【摘要】：基于磁異信號的目標(biāo)探測技術(shù)是近年來隨著磁傳感器的測量精度不斷提高而新興的一種目標(biāo)磁探測技術(shù)。它以含有鐵磁性材料的目標(biāo)物質(zhì)擾動地磁分布而產(chǎn)生地磁場分布異常的物理現(xiàn)象為基礎(chǔ),通過測量磁異信號的分布提取磁信號特征量來確定目標(biāo)相關(guān)信息。水下磁性目標(biāo)探測系統(tǒng)在水下反潛、水下考古、海洋探礦等方面有廣泛的應(yīng)用。本文開頭介紹了課題的來源,接著從課題的研究背景、意義以及國內(nèi)外的研究現(xiàn)狀及發(fā)展趨勢為出發(fā)點,詳細(xì)闡述了本課題的研究內(nèi)容和要達(dá)到的主要目標(biāo)。地磁傳感器作為水下磁性目標(biāo)探測系統(tǒng)的主要組成部分,在本文中對磁傳感器進行了分類并簡單介紹了其工作原理,同時分析了搭載在水下機器人“潛龍二號”上的水下磁性目標(biāo)探測系統(tǒng)輸出的誤差公式,并推演了校正方程。本文的主要工作有:系統(tǒng)硬件設(shè)計、嵌入式系統(tǒng)軟件實現(xiàn)、人機交互界面設(shè)計和結(jié)構(gòu)設(shè)計。硬件設(shè)計包括電源電路、傳感器信號處理、模數(shù)轉(zhuǎn)換電路、網(wǎng)絡(luò)接口電路、微控制器和存儲電路等;嵌入式系統(tǒng)軟件包括微處理器資源初始化、系統(tǒng)實時時鐘實現(xiàn)、地磁數(shù)據(jù)采集單元軟件實現(xiàn)、數(shù)據(jù)存儲單元軟件實現(xiàn)和網(wǎng)絡(luò)數(shù)據(jù)傳輸單元軟件實現(xiàn);人機交互界面包括實現(xiàn)調(diào)試模式和數(shù)據(jù)傳輸模式。水下磁性目標(biāo)探測系統(tǒng)實驗主要由三部分組成。其中,地磁臺實驗的主要目的是驗證磁傳感器數(shù)據(jù)的可靠性和電路的穩(wěn)定性,以及測試鈦合金艙體對磁傳感器的影響;千島湖湖試的主要目的是評測系統(tǒng)對磁異常的反應(yīng)特征;南海試驗主要是驗證后期磁處理算法對水下機器人本征磁性校正的作用和可靠性。在實驗數(shù)據(jù)處理階段,論文介紹了兩步估計法和基本粒子群算法的理論基礎(chǔ),并使用Matlab語言實現(xiàn)了這兩種算法。然后分析南海實驗數(shù)據(jù),驗證系統(tǒng)誤差公式的正確性和兩種算法對地磁校正的有效性。論文最后提出了研究中存在的問題,為進一步深入研究奠定了基礎(chǔ)。
[Abstract]:The technology of target detection based on magnetic signal is a new technology of target magnetic detection in recent years with the improvement of measuring precision of magnetic sensor. It is based on the physical phenomenon that the geomagnetic distribution is disturbed by the target material containing ferromagnetic material and the geomagnetic distribution is abnormal. The characteristic quantity of the magnetic signal is extracted by measuring the distribution of the magnetic difference signal to determine the relevant information of the target. Underwater magnetic target detection system is widely used in underwater anti-submarine, underwater archaeology, ocean prospecting and so on. At the beginning of this paper, the source of the subject is introduced, and then the research content and the main goal to be achieved are described in detail from the background, significance, current research situation and development trend of the subject at home and abroad. Geomagnetic sensor is the main component of underwater magnetic target detection system. In this paper, the magnetic sensor is classified and its working principle is simply introduced. At the same time, the error formula of the underwater magnetic target detection system carried on the underwater vehicle "Dianlong 2" is analyzed, and the correction equation is deduced. The main work of this paper is: system hardware design, embedded system software implementation, man-machine interface design and structure design. Hardware design includes power supply circuit, sensor signal processing, A / D conversion circuit, network interface circuit, microcontroller and storage circuit. Embedded system software includes microprocessor resource initialization, system real-time clock realization, geomagnetic data acquisition unit software implementation, data storage unit software implementation and network data transmission unit software implementation. The man-machine interface includes debugging mode and data transmission mode. The experiment of underwater magnetic target detection system consists of three parts. Among them, the main purpose of the geomagnetic station experiment is to verify the reliability of the magnetic sensor data and the stability of the circuit, and to test the influence of the titanium alloy cabin on the magnetic sensor, the main purpose of the Qiandao Lake test is to evaluate the system's response to the magnetic anomaly. The South China Sea test is mainly to verify the effect and reliability of the late magnetic processing algorithm on the intrinsic magnetic correction of underwater vehicle. In the stage of experimental data processing, this paper introduces the theoretical basis of two-step estimation and elementary particle swarm optimization, and implements these two algorithms with Matlab language. Then the South China Sea experimental data are analyzed to verify the correctness of the system error formula and the validity of the two algorithms for geomagnetic correction. At the end of the paper, the problems in the research are put forward, which lays a foundation for further research.
【學(xué)位授予單位】：杭州電子科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：P631.2;P715

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