公开(公告)号：US06476610B1

公开(公告)日：2002-11-05

申请号：US09840694

申请日：2001-04-24

申请人： Roy F. Wiegert ,  Brian L. Price

发明人： Roy F. Wiegert ,  Brian L. Price

IPC分类号： G01V308

CPC分类号： B63G7/06 ,  G01V3/15

摘要： A system and method for sensing magnetic anomalies uses a gradiometer having at least one pair of triaxial magnetometer-accelerometer (TMA) sensors. Each TMA sensor has X, Y, Z magnetic sensing axes and X, Y, Z acceleration sensing axes that are parallel to one another and to the X, Y, Z magnetic sensing and acceleration axes of all other TMA sensors. Each TMA sensor outputs components (Bx, By, Bz) of local magnetic fields and components (Ax, Ay, Az) of local gravitational acceleration fields. The components (Bx, By, Bz) and (Ax, Ay, Az) output from each TMA sensor are processed to generate motion-compensated components (Bcx, Bcy, Bcz) of local magnetic fields. A difference is generated between the motion-compensated components (Bcx, Bcy, Bcz) for each pair of TMA sensors thereby generating differential vector field components (&Dgr;Bx, &Dgr;By,&Dgr;Bz). For improved accuracy, the differential vector field components (&Dgr;Bx, &Dgr;By, &Dgr;Bz) are adjusted using the local gravitational acceleration field components and motion-compensated local magnetic field components in order to compensate for gradiometer motion. Gradient components are generated using the differential vector field components (&Dgr;Bx, &Dgr;By, &Dgr;Bz). In general, for each of the magnetic sensing axes, the gradient components Gij are defined by (&Dgr;Bx/&Dgr;j, &Dgr;By/&Dgr;j, &Dgr;Bz/&Dgr;j), wherein &Dgr;j is a distance between a pair of TMA sensors relative to a j-th one of the X, Y, Z magnetic sensing axes. A scalar-quantity gradient contraction defined as C 2 = ∑ i , j ⁢   ⁢ ( G ij ) 2 is generated for each pair of TMA sensors. The gradient contraction C2 is a robust, rotationally-invariant quantity that changes monotonically with proximity to a magnetic target.

摘要翻译： 用于感测磁异常的系统和方法使用具有至少一对三轴磁力计 - 加速度计（TMA）传感器的梯度计。 每个TMA传感器具有彼此平行的X，Y，Z磁感应轴和X，Y，Z加速度感测轴以及所有其他TMA传感器的X，Y，Z磁感应和加速轴。 每个TMA传感器输出局部重力加速场的局部磁场和分量（Ax，Ay，Az）的分量（Bx，By，Bz）。 对从每个TMA传感器输出的分量（Bx，By，Bz）和（Ax，Ay，Az）进行处理，以产生局部磁场的运动补偿分量（Bcx，Bcy，Bcz）。 在每对TMA传感器的运动补偿分量（Bcx，Bcy，Bcz）之间产生差异，从而产生差分矢量场分量（DELTABx，DELTABy，DELTABz）。 为了提高精度，使用局部重力加速度场分量和运动补偿局部磁场分量调整差分矢量场分量（DELTABx，DELTABy，DELTABz），以补偿梯度计运动。 使用差分矢量场分量（DELTABx，DELTABy，DELTABz）生成梯度分量。 通常，对于每个磁感应轴，梯度分量Gij由（DELTABx / DELTAj，DELTABy / DELTAj，DELTABz / DELTAj）定义，其中DELTAj是一对TMA传感器之间相对于第j个的距离 的X，Y，Z磁感应轴。 为每对TMA传感器生成定量的标量数梯度收缩。 梯度收缩C2是鲁棒的，旋转不变量，其随着与磁性目标的接近而单调变化。

公开(公告)号：US06781380B1

公开(公告)日：2004-08-24

申请号：US10303576

申请日：2003-02-12

申请人： Roy F. Wiegert

发明人： Roy F. Wiegert

IPC分类号： G01V310

CPC分类号： G01V3/15

摘要： An active magnetic anomaly sensing and processing system has a plurality of transceivers positioned at known relative positions on a platform. Each transceiver includes i) a transmitter for transmitting a magnetic field towards a target to cause propagation of a magnetic anomaly field from the target, and ii) a sensor that produces a first output indicative of the magnetic anomaly field and background magnetic fields. A reference sensor, positioned further from the target than each of the transceivers' sensors, senses background magnetic fields and produces a second output indicative thereof. Each transmitter is activated and subsequently deactivated simultaneously to define a transmission time and a non-transmission time, respectively. Scalar magnitudes of each first output and the second output produced during the non-transmission time form quantities that are indicative of presence, location and classification of the target.

