic survey system capable of easily surveying a magnetic force for a wide area at the outside by converting raw data obtained from a component of a random coordinate system measured by a triaxial magnetometer into a terrestrial magnetism component value of a geographic coordinate system. A triaxial magnetometer for measuring and transferring component value data of a magnetic field of the earth in x, y, and z axes in a random coordinate system, a satellite positioning compass for transferring satellite positioning data containing progressing direction information of a moving object, and an inclinometer for transferring inclination positioning data containing inclination data in x, and y axes are arranged in a common frame installed on the moving object. A data processor coordinate system converts the raw data obtained as a component in a random coordinate system into a terrestrial magnetism component value in a geographic coordinate system with respect to raw data in a recorder for gathering the transferred data.

Description

TECHNICAL FIELD [0001] The present invention relates to a three-axis magnetic force exploration system and a magnetic force exploration method using the same,

The present invention relates to a 3-axis magnetic force exploration system and a magnetic force exploration method using the 3-axis magnetic force exploration system. In particular, it converts raw data obtained as a component in an arbitrary coordinate system measured by a 3-axis magnetometer into geomagnetic component values in a geographical coordinate system, And more particularly, to a three-axis magnetic force exploration system and a magnetic force exploration method therefor.

The earth magnetic field is generally a vector composed of three elements of magnitude, declination angle and dip angle as shown in FIG. 1, and the vectors can be represented by various methods having the same contents but different from each other. (Or X) in the north direction, E (or Y) in the east direction, Z (and Z) in the vertical direction and the downward direction in the downward direction are denoted by three components in a triaxial orthogonal coordinate system (also called Cartesian coordinate system) ) Belong to these triaxial orthogonal coordinate systems.

의 방향을 나타내도록 설계되어 있다. 따라서 어떤 지점에서 나침반이 일정한 방향을 가리키지 못하고 휙휙 돌아간다는 것은, 수직 성분과는 상관없이, 합성된 수평 성분이 제로에 가까워서 나침반의 바늘을 일정한 방향으로 붙들고 있을 힘이 모자라서이다. 그러므로 자력 탐사를 통해서 공간에서의 편각의 분포를 알기 위해서는 지구 자기장의 3 성분을 동시에 측정할 수 있는 센서를 써야 하는데, 여기에 적합한 센서로는 3 축 플럭스게이트(fluxgate) 센서 등이 있다. The compass is composed of two components on the horizontal plane among the three components, that is, the composite component of the x component and the y component

As shown in FIG. Thus, at any point, the compass does not point in a certain direction and swirls around, because the synthesized horizontal component is close to zero, regardless of the vertical component, so that the compass can not hold the needle in a certain direction. Therefore, in order to know the distribution of declination in the space through magnetism survey, a sensor capable of simultaneously measuring three components of the earth's magnetic field should be used. A suitable sensor is a three-axis fluxgate sensor.

These three-axis magnetometers have long been built and used very well and often in the laboratory, but they have not been used in magnetic field exploration outdoors.

The main reason for this is that it is difficult to convert the raw data obtained from the components in any coordinate system at the time of measurement to the geomagnetic component values in the geographical coordinate system when measured with a triaxial magnetometer, It is becoming a major cause of difficulties and slowing the yield of the exploration data.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-described problems, and its object is to provide a geomagnetic sensor that converts raw data obtained as a component in a certain coordinate system measured by a triaxial magnetometer into geomagnetic component values in a geographic coordinate system, A three-axis magnetic force exploration system that facilitates magnetic force exploration and a magnetic force exploration method using the same.

In particular, in the present invention, it is intended to easily convert raw data into geomagnetic element values by constructing a system that integrates a three-axis magnetometer, a satellite positioning compass, and a two-axis inclinometer.

According to the present invention, there is provided a three-axis magnetometer for measuring and transmitting geomagnetic field component data in X, Y and Z axes in an arbitrary coordinate system to a common frame installed on a moving object, And an inclinometer that transmits the inclined positioning data including the X-axis and Y-axis inclination values are disposed on the basis of the coordinate system of the satellite, And the geomagnetic component values in the geographical coordinate system are converted to coordinate values in the coordinate system.

Preferably, the moving body is a means for transporting a common frame to which a triaxial magnetometer, a satellite positioning compass, and an inclinometer are fixed, and is characterized by being one of land moving means, marine moving means and air moving means.

Preferably, the coordinate system conversion is performed based on the geomagnetic field component values in the X-axis, Y-axis, and Z-axis directions in an arbitrary coordinate system transmitted from the triaxial magnetometer, and the latitude, longitude, The traveling direction, the height of the moving object, and the X-axis and Y-axis inclination values of the moving object transmitted from the inclinometer as source data.

