Method for compensating for airborne magnetic interference including magnetic interference of platform relative motion components

Abstract

The application provides an aviation magnetic interference compensation method, device and equipment and a storage medium, and relates to the technical field of aviation magnetic interference compensation. The method comprises the following steps: based on a traditional magnetic compensation model, a relative motion component magnetic interference model of an aircraft platform is constructed; based on the relative motion component magnetic interference model, the traditional magnetic interference compensation model is constructed into a new platform magnetic compensation model; an intelligent optimization algorithm is used to obtain an optimal relative motion component rotation angle in the relative motion component model, and based on the optimal relative motion component rotation angle, optimal compensation coefficients of the new platform magnetic compensation model are determined; based on the new platform magnetic compensation model, the optimal compensation coefficients and the optimal relative motion component rotation angle, magnetic interference in aviation magnetic measurement data is removed in real time. Through the application, the platform integral part and the relative motion component can be removed in the magnetic detection process, and the magnetic gradient magnetic interference can be removed, so that the precision of the aviation magnetic compensation is effectively improved, and the performance of the aviation magnetic detection is improved.

Description

Technical Field

[0001] This invention relates to the field of magnetic detection technology, and in particular to an airborne magnetic interference compensation method, apparatus, device, and storage medium for magