地磁背景下基于傳感器陣列的磁偶極子目標跟蹤方法

陳路昭; 馮永強; 郭瑞杰; 朱萬華; 方廣有

doi:10.11999/JEIT190236

地磁背景下基于傳感器陣列的磁偶極子目標跟蹤方法

doi: 10.11999/JEIT190236

陳路昭^{1, 2, 3},
馮永強^{1, 2},
郭瑞杰³,
朱萬華^1, ,,
方廣有¹

1.
中國科學(xué)院電磁輻射與探測技術(shù)重點實驗室北京 100190
2.
中國科學(xué)院大學(xué) 北京 100049
3.
北京自動化控制設(shè)備研究所北京 100074

基金項目: 國家自然科學(xué)基金青年基金(41704177)和國家重點研發(fā)計劃“深地資源勘查開采”重點專項(2018YFC0603201)

詳細信息

作者簡介:
陳路昭：男，1992年生，博士，研究方向為傳感器陣列的磁信號處理方法、運動平臺磁干擾補償技術(shù)

馮永強：男，1985年生，博士生，研究方向為航磁系統(tǒng)硬件設(shè)計與航磁數(shù)據(jù)處理方法

郭瑞杰：女，1992年生，碩士，研究方向為組合導(dǎo)航與系統(tǒng)控制技術(shù)

朱萬華：男，1982年生，副研究員，主要研究方向為高靈敏度磁場傳感器關(guān)鍵技術(shù)、高性能磁屏蔽關(guān)鍵技術(shù)

方廣有：男，1963年生，研究員，主要研究方向為超寬帶電磁場理論及工程應(yīng)用、超寬帶雷達成像技術(shù)、微波成像新方法和新技術(shù)

通訊作者:
朱萬華　whzhu@mail.ie.ac.cn

中圖分類號: O411.5; TN911.73
計量
- 文章訪問數(shù): 3673
- HTML全文瀏覽量: 1216
- PDF下載量: 131
- 被引次數(shù): 0
出版歷程
- 收稿日期: 2019-04-10
- 修回日期: 2019-12-01
- 網(wǎng)絡(luò)出版日期: 2019-12-09
- 刊出日期: 2020-03-19

Magnetic Dipole Object Tracking Algorithm Based on Magnetometer Array in Geomagnetic Background

Luzhao CHEN^{1, 2, 3},
Yongqiang FENG^{1, 2},
Ruijie GUO³,
Wanhua ZHU^{1
, ,},
Guangyou FANG¹

1.
Key Laboratory of Electromagnetic Radiation and Sensing Technology, Chinese Academy of Sciences, Beijing 100190, China
2.
University of Chinese Academy of Sciences, Beijing 100049, China
3.
Beijing Automation Control Equipment Institute, Beijing 100074, China

Funds: The Youth Program of National Natural Science Foundation of China (41704177), The National Key R&D Program of China (2018YFC0603201)

摘要

摘要:
針對地磁背景下磁偶極子目標跟蹤過程中存在的地磁干擾與模型非線性的問題，該文提出一種基于差量磁異常的蒙特卡洛卡爾曼濾波(MCKF)跟蹤方法。新的跟蹤方法以傳感器陣列測量磁場的差量作為觀測信號，并利用蒙特卡洛卡爾曼濾波算法解決模型的非線性問題，實現(xiàn)磁偶極子目標的實時跟蹤。通過仿真跟蹤實驗，結(jié)果表明該文算法較傳統(tǒng)的擴展或無跡卡爾曼濾波算法在穩(wěn)定跟蹤過程中對目標特征參數(shù)的估計更精確；通過地磁背景跟蹤實驗，結(jié)果驗證了該文算法較傳統(tǒng)算法在低信噪比下的性能優(yōu)勢。
- 磁偶極子 /
- 蒙特卡洛卡爾曼濾波 /
- 傳感器陣列 /
- 地磁背景
Abstract:
In order to solve the problem of geomagnetic interference and model nonlinearity in the tracking process of magnetic dipole under geomagnetic background, Monte Carlo Kalman Filter (MCKF) tracking method based on differential magnetic anomaly is proposed in this paper. The new tracking method takes the difference of magnetic field measured by sensor array as the observation signal, and uses Monte Carlo Kalman Filtering (MCKF) algorithm to solve the nonlinear problem of the model to realize the real-time tracking of magnetic dipole targets. The simulation results show that the proposed method is more accurate than the traditional Extended Kalman Filter (EKF) or Untracked Kalman Filter (UKF) in the stable tracking process. The results of real geomagnetic background tracking experiments show that the proposed algorithm has better tracking performance under low SNR.
- Magnetic dipole /
- Monte Carlo Kalman Filter (MCKF) /
- Sensor array /
- Geomagnetic background