Preferably, the coordinate system transformation of the data processor comprises transforming a vector V ₁ (x ₁ , y ₁ , z ₁ ) measured in an arbitrary three-axis orthogonal coordinate system X ₁ Y ₁ Z ₁ in a three- To the vector V _f (x _f , y _f , z _f ) measured at the geographic three-axis coordinate system X _f Y _f Z _f ,

[Equation 1]

The rotation angles γ, δ, and ε are derived by the following equation (2) through the biaxial tilt values α and β measured by the inclinometer and the traveling direction angle η measured by the satellite positioning compass .

&Quot; (2) "

From here,

임.

being.

)에서 자성 물질을 포함하고 있는 이동체 자체에 의해 생성된 자기장(

)을 제거하는 과정을 추가적으로 실시하는 것을 특징으로 한다. Preferably, after the coordinate system transformation, the data processor converts the magnetic field measured by a 3-axis magnetic force exploration system

The magnetic field generated by the moving body itself containing the magnetic material

) Is further removed.

)과 이동체 자체가 갖고 있는 자기 모멘트에 의해서 생성되는 자기장(

)의 벡터적 합인

를 3 축 자력 탐사 시스템으로 측정한 자기장(

)에서 제거하게 되며, 이동체 자체의 유도 자기 모멘트와 이동체 잔류 자기 모멘트를 역산에 의해 계산하고, 위치별로 3 축 자력 탐사 시스템으로 측정된 자기장 성분값들로부터 상기 유도 자기 모멘트와 잔류 자기 모멘트로부터 계산된 자기장을 차감함으로써 이동체 자체에 의해 생성된 자기장(

)을 제거하는 것을 특징으로 한다. Preferably, the data processor further comprises: an induction magnetic field generated by the presence of a moving object in the earth's magnetic field

) And the magnetic field generated by the magnetic moment of the moving object itself

) ≪ / RTI >

The magnetic field measured by a 3-axis magnetic force exploration system

The inductive magnetic moment of the moving body itself and the residual magnetic moment of the moving body are calculated by inverse calculation and the calculated magnetic moments and the residual magnetic moments from the magnetic field component values measured by the three- By subtracting the magnetic field, the magnetic field generated by the mobile body itself

) Is removed.

According to another aspect of the present invention, there is provided a method for controlling a moving object, comprising the steps of: (a) fixedly positioning a three-axis magnetometer, a satellite positioning compass, and an inclinometer as measurement means in a fixed common frame of a moving object; (b) transmitting and collecting data measured through the three-axis magnetometer, the satellite positioning compass, and the inclinometer, which are measurement means during movement, to the recorder; And (c) transforming the raw data obtained as a component in a coordinate system in a data processor into a geomagnetism component value in a geographic coordinate system for the corresponding primitive data in a data processor receiving data collected from the recording system; The method includes the steps of:

Preferably, the moving body is a means for transporting a common frame to which a triaxial magnetometer, a satellite positioning compass, and an inclinometer are fixed, and is characterized by being one of land moving means, marine moving means and air moving means.

Preferably, the coordinate system conversion in the step (c) includes: a comparison between the geomagnetic field component values in the X-axis, Y-axis, and Z-axis directions in an arbitrary coordinate system transmitted from the triaxial magnetometer, And the slope of the moving object, which is transmitted from the inclinometer, are used as source data.

Preferably, the coordinate system transformation of the data processor in the step (c) comprises transforming the vector V ₁ (x ₁ , y ₁ , z ₁ ) measured in an arbitrary three-axis orthogonal coordinate system X ₁ Y ₁ Z ₁ but converted by the expression (1) below as the vector _{V f (x f, y f} , z f) measured in the geographic coordinate system, the three-axis x _f Y _f z _f,

[Equation 1]

The rotation angles γ, δ, and ε are derived by the following equation (2) through the biaxial tilt values α and β measured by the inclinometer and the traveling direction angle η measured by the satellite positioning compass .

&Quot; (2) "

From here,

임.

being.

)에서 자성 물질을 포함하고 있는 이동체 자체에 의해 생성된 자기장(

)을 제거하는 단계;를 더 실시하는 것을 특징으로 한다. Preferably, in the step (c), the data processor converts the coordinate system to a magnetic field (d) measured by a three-

The magnetic field generated by the moving body itself containing the magnetic material

) Is further performed.

)과 이동체 자체가 갖고 있는 자기 모멘트에 의해서 생성되는 자기장(

)의 벡터적 합인

를 3 축 자력 탐사 시스템으로 측정한 자기장(

)에서 제거하게 되며, 이동체 자체의 유도 자기 모멘트와 이동체 잔류 자기 모멘트를 역산에 의해 계산하고, 위치별로 3 축 자력 탐사 시스템으로 측정된 자기장 성분값들로부터 상기 유도 자기 모멘트와 잔류 자기 모멘트로부터 계산된 자기장을 차감함으로써 이동체 자체에 의해 생성된 자기장(

)을 제거하는 것을 특징으로 한다.
Preferably, in the step (d), the data processor generates the induction magnetic field generated by the presence of the moving object in the earth's magnetic field

) And the magnetic field generated by the magnetic moment of the moving object itself

) ≪ / RTI >

The magnetic field measured by a 3-axis magnetic force exploration system

The inductive magnetic moment of the moving body itself and the residual magnetic moment of the moving body are calculated by inverse calculation and the calculated magnetic moments and the residual magnetic moments from the magnetic field component values measured by the three- By subtracting the magnetic field, the magnetic field generated by the mobile body itself

) Is removed.

