Magnetic Field Measurement Method Based on Remotely Operated Vehicle
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摘要: 针对目前舰船磁场测量方法灵活性较低、机动性较差的问题, 提出了一种基于水下遥控航行器(ROV)的舰船磁场测量方法。文中设计了ROV测磁系统总体集成方案, 即将ROV模块、磁测量模块、声学定位模块集成在一个系统中。其中, 磁测量模块采用2个磁场测量传感器同时进行测量以提高精度, 为了实现ROV的精准定位, 采用多点水下声学定位方法。随后, 对该测磁系统的软件进行了设计和调试, 包括接收磁场信息与声学信息、解算ROV位置、存储测量数据等。最后, 使用布有电磁线圈的铁制平台模拟水面舰船, 对设计的ROV测磁系统进行水中测试, 电磁线圈通电前后, 测量得到的龙骨磁场总量特征具有相同的变化趋势, 并且电磁线圈的Z分量磁场测量值相对于理论值的测量误差为5.66%, 表明所提方法具有很高的可靠性。Abstract: The existing magnetic field measurement method of a ship has the problems of low measurement flexibility and poor maneuverability. To address these problems, this study proposes a method for measuring the magnetic field of ships based on an underwater remotely operated vehicle (ROV). In this study, an overall integration scheme of the ROV magnetic measurement system is designed. That is, the ROV module, magnetic measurement module, and acoustic positioning module are integrated into one system. The magnetic measurement module uses two magnetic field sensors to measure simultaneously for improved measurement accuracy. In order to achieve precise positioning of the ROV, a multi-point underwater acoustic positioning method is adopted. The software of the ROV magnetic measurement system is designed and debugged, including receiving magnetic field information and acoustic information, calculating the ROV position, and storing measurement data. Finally, an iron platform with electromagnetic coils is used to simulate a surface ship to test the designed ROV magnetism measurement system in water. Before and after the electromagnetic coil on the platform is energized, the characteristics of the total magnetic field of the platform’s keel obtained via the measurement had the same changing trend. The measurement error of the Z-component magnetic field measurement value of the electromagnetic coil relative to the theoretical value is 5.66%, which indicates that the ROV magnetic field measurement system proposed in this paper has high reliability in the magnetic field measurement of the surface ship.
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Key words:
- ship /
- magnetic field measurement /
- remotely operated vehicle(ROV) /
- acoustic positioning
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