Method for Decoding Magnetic Field Signals from Planar Triaxial GMI Magnetic Sensors for Terrestrial Magnetic Surveys and Its Validation
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摘要: 地磁场在地球内部具有稳定分布，其方向和强度可作为天然参考基准. 地磁探测技术为深地、水下等复杂环境提供了可靠的导航解决方案，尤其在自主性、隐蔽性和抗干扰能力方面优势显著. 地磁导航探测中多采用三轴磁传感器获取空间磁场分布信息，从而反演得到位置信息，因此三轴磁传感器精度是地磁导航探测的关键性能指标之一. 然而，传统三轴磁传感器由于体积大、制备工艺复杂、正交性难以保证，常引入测量误差且不易校正，制约了其精度的提升. 为此，提出了一种基于磁力线变轨和磁力线聚集原理的平面三轴GMI磁传感器设计方案. 该设计将3个磁探头在平面内呈正交排列，通过磁力线变轨结构实现三维磁场的平面化测量，有效避免常规三轴磁传感器正交性难以保证带来的误差. 文中对构建的三轴磁探头进行了仿真分析，解析了各探头信号构成，并推导出相应的信号解算方法. 实验结果表明，该传感器测量范围达±370 µT，X、Y、Z三个方向的输出电压灵敏度分别为1 416 Ⅴ/T、1 424 Ⅴ/T和628.3 Ⅴ/T. 本方案在保障测量精度的同时，实现了三维磁场的平面化集成测量，尤其提升了Z方向的检测精度，为高性能三轴磁传感器的发展提供了新路径.
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关键词:
- 地磁场探测 /
- 地磁导航 /
- 平面三轴GMI磁传感器 /
- 磁力线变轨 /
- 深度学习
Abstract: The geomagnetic field exhibits a stable distribution within the Earth's interior, with its direction and intensity serving as a natural reference benchmark. Geomagnetic detection technology provides reliable navigation solutions for complex environments such as deep underground and underwater settings, demonstrating particular advantages in autonomy, concealment, and interference resistance. In geomagnetic navigation detection, triaxial magnetometers are commonly used to acquire the spatial distribution information of the magnetic field, thereby inverting position information. Hence, the accuracy of triaxial magnetometers is one of the key performance indicators in geomagnetic navigation detection. However, conventional triaxial magnetic sensors suffer from large size, complex fabrication processes, and difficulty in ensuring orthogonality. These factors frequently introduce measurement errors that are challenging to correct, thereby limiting precision improvements. To address this, this paper proposes a planar triaxial GMI magnetic sensor design based on the principles of magnetic flux line reorientation and magnetic flux line aggregation. This design orthogonally arranges three magnetic probes within a plane. By employing a magnetic flux line deflection structure, it enables planar measurement of three-dimensional magnetic fields, effectively mitigating errors arising from the inherent orthogonality challenges of conventional triaxial sensors. The constructed triaxial magnetic probes underwent simulation analysis, with the signal composition of each probe resolved and corresponding signal calculation methods derived. Experimental results demonstrate a measurement range of ±370 µT, with output voltage sensitivities of 1 416 Ⅴ/T, 1 424 Ⅴ/T, and 628.3 Ⅴ/T for the X, Y, and Z axes respectively. This approach achieves planar integrated measurement of three-dimensional magnetic fields while maintaining measurement accuracy, notably enhancing detection precision in the Z-direction. It thus provides a novel pathway for developing high-performance triaxial magnetic sensors. -
图 1 (a) 平面三轴GMI磁传感器三轴磁探头的模型构建图; (b)网格剖分图
Fig. 1. (a)Model construction diagram for the planar triaxial gmi magnetic sensor triaxial magnetic probe; (b)grid partition diagram
图 2 (a) X方向磁场下各探头敏感材料磁通密度变化; (b)Y方向磁场下各探头敏感材料磁通密度变化; (c)Z方向磁场下各探头敏感材料磁通密度变化
Fig. 2. (a)Variation in magnetic flux density in the sensing materials of each probe subjected to an X-direction magnetic field; (b)Y-direction magnetic field; and (c)Z-direction magnetic field
图 3 平面三轴GMI磁传感器电路结构框图
Fig. 3. Circuit block diagram of a planar triaxial GMI magnetic sensor
图 5 (a) X轴探头输出Ⅴ-H曲线; (b)Y轴探头输出Ⅴ-H曲线; (c)X-Z轴探头输出Ⅴ-H曲线; (d)X轴输出电压噪声谱密度; (e)Y轴输出电压噪声谱密度; (f)X-Z轴输出电压噪声谱密度
Fig. 5. Ⅴ-H curves of the (a)X-axis probe; (b)Y-axis probe; and (c)Z-axis probe; Output voltage noise spectral density of the (d)X-axis probe; (e)Y-axis probe; and(f)Z-axis probe
图 6 (a) X-Z轴探头输出$ {V_{{{\rm{x}}^{\rm{ - }}}{\rm{z1}}}} $和$ {V_{{{\rm{x}}^{\rm{ - }}}{\rm{z2}}}} $; (b)$ \pm 370 \mu \mathrm{~T} $范围内X-Z轴探头输出$ {V_{{{\rm{x}}^{\rm{ - }}}{\rm{z1}}}} $、$ {V_{{{\rm{x}}^{\rm{ - }}}{\rm{z2}}}} $的响应曲线及拟合曲线
Fig. 6. (a)Outputs $ {V_{{{\rm{x}}^{\rm{ - }}}{\rm{z1}}}} $ and $ {V_{{{\rm{x}}^{\rm{ - }}}{\rm{z2}}}} $ of the X-Z axis probe; (b)Their response and fitting curves within a range of ±370 μT
图 7 有无磁力线变轨结构的X-Z轴探头线圈输出响应曲线及拟合曲线
Fig. 7. Output response curves and fitted curves of X-Z axis probe coils with and without magnetic flux line deflection structures
图 8 X-Z轴探头线圈输出响应测量值与计算值对比曲线
Fig. 8. Comparison curve of measured versus calculated values for X-Z axis probe coil output response
表 1 磁传感器性能参数对比表
Table 1. Magnetic sensor performance parameters comparison table
传感器型号 X, Y方向灵敏度(Ⅴ/T) Z方向灵敏度(Ⅴ/T) 变轨系数 磁噪声水平(nT/√Hz) 本文设计的平面三轴GMI磁传感器 $ {S}_{x}=1\;416 $
$ {S}_{y}=1\;424 $628.3 0.446 X方向噪声1.09
Z方向噪声7.38Lu团队的平面结构磁通门传感器 122.4 11.6 0.094 X方向噪声0.11
Z方向噪声6.29Lai团队的AMR传感器 15~60 0.84 --- 4.7 Trinh团队的平面三轴GMR传感器 108 74 --- 0.10 
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