According to the present invention, there is an effect of facilitating magnetic field exploration for a wide area outdoors by converting raw data obtained by a component in a certain coordinate system measured by a triaxial magnetometer into geomagnetic component values in a geographic coordinate system.

Especially, it is possible to easily convert raw data into geomagnetic element values by constructing a system that integrates a triaxial magnetometer, a satellite positioning compass, and a biaxial tiltmeter.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram for explaining a method of expressing a geomagnetic field. FIG.
2 is a view for explaining a 3-axis magnetic force exploration system according to the present invention.
3 is a flowchart for explaining a magnetic force exploration method using a 3-axis magnetic force exploration system according to the present invention.
4 shows a three-axis magnetic force exploration system according to the present invention.
5 to 12 are diagrams for explaining a magnetic force exploration process performed through a three-axis magnetic force exploration system according to the present invention.

Hereinafter, a three-axis magnetic force exploration system according to the present invention and a magnetic force exploration method using the same will be described in detail with reference to the accompanying drawings.

FIG. 2 is a view for explaining a 3-axis magnetic force exploration system according to the present invention.

The Earth's magnetic field is a vector property and its value is measured differently depending on the relative position of the sensor in space. The object of the present invention is to enable three-component magnetic exploration on a ship or on the ground.

The three-axis magnetic force exploration system includes a three-axis magnetometer 110, a satellite positioning compass 120 and an inclinometer 130 disposed on a common frame 150 on a moving body, When the data from the axis magnetometer 110, the satellite positioning compass 120 and the inclinometer 130 are collected by the recorder 140 and transmitted to the data processor 160, the data measured by the three- It is a structure that converts raw data obtained by components in arbitrary coordinate system into geomagnetic component values in geographical coordinate system.

The three-axis magnetometer 110, the satellite positioning compass 120, and the inclinometer 130 where the actual measurement is performed are fixed to the common frame 150, and the recorder 140, which receives and collects data from the measurement units, May not be installed in the common frame 150.

Further, the data processor 160 does not need to be installed in the moving object as means for receiving and processing the measurement data from the recorder 140, and if it is not a situation requiring continuous data conversion, It is also possible to perform the data conversion by receiving the measurement data of the server 140.

The moving body may be a means for transporting a common frame 150 on which a triaxial magnetometer 110, a satellite positioning compass 120 and an inclinometer 130 are fixed, and may be a land moving means such as a vehicle on land, Such as a ship, and may be an airborne vehicle such as an airplane in the air. Therefore, the three-axis magnetic force exploration according to the present invention can be performed anywhere on land, sea and air, provided that the movement through the mobile body is possible.

Here, the triaxial magnetometer 110 installed in the common frame 150 on the mobile body measures the values of the earth magnetic field components in the X-axis, Y-axis, and Z-axis directions in an arbitrary coordinate system and transmits them to the recorder 140 in real time And the satellite positioning compass 120 transmits the satellite positioning data including the moving direction information of the moving object to the recording system 140 in real time. The inclinometer 130 measures the inclined position including the X-axis and Y- Data is transmitted to the recorder 140 in real time.

The data processor 160 receives the collected data from the recorder 140 and converts the raw data obtained from the arbitrary coordinate system measured by the triaxial magnetometer into geomagnetic element values in the geographical coordinate system through the data, The detailed procedure will be clearly understood from the following description.

FIG. 3 is a flow chart for explaining a magnetic force exploration method using a three-axis magnetic force exploration system according to the present invention.

First, in step S10, a three-axis magnetometer 110, a satellite positioning compass 120, and an inclinometer 130 are fixedly disposed on a common frame 150 fixed to the moving object, and the common frame 150 is transported The moving object will move along a predetermined sideline.

The recording system 140 may be fixedly disposed on the common frame 150 or may be positioned on the moving body and may include three-axis magnetometers 110 as measuring means on the common frame 150, a satellite positioning compass 120 And the inclinometer 130, as long as it can receive the data.

In step S20, individual measurements are made through the three-axis magnetometer 110, the satellite positioning compass 120, and the inclinometer 130, which are measurement means during the movement, and the measured data are transmitted to the recorder 140 and collected .

The three-axis magnetic force exploration system of the present invention and the magnetic force exploration method using the three-axis magnetic force exploration system of the present invention derive the magnetic field component values in the accurate geographical coordinate system through data measured through various measurement means in a mobile body moving along a sideline. It goes without saying that the measurement means can be applied as they are without moving.

