MAGNETOMETRIC SENSOR SYSTEMS FOR MARINE MOBILE ROBOTS
Abstract
The paper proposes the use of marine mobile robots to counter mining, detection, classification and localization of mines. In accordance with the purpose, search and reconnaissance devices have been identified for the survey of water areas that are capable of operating autonomously or in remote control mode with decision-making support. The analysis of existing types of sensor systems for the survey of water areas is carried out. The main results of theoretical and experimental studies of ways to improve magnetometric sensor systems of marine robots are presented. It is proposed, based on the criterion of ensuring the greatest capabilities of marine robots for detecting and the pace of searching in offline mode with known weight and size limitations, the construction of a magnetometric sensor system with automated recognition of explosive objects. For the purposes of automated classification of search objects, it is proposed to take advantage of neural networks, which, unlike traditional machine learning, provide the possibility of high-level abstract expression of the semantics of internal connections between data by choosing architectural solutions. The structure of the neural network is obtained based on the linear classification of explosive objects according to two parameters of the training sample. Based on a proven training sample and a classifying function by two parameters, for a multichannel magnetometric system, an implementation of the neural network structure has been developed that takes into account, in addition to the ferromagnetic mass and depth of occurrence, the parameters of the geometric shape of real explosive objects. The directions of improving and increasing the range of ferrosonde sensors as the most suitable for the construction of magnetometric detection systems for marine mobile robots are determined. A method is proposed to increase the sensitivity of ferrosonde magnetometric sensors of marine robots through the use of new magnetic materials and circuit solutions. To create highly sensitive ferrosonde magnetometric sensors, the use of cores made of amorphous cobalt-based alloys of the AMAG-170 type is proposed, providing a potential opportunity to increase the conversion coefficient (sensitivity) of the sensor system by increasing the excitation frequency of the core of the ferrosonde. The functional diagram of the layout of the developed magnetometric ferrosonde sensor system based on two rod cores made of amorphous alloy AMAG–170 is presented.
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