通过式消磁站线圈系统仿真设计

旨在构建一种水下磁传感器校准装置设计方案。该装置由电磁线圈和组合导航设备构成，能够搭载水上机动平台在水面航行，实现水下磁传感器位置和姿态的高精度校准。

根据电磁线圈的姿态方位信息及其在水下磁传感器处产生磁场的测量值，采用非线性最优化算法计算水下磁传感器的位置和姿态，并建立全系统的数学模型进行数值验证实验，将电磁线圈的方位和姿态测量精度、磁传感器的噪声和测量误差以及地磁场干扰的影响纳入考虑。

实验结果表明，磁传感器在水下30 m深度时，装置的定位误差均值不大于0.06 m，姿态误差均值不大于0.20°。磁传感器自身精度是影响校准精度的主要因素。

校准装置能够同时实现水下磁传感器位置和姿态的高精度校准，具有较高应用价值，可广泛用于水下磁性目标探测、资源勘探、医学等领域，尤其适用于姿态发生偏移的水下磁传感器校准。

Simulation design of coil system for overrun deperming station

This study proposes a design scheme for an underwater magnetic sensor calibration device. The device is composed of an electromagnetic coil and integrated navigation equipment which can be carried on a mobile platform to sail on the water surface, and realize the high-precision calibration of the position and attitude of the underwater magnetic sensor.According to information on the coil's attitude, orientation and trajectory, and the measured values of the magnetic field generated by the coil at the magnetic sensor, the position and attitude of the underwater magnetic sensor can be calculated using a nonlinear optimization algorithm. The mathematical model of the whole system is established and numerical verification tests are carried out, considering the effects of the measuring accuracy of the coil's position and attitude, the magnetic sensor's noise and measuring error, and geomagnetic interference.When the device is used and the magnetic sensor is at a depth of 30 m underwater, the mean value of position error is not more than 0.06 m, and the mean value of attitude error is not more than 0.20°; the accuracy of the magnetic sensor itself is the main factor affecting the calibration accuracy. The proposed calibration device can achieve the high-precision calibration of the position and attitude of an underwater magnetic sensor at the same time, giving it great application value. It can be widely used in underwater magnetic target detection, resource exploration, medicine and other fields, especially scenarios involving the attitude deviation of underwater magnetic sensors.