In step S30, the data processor 160 receiving the data collected from the recorder 140 transmits the raw data obtained by the component in the arbitrary coordinate system measured by the three-axis magnetometer through the corresponding data to the geomagnetism component value in the geographical coordinate system .

The data conversion of the data processor 160 may be performed simultaneously with the data collection of the recorder 140. However, unless a continuous data conversion is required, the data conversion of the recorder 140 is performed after a lapse of time. It is also possible to perform.

In particular, in step S40, the data processor 160 calculates the geomagnetism component value in the geographic coordinate system, which is the result of step S30, in order to increase the accuracy of the transformed data in the data conversion process of step S30, The magnetic field component value due to the magnetic field of the moving object can be further removed.

Hereinafter, a three-axis magnetic force exploration system according to the present invention will be described in more detail with reference to an actual system production example. In addition, the three-axis magnetic force exploration system will be described in detail. The magnetic exploration method of the present invention can be more accurately understood through actual examples.

4, a three-axis magnetometer 110, a satellite positioning compass 120, an inclinometer 130, and a recorder 140 capable of real-time integration and recording of data from the three- We constructed a 3-axis magnetic probe with one basic component.

A common frame having one triaxial magnetometer 110, one satellite positioning compass 120, and inclinometer 130 is set in the + X direction, the right direction + Y, and the downward direction + Z . However, the two-axis satellite positioning compass 120 internally has a + X direction and a + Y direction in the left direction. However, by multiplying the Y component obtained by the measurement by (-) once, Respectively. On the other hand, since the recorder 140 is independent of the coordinate system, it may be mounted.

Here, as the three-axis magnetometer 110, a model FVM-400 (fluxgate vector magnetometer 400) manufactured by MEDA Corporation of USA can be used.

As a satellite positioning compass 120, a model SSV-100 (Simple GPS Satellite Vector 100) of Hemispere Co., Ltd. is used as a GNSS compass. The satellite positioning compass 120 is designed and manufactured by using two GNSS antennas as main modules The reference axis connecting the phase centers of the respective antennas, that is, the azimuth of the X axis in FIG. 2, can be measured.

As the biaxial inclinometer 130, a model MD900-T manufactured by Applied Geomechanics Inc. was used. The inclination angle measured by this was expressed as (+) when the (+) end of the measuring direction was lowered from the horizontal . Since the Y direction of the inclinometer itself is defined to the left, in order to make the Y direction of the inclinometer coincide with the Y direction of the entire frame, the Y component obtained by measurement may be multiplied by (-) once.

The recording system 140 that reads and writes data from the three-axis magnetometer 110, the satellite positioning compass 120, and the inclinometer 130 in real time as described above is based on an embedded computing system chip , And a recording system having various input / output ports

Table 1 below shows a part of data transmitted from the three-axis magnetometer 110, the satellite positioning compass 120, and the inclinometer 130 to the recorder 140.

Record data A @ -17264 , 30829 , 34722 , HEHDT, 240.12 , T * 1A, $ GPGGA, 040814.00 , 3408.90940 , N , 12652.72603 , E , 2, 08, 1.0, 5.4, M, 19.9 , M , 7.0, $ GPVTG, 239.95 , T , 246.92 , M , 6.34 , N , 11.73 , K , D * 1C, $ -6.9656 , -0.4179 , 31.08 , N3131 ,

In the data of Table 1, the three underlined numbers at the beginning of the data are the magnetic field of the 3-axis magnetometer 110 in the X-axis (the direction of doubling), the Y-axis (in the right direction of the doubling) The number after the HEHDT is the progression direction of the ship, and the numbers after the GPGGA are the time (13 o'clock in Korea time), latitude (34 degrees 08.90940 latitude in north latitude), and longitude 52.72603 min), the height from the reference ellipsoid, the two numbers after GPVTG are related to the direction of the ship, but the direction of the ship calculated differently from the number behind the HEHDT, the third and fourth digits are the speed The numbers after $ represent the X axis of the inclinometer (the direction of the doubling), the Y axis (the left direction of the ship, the magnetometers of the upper and the GNSS compass axes) The slope of the rightward direction of the ship multiplied by (-) later) The internal temperature, and the serial number of the inclinometer.

In this paper, we propose a new method of transforming the data of geomagnetic field in the X, Y and Z directions of the arbitrary coordinate system. North), E (east) and Z (vertically downward).

Meanwhile, in order to compare the accuracy of the three-axis magnetic force exploration system according to the present invention, exploration was carried out through the following probe.

The G-858 total magnetic force probe, which is mainly used in land survey, measures the total magnetic force value, which is the magnitude of the earth magnetic field vector, by using the measurement principle of the magnetic field by optical pumping. It can be recorded together with the magnetic force value.