HTML全文

圖 1 仿真磁偶極子運動軌跡與傳感器分布位置

下載: 全尺寸圖片幻燈片

圖 2 傳感器測量結(jié)果

下載: 全尺寸圖片幻燈片

圖 3 基于MCKF跟蹤算法的流程圖

下載: 全尺寸圖片幻燈片

圖 4 仿真磁偶極子跟蹤結(jié)果對比

下載: 全尺寸圖片幻燈片

圖 5 真實目標跟蹤實驗

下載: 全尺寸圖片幻燈片

圖 6 跟蹤實驗?zāi)M磁性目標體

下載: 全尺寸圖片幻燈片

圖 7 陣列傳感器測量磁場與差量磁場

下載: 全尺寸圖片幻燈片

圖 8 模擬磁性目標的位置跟蹤結(jié)果

下載: 全尺寸圖片幻燈片

圖 9 模擬磁性目標的磁矩跟蹤結(jié)果

下載: 全尺寸圖片幻燈片

表 1 不同跟蹤算法各方向投影軌跡跟蹤誤差(m)

	跟蹤算法	時間區(qū)間
	跟蹤算法	1～40點	41～80點	81～120點	120～160點	160～200點
x方向	EKF	0.0651	0.0127	0.0023	0.0057	0.0409
	UKF	0.0689	0.0127	0.0024	0.0057	0.0410
	MCKF	0.2143	0.0153	0.0024	0.0039	0.0218
y方向	EKF	0.0491	0.0113	0.0059	0.0100	0.0319
	UKF	0.0512	0.0112	0.0061	0.0096	0.0318
	MCKF	0.1237	0.0115	0.0042	0.0061	0.0158
z方向	EKF	0.0430	0.0089	0.0021	0.0042	0.0163
	UKF	0.0436	0.0088	0.0022	0.0041	0.0164
	MCKF	0.0456	0.0086	0.0022	0.0043	0.0198

下載: 導(dǎo)出CSV

表 2 不同蒙特卡洛樣本點數(shù)的算法各方向投影軌跡跟蹤誤差(m)

表2(a) x方向
蒙特卡洛樣本點數(shù)	時間區(qū)間
蒙特卡洛樣本點數(shù)	1～40	41～80	81～120	120～160	160～200
50	0.2817	0.0242	0.0035	0.0052	0.0264
100	0.2481	0.0194	0.0030	0.0046	0.0231
200	0.2143	0.0153	0.0024	0.0039	0.0218
400	0.2316	0.0159	0.0023	0.0039	0.0212
表2(b) y方向
蒙特卡洛樣本點數(shù)	時間區(qū)間
蒙特卡洛樣本點數(shù)	1～40	41～80	81～120	120～160	160～200
50	0.1658	0.0168	0.0049	0.0069	0.0192
100	0.1442	0.0141	0.0047	0.0063	0.0166
200	0.1237	0.0115	0.0042	0.0061	0.0158
400	0.1346	0.0118	0.0043	0.0059	0.0151
表2(c) z方向
蒙特卡洛樣本點數(shù)	時間區(qū)間
蒙特卡洛樣本點數(shù)	1～40	41～80	81～120	120～160	160～200
50	0.0569	0.0124	0.0031	0.0053	0.0242
100	0.0496	0.0105	0.0026	0.0046	0.0202
200	0.0456	0.0086	0.0022	0.0043	0.0198
400	0.0466	0.0090	0.0021	0.0042	0.0195

下載: 導(dǎo)出CSV

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