摘要翻译： 主动磁异常感测和处理系统具有位于平台上的已知相对位置处的多个收发器。 每个收发器包括：i）用于向目标发射磁场以使磁异常场从目标传播的发射器，以及ii）产生指示磁异常场和背景磁场的第一输出的传感器。 比靶收集器的传感器远离目标的参考传感器感测背景磁场并产生指示其的第二输出。 每个发射机被激活并随后被同时去激活以分别定义传输时间和非传输时间。 每个第一输出的标量值和在非传输时间期间产生的第二输出形成指示目标的存在，位置和分类的数量。

公开(公告)号：US10663614B1

公开(公告)日：2020-05-26

申请号：US15669164

申请日：2017-08-04

申请人： Roy F. Wiegert ,  Kurt A. Giardina

发明人： Roy F. Wiegert ,  Kurt A. Giardina

IPC分类号： G01V3/165 ,  B63G7/06 ,  G01V3/08

摘要： A magnetic anomaly sensing system and method uses two triaxial magnetometer (TM) sensors arranged in a one-dimensional array with the sensors' magnetic sensing axes being parallel to one another. The sensors are spaced-apart from one another along one of the sensing axes by a distance D with a midpoint between the sensors along the one sensing axis being located a distance Z from a reference datum. A processor implements an iterative process to include generating scalar magnitudes of a magnetic anomaly field measured at each of the sensors where the magnetic anomaly field is associated with a magnetic object. A scalar range from the sensors to the magnetic object is generated based on the distance D, the distance Z, and the scalar magnitudes. A magnetic dipole moment of the magnetic object is generated using the scalar range and the scalar magnitudes.

公开(公告)号：US06362625B1

公开(公告)日：2002-03-26

申请号：US09533437

申请日：2000-03-23

申请人： Roy F. Wiegert

发明人： Roy F. Wiegert

IPC分类号： G01V308

CPC分类号： G01N27/82 ,  G01N27/9046 ,  G01V3/081

摘要： An active magnetic anomaly sensing system includes a transmitter for transmitting a magnetic field towards a target. The magnetic field induces magnetic moments in the target which cause a magnetic anomaly field to propagate from the target. A first sensor positioned a distance D from the target directly senses magnetic field strength and produces a first output. A second sensor positioned a distance (D+d) from the target directly senses magnetic field strength and produces a second output. A controllable power supply is coupled to the transmitter for selectively activating and deactivating the transmitter. The first and second outputs are produced when the transmitter is deactivated. The second output is subtracted from the first output to generate a differential output indicative of the magnetic anomaly field propagating from the target. Means and methods are provided to synchronize the response characteristics of the sensors with one another, and to synchronize the transmitter with the sensors so that deactivation of the transmitter results in a near instantaneous detection of magnetic field transients by the sensors.

摘要翻译： 主动磁异常感测系统包括用于朝向目标传输磁场的发射器。 磁场引起目标中的磁矩，导致磁异常场从目标传播。 位于距目标距离D的第一传感器直接感测磁场强度并产生第一输出。 距离目标位置距离（D + d）的第二传感器直接感测磁场强度并产生第二输出。 可控电源耦合到发射机，用于选择性地激活和去激活发射机。 当发射机被去激活时，产生第一和第二输出。 从第一输出中减去第二输出以产生指示从目标传播的磁异常场的差分输出。 提供装置和方法以使传感器的响应特性彼此同步，并且使发射器与传感器同步，使得发射器的去激活导致传感器对磁场瞬变的近似瞬时检测。