Table 2 below shows the data obtained from the G-858 Total Magnetic Probe, including the degree, the degree, the height (m) from the reference ellipsoid, the total magnetic force reading (nT) from the top sensor, (NT / m), time (hh: mm: ss.sss), date (March 06, 2012) ). From these data, it is possible to draw the distribution of the intensity of the earth's magnetic field, rate of change, and so forth.

Hardness
(° C) Latitude
(N) Height
(m) Total magnetic force value (above)
(nT) Total magnetic force value (below)
(nT) Rate of change
(nT / m) time
(hh: mm: ss) date
(mm / dd / yy) 126.89951465 34.15835355 49.495 48965.568 48975.546 21.691 11: 56: 46.78 03/06/12

FIG. 5 is a map of an actual exploration area through a three-axis magnetic force exploration system according to the present invention. The upper left map of FIG. 5 shows a wide area of about 55 km from east to west and about 80 km from north to south, and a line from Cheongsan Island to Yeosu Island, about 20 km from east to west and from north to south The map on the lower left of Figure 5 shows an area of about 10 km from east to west and about 10 km from north to south, centered on Cheongsan Island.

FIG. 6 is a layout diagram of a survey line for coastal magnetic force survey.

Magnetic exploration for the coast was made on October 10, 2012. After the exploration from Jinshan Port in Jinan-ri in the northeast of Cheongsan-do, it returned to Jinshan Port. I originally wanted to rent a wooden ship but the wind was not done and I borrowed a ship built with some metal as shown in Figure 4. Therefore, the process of eliminating the artificial noise caused by these metals is subjected to data processing. In order to obtain the exploration data to be used as the input data in the noise cancellation process, data was obtained by drawing 5 circles in place at the lower right corner of FIG.

The coordinates of the center of the exploration area in FIG. 6 are (126 ° 53 '40 "E, 34 ° 08'01" N, based on the WGS84 coordinate system) and calculated from IGRF (Maus, S. et al., 2005) a component value _{b n = 31425 nT, b e} = -3850 nT, b h = 31660 nT, b z = 37412 nT, total = 49010 nT, decl = -7.0 °, incl = 49.8 ° ( where, _n is b true north direction component, b _e the vibration direction component, b _h is a horizontal direction component, b _z is the vertical downward component, decl is japyeongak, incl is being reprinted).

Now, the processing of the data obtained through the 3-axis magnetic force exploration system according to the present invention will be described in detail.

)은 지구자기장(

), 지구자기장 내에 존재하는 물질들(지질 구성 물질)에 의해서 유도된 자기장(

), 그리고 자성 물질을 포함하고 있는 배 자체에 의해 생성된 자기장(

)의 벡터적 합이다. The magnetic field measured by the three-axis magnetic force exploration system according to the present invention

) Is the Earth's magnetic field

), Magnetic fields induced by materials (lipid constituents) present in the Earth's magnetic field

), And the magnetic field generated by the pearleself containing the magnetic material (

).

)은 다음의 수학식 1과 같이 설명될 수 있다. That is, the magnetic field measured by the three-axis magnetic force exploration system according to the present invention

) Can be expressed by the following equation (1).

뿐이고,

와

는 없애야 할 대상인데,

는 일정한 지역 내에서는 같다고 가정할 수 있으므로 쉽게 빼 줄 수 있거나, 빼지 않고 그대로 둔 상태에서도 지하 구조를 해석할 수 있다. 그러나

는 반드시 빼고 난 뒤에라야 전체 자료를 해석할 수 있다. Of these, the magnetic field we want to obtain from magnetic exploration

However,

Wow

Is a target to be eliminated,

Can be assumed to be the same in a certain area, so it can be easily removed or the underground structure can be interpreted without leaving it untouched. But

Can only be interpreted after excluding the entire data.

는, 지구 자기장 내에 배가 존재하고 있음으로써 생성되는 유도 자기장(

여기서, ind <= induced)과 지구 자기장과는 상관없이 배 자체가 갖고 있는 남은 자기(잔류 자기)에 의해서 생성되는 자기장(

여기서, rem <= remanent)의 벡터적 합이다. Meanwhile,

Is an induction field generated by the presence of a ship in the earth's magnetic field

Here, ind <= induced) and the magnetic field generated by the remaining magnetic (residual magnetic)

Where rem <= remanent).

는 다음의 수학식 2와 같이 설명될 수 있다. That is, the magnetic field to be removed from the magnetic field measured by the three-axis magnetic force exploration system according to the present invention

Can be expressed by the following equation (2).

)는 배가 어떤 방향으로 서 있는가와 상관없이 어디에서나 같은 방향으로 생성되지만, 후자(

)는, 아주 센 남은 자기를 가진 것으로 여겨지는 영구 자석의 자세에 따라 자기장의 분포가 달라지는 것처럼, 배가 어떤 방향으로 서 있는가에 따라서 다르게 생성되고 측정된다. Of these,

) Is generated in the same direction everywhere, regardless of which direction the ship is standing, but the latter

) Is differently generated and measured depending on the direction in which the ship is standing, as the distribution of magnetic fields varies depending on the posture of the permanent magnet, which is considered to have a very strong magnetism.

