Autonomous Mapping of Underwater Magnetic Fields Using a Surface Vehicle
Autonomous Mapping of Underwater Magnetic Fields Using a Surface Vehicle
复制标题
使用水面航行器自主测绘水下磁场
作者：
Jongdae Jung;Jeonghong Park;Jinwoo Choi;Hyun
地磁场信号在水下导航和地球物理调查中具有潜在的用途。为了绘制水下地磁场图，我们提出了一种利用自主水面航行器的方法。在我们的系统中，磁强计固定在车辆上，而不是由电缆牵引，最大限度地减少了系统的尺寸和复杂性，但由于车辆造成的磁场失真，需要专门的校准程序。传统的二维方法可以通过假设磁强计的水平运动来进行标定，而所提出的三维方法可以校正传感器的水平不对准。我们的方法不需要支承起重机系统来旋转车辆，通过利用从现场操作获得的数据来同时校准和绘制地图。提出的方法已经在内陆水域进行了实验验证，生成了比公开磁场数据分辨率高得多的测试区磁场图。
Geomagnetic field signals have potential for use in underwater navigation and geophysical surveys. To map underwater geomagnetic fields, we propose a method that exploits an autonomous surface vehicle. In our system, a magnetometer is rigidly attached to the vehicle and not towed by a cable, minimizing the system’s size and complexity but requiring a dedicated calibration procedure due to magnetic distortion caused by the vehicle. Conventional 2-D methods can be employed for the calibration by assuming the horizontal movement of the magnetometer, and the proposed 3-D approach can correct for horizontal misalignment of the sensor. Our method does not require a supporting crane system to rotate the vehicle, and calibrates and maps simultaneously by exploiting data obtained from field operation. The proposed method has been verified experimentally in inland waters, generating a magnetic field map of the test area that is of much higher resolution than the public magnetic field data.