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If we need to measure the Electrostatic field of a celestial body due to its interaction with space plasmas, What kind of instruments can be used to achieve this?

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One way to measure electric fields directly is called a "field mill".

It uses moving vanes to impose an AC modulation on the field and a differential sensing setup that allows most sources of error to be zeroed out, something like how a chopper-stabilized opamp works.

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