를 없애 주고,

만 남기는 것이다. As a result, first, in order to be able to compare the magnetic field vector values (component values) at all the points represented in Equation 1 relative to each other, the component values at each point measured on an arbitrary coordinate system are referred to as the same To a value in one reference coordinate system, and second, by calculating Equation 2

In addition,

It is only left.

Therefore, the process of data processing will be described in the following order of changing the component values on the geo-coordinate system of the geomagnetic field by the coordinate system transformation and eliminating the magnetic field generated by the multiplication.

First, the description will be made on the change of the magnetic field component value in the geographic coordinate system by the transformation of the coordinate system.

Of the three-dimensional space with a random three-axis orthogonal coordinate system, X ₁ Y ₁ Z the vector V ₁ measured at _{1 (x 1, y 1,} z 1) the measurement in other three-axis coordinate system X _f Y _f Z _f vectors V _f ( x _f , y _f , z _f ) is generally equivalent to rotating three inward euler angles γ, δ, ε around the appropriate axis of rotation.

However, the satellite positioning compass 120 and the inclinometer 130, which are components of the three-axis magnetic force exploration system of the present invention, do not directly measure the Euler angles. Instead, the azimuth angle and the azimuth angle of the satellite positioning compass 120, (130), and all three angles are measured independently of each other. Further, although the two axes of the biaxial inclinometer 130 are designed to be physically orthogonal to each other, the angle formed by each axis and the horizontal plane is measured when each axis is projected on a horizontal plane. Thus, the vector V ₁ (x ₁ , y ₁ , z ₁ ) measured in an arbitrary triaxial coordinate system X ₁ Y ₁ Z ₁ (where 1 is the raw data or the first data) It should be possible to replace the vector V _f (x _f , y _f , z _f ) (where f means final) measured in another reference coordinate system X _f Y _f Z _f . FIG. 7 shows the relationship between two angles?,? And?,?,?, And other angles measured by the inclinometer 130. As shown in FIG.

This process can be represented by three consecutive rotation transforms as shown in Equation (3).

Here, the rotation angles γ, δ, and ε are derived from the angles α and β measured by the biaxial inclinometer 130 and the azimuth angle η measured by the satellite positioning compass 120 as follows.

 Also, here, κ is a coefficient made up of only α and β, and is expressed by the following equation (5).

Figure 8 shows the raw data as component values measured at any coordinate system at the time of measurement at each measurement point, where b _x , b _y , and b _z are the x component, y component, and z component values measured by the magnetometer, respectively , And the unit is nT.

In the arrangement of the structures constituting the three-axis magnetic force exploration system of FIG. 2 and the plan view of the coastal magnetic force exploration lateral line of FIG. 6, the lateral lines are arranged mainly in the east-west direction and the center of the exploration area (126 ° 53 ' , 34 ° 08 '01 "N, WGS84), the component values of the magnetic field are calculated as follows: b _n = 31425 nT, b _e = -3850 nT, b _h = 31660 nT _{, b z = 37412 nT, total} = 49010 nT, decl = -7.0 °, incl = 49.8 ° that (here, b _n is a true north direction component, b _e the vibration direction component, b _h is a horizontal direction component, b _z is Vertically downward component, decl is the cleavage angle, and incl is the dip angle). Then, when the bow of the moving object is to the west, that is to the west, the y component will measure approximately the north component, so the measured value will be close to +30000 nT. When the east component is navigated to the east, The component will be measured and will be measured close to 30000 nT. Figure 8 shows well measured and expected values in that context.

Next, Fig. 9 shows the magnetic field component value (unit is nT) after the transformation into the geographical coordinate system. Using the equation (3), the coordinate system X ₁ Y ₁ Z ₁ , which is an arbitrary coordinate system, is referred to as a reference coordinate system X _f Y _f When converted to the Z _f coordinate system, the magnetic field component values V ₁ (x ₁ , y ₁ , z ₁ ) measured above the X ₁ Y ₁ Z ₁ coordinate system are replaced by the new X _f Y _f Z _f Is a distribution of new vectors V _f (x _f , y _f , z _f ) converted to values above the coordinate system. In Fig. 9, b _n , b _e , and b _z are component values in the north (n) component, the east component (e), and the vertical downward (z) direction, respectively.

9, the value of b _n is about 30000 nT, the value of b _e is around 4000 nT, and the value of b _z is about 37000 nT, which is similar to the component value of this sea area calculated from IGRF above.