公开(公告)号：US08575929B1

公开(公告)日：2013-11-05

申请号：US13135327

申请日：2011-06-20

申请人： Roy F. Wiegert

发明人： Roy F. Wiegert

IPC分类号： G01R33/02

CPC分类号： G01R33/0206 ,  G01R33/028

摘要： A magnetic anomaly surveillance system includes triaxial magnetometer (TM) sensors arranged at known locations in an array. A processor coupled to the TM sensors generates a scalar magnitude of a magnetic anomaly field measured at each of the TM sensors. The scalar magnitude is indicative of a spherical radius centered at the known location associated with a corresponding one of the TM sensors. The processor also generates a comparison between each scalar magnitude and a threshold value. The processor then determines at least one magnetic anomaly location in the coordinate system via a spherical trilateration process that uses each spherical radius and each scalar magnitude associated with selected ones of the TM sensors for which the threshold value is exceeded. One or more output devices coupled to the processor output data indicative of the one or more magnetic anomaly locations.

摘要翻译： 磁异常监视系统包括布置在阵列中已知位置的三轴磁力计（TM）传感器。 耦合到TM传感器的处理器产生在每个TM传感器处测量的磁异常场的标量值。 标量值表示以与TM传感器中的相应一个相关联的已知位置为中心的球面半径。 处理器还产生每个标量值与阈值之间的比较。 然后处理器经由球面三边测量过程来确定坐标系中的至少一个磁异常位置，所述球面三边测量过程使用与阈值超过阈值的所选TM传感器相关联的每个球面半径和每个标量值。 耦合到处理器的一个或多个输出设备输出指示一个或多个磁异常位置的数据。

公开(公告)号：US06865455B1

公开(公告)日：2005-03-08

申请号：US10373493

申请日：2003-02-19

申请人： Roy F. Wiegert

发明人： Roy F. Wiegert

IPC分类号： G05D1/02 ,  G05D1/00 ,  G01R33/02

CPC分类号： G05D1/0259 ,  G05D2201/0207

摘要： A system and method for magnetic anomaly guidance is provided. Triaxial magnetometer (TM) sensors are positioned at the vertices of an arrangement with an axis of the arrangement, being defined between each pair of the vertices. The arrangement is positioned on a support such that one of the X,Y,Z magnetic sensing axes for all of the sensors defines a forward direction of movement. The sensed magnetic field's X,Y,Z components of the TM sensors are processed to generate a partial gradient contraction associated with each axis of the sensor arrangement. Relationships between the partial gradient contractions are used to generate steering control commands for use by a steering system that is coupled to the support.

摘要翻译： 提供了一种用于磁异常引导的系统和方法。 三轴磁力计（TM）传感器位于布置的顶点处，该布置的轴线定义在每对顶点之间。 该布置位于支撑件上，使得用于所有传感器的X，Y，Z磁感应轴之一限定向前的运动方向。 感测的磁场的X，Y，Z分量被处理以产生与传感器装置的每个轴相关联的部分梯度收缩。 部分梯度收缩之间的关系用于产生转向控制命令，以便与耦合到支撑件的转向系统一起使用。

公开(公告)号：US06841994B1

公开(公告)日：2005-01-11

申请号：US10789481

申请日：2004-03-01

申请人： Roy F. Wiegert

发明人： Roy F. Wiegert

IPC分类号： G01V3/15 ,  G01R33/02

CPC分类号： G01V3/15

摘要： A magnetic anomaly sensing system uses triaxial magnetometer (TM) sensors arranged in a three-dimensional array. A processor coupled to the TM sensors generates partial gradient contraction data, and complete gradient tensor data and corresponding complete gradient contraction data. The generated data can be used to align the three-dimensional array with a magnetic target. Once the three-dimensional array is aligned with the magnetic target, the generated data can be used to uniquely determine (i) distance to the magnetic target, (ii) position of the magnetic target relative to the three-dimensional array, and (iii) the magnetic dipole moment of the magnetic target.

摘要翻译： 磁异常感测系统使用三维阵列中布置的三轴磁力计（TM）传感器。 耦合到TM传感器的处理器产生部分梯度收缩数据，以及完整的梯度张量数据和对应的完整梯度收缩数据。 生成的数据可用于将三维阵列与磁性目标对齐。 一旦三维阵列与磁性目标对准，所产生的数据就可用于唯一地确定（i）到磁性目标的距离，（ii）磁性目标相对于三维阵列的位置，和（iii ）磁性目标的磁偶极矩。