여기서, ind <= induced)과 지구 자기장과는 상관없이 배 자체가 갖고 있는 남은 자기(잔류 자기) 모멘트(영구 자석으로 여길 수 있음)에 의해서 생성되는 자기장(

여기서, rem <= remanent)의 벡터적 합인

때문에 다소 변화가 있는 것으로 보인다. 하지만 이러한 변화는

를 없애 줌으로써 많이 사라질 것이다. However, if there are no geomagnetic anomalies in this area, the values of each component should be approximately the same at all stations, but the induced magnetic field

Here, ind <= induced) and the magnetic field generated by the residual magnetic moment (which may be regarded as a permanent magnet) of the ship itself, regardless of the earth's magnetic field

Where rem <= remanent)

It seems that there is a slight change. However,

By removing it will disappear a lot.

를 없애는 과정에 대하여 설명한다. Next is the magnetic field generated by the double

Will be described.

를 없애는 것은, 배 자체의 유도 자기 모멘트와 남은 자기 모멘트를 역산에 의해 계산하고, 이동체인 배가 어떤 특정한 위치에 있을 때 두 자기 모멘트로부터 그 위치에 생성되는 자기장을 정방향으로 계산하여, 측정된 자기장 성분값들로부터 빼 줌으로써 이루어진다. Equations 1 and 2

Is calculated by inversely calculating the induced magnetic moment and the remaining magnetic moment of the boat itself and calculating the magnetic field generated in the position from the two magnetic moments in a forward direction when the boat as the movement is at a specific position, Values.

이며, 자기 쌍극자(magnetic dipole)의 중심으로부터 상대적 위치 r에 있는 점에서의 자기장은 다음의 수학식 6과 같이 계산된다. The magnetic moment is M, the direction of the unit magnetic field is

, And the magnetic field at the point at the relative position r from the center of the magnetic dipole is calculated by the following Equation (6).

The inverse calculation is based on Equation (6) as a basic formula. Blakely is used as a program for calculating the magnetic field according to Equation (6). Adaptive Simulated Annealing (ASA) is used as the inversion algorithm.

As input data for inversion, we used some of the data obtained by navigating five circles in place at the point labeled "point where data for inversion was obtained" in FIG. The upper row of FIG. 10 is input data for inverse calculation, and the lower row is each component value of the magnetic field of the boat itself calculated again in the forward direction from the inverse calculation result.

The values of the induced magnetic moments and the residual magnetic moments of the boat itself obtained from inversion are shown in Table 3 below. Table 3 shows the values of each component of the magnetic field of the magneto-optical element, calculated again in the forward direction from the inversion result.

division The position of the center point of the magnetic moment Magnitude of magnetic moment Declination Reprint Remarks induced Distance from GPS measurement point 0.7 m
82.0 degrees from heading
-2.1 m down from magnetic force sensor 60 -7.0 49.8 remanent Distance from GPS measurement point 4.7 m
202.0 degrees from heading
0.8 m below the magnetic force sensor 1837 199.4 45.3

11 shows the relative positional relationship between the induced magnetic moment and the remaining magnetic moment and the three-axis magnetometer 110. In FIG.

를 빼고 남은

만을 보인다. 즉 도 12는 이동체인 배 자체에 의해 생성되는 자기장 값을 뺀 자기장 성분값의 분포도이다. 여기에서 b_n, b_e, b_z 는 각각 n(북쪽) 성분, e(동쪽) 성분, z(수직 아래) 성분값이다. Through the above-described inversion process, Fig.

Except for

Only. That is, FIG. 12 is a distribution diagram of magnetic field component values obtained by subtracting the magnetic field values generated by the boat itself which is a moving body. Where b _n , b _e , and b _z are the n (north) component, the e (east) component, and the z (vertical down) component value, respectively.

Comparing FIG. 9 and FIG. 12, it can be seen that, first, in all three components, the apparent line form in the former has disappeared much in the latter, which means that the difference between going east and going west is reduced This also means that much of the magnetic field component, which is produced by the remaining magnetic moments of the ship itself, is devoid of directional components. Next, it can be seen that in all three components, the difference between (high-low) values is reduced, especially in the e (east) component, which also indicates the directionality Which means that the magnetic field component of the magnetic field has disappeared.

As described above, an optimal embodiment has been disclosed in the drawings and specification. Although specific terms have been employed herein, they are used for purposes of illustration only and are not intended to limit the scope of the invention as defined in the claims or the claims. Therefore, those skilled in the art will appreciate that various modifications and equivalent embodiments are possible without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

110: Three-axis magnetometer 120: Satellite positioning compass
130: inclinometer 140: recorder
150: common frame 160: data processor

Claims (12)

A three-axis magnetometer for measuring and transmitting geomagnetic field component data in the X-axis, Y-axis, and Z-axis directions in an arbitrary coordinate system to a common frame installed on the moving object, and a satellite positioning data And an inclinometer for transmitting oblique positioning data including the X-axis and Y-axis inclination values,
Wherein the raw data obtained as a component in any coordinate system in the data processor is converted to a geomagnetic component value in the geographical coordinate system with respect to the original data of the recorder that collects the transferred data.
The method according to claim 1,
Wherein the moving body is a means for carrying a common frame to which a triaxial magnetometer, a satellite positioning compass, and an inclinometer are fixed, and is any one of land moving means, marine moving means, and air moving means.
The method according to claim 1,
The coordinate system conversion is performed based on the geomagnetic field component values in the X-axis, Y-axis, and Z-axis directions in an arbitrary coordinate system transmitted from the triaxial magnetometer and the values of the geomagnetic field component values in the latitude, longitude, And a yaw axis inclination value of the moving object transmitted from the inclinometer as raw data.
The method according to claim 1,
The coordinate system transformation of the data processor comprises:
A vector V ₁ (x ₁ , y ₁ , z ₁ ) measured in an arbitrary three-axis rectangular coordinate system X ₁ Y ₁ Z ₁ in a three-dimensional space is obtained from the geocentric three-axis coordinate system X _f Y _f Z _f Into a measured vector V _f (x _f , y _f , z _f )
[Equation 1]

The rotation angles γ, δ, and ε are derived by the following equation (2) through the biaxial tilt values α and β measured by the inclinometer and the traveling direction angle η measured by the satellite positioning compass And a three-axis magnetic force detection system.
&Quot; (2) &quot;

From here,

being.
The method according to claim 1 or 4,
The data processor, after the coordinate system transformation,
The magnetic field measured by a 3-axis magnetic force exploration system (

The magnetic field generated by the moving body itself containing the magnetic material

) Of the three-axis magnetic force is further removed.
6. The method of claim 5,
Wherein the data processor comprises:
The induced magnetic field generated by the presence of a moving object in the earth's magnetic field

) And the magnetic field generated by the magnetic moment of the moving object itself

) &Lt; / RTI &gt;

The magnetic field measured by a 3-axis magnetic force exploration system

),
The inductive magnetic moment of the moving body itself and the residual magnetic moment of the moving body are calculated by inverse calculation and the magnetic field calculated from the induced magnetic moment and the residual magnetic moment is subtracted from the magnetic field component values measured by the three- (&Lt; RTI ID = 0.0 &gt;

) Of the three-axis magnetic force is removed.
(a) fixedly arranging a three-axis magnetometer, a satellite positioning compass, and an inclinometer, which are measurement means, in a fixed common frame of a moving object, and moving the moving object along a sideline;
(b) transmitting and collecting data measured through the three-axis magnetometer, the satellite positioning compass, and the inclinometer, which are measurement means during movement, to the recorder; And
(c) converting the raw data obtained as a component in a certain coordinate system into a geomagnetic component value in a geographical coordinate system for the corresponding raw data in a data processor receiving the data collected from the recording system; Wherein the magnetic field is a magnetic field.
8. The method of claim 7,
Wherein the moving body is a means for transporting a common frame to which a triaxial magnetometer, a satellite positioning compass, and an inclinometer are fixed, and is any one of land moving means, marine moving means, and air moving means.
8. The method of claim 7,
The coordinate system conversion in the step (c) includes: a calculation of the geomagnetic field component values in the X-axis, Y-axis, and Z-axis directions in an arbitrary coordinate system transmitted from the triaxial magnetometer, The traveling direction, the height of the moving object, and the X-axis and Y-axis inclination values of the moving object transmitted from the inclinometer as source data.
8. The method of claim 7,
The coordinate system transformation of the data processor in the step (c)
A vector V ₁ (x ₁ , y ₁ , z ₁ ) measured in an arbitrary three-axis rectangular coordinate system X ₁ Y ₁ Z ₁ in a three-dimensional space is obtained from the geocentric three-axis coordinate system X _f Y _f Z _f Into a measured vector V _f (x _f , y _f , z _f )
[Equation 1]

The rotation angles γ, δ, and ε are derived by the following equation (2) through the biaxial tilt values α and β measured by the inclinometer and the traveling direction angle η measured by the satellite positioning compass Wherein the magnetic field is a magnetic field.
&Quot; (2) &quot;

From here,

being.
11. The method according to claim 7 or 10,
In the step (c), after the coordinate system conversion,
(d) Magnetic field measured by a 3-axis magnetometer

The magnetic field generated by the moving body itself containing the magnetic material

And removing the magnetic field from the magnetic field.
12. The method of claim 11,
In the step (d)
The induced magnetic field generated by the presence of a moving object in the earth's magnetic field

) And the magnetic field generated by the magnetic moment of the moving object itself

) &Lt; / RTI &gt;

The magnetic field measured by a 3-axis magnetic force exploration system

),
The inductive magnetic moment of the moving body itself and the residual magnetic moment of the moving body are calculated by inverse calculation and the magnetic field calculated from the induced magnetic moment and the residual magnetic moment is subtracted from the magnetic field component values measured by the three- (&Lt; RTI ID = 0.0 &gt;

) Is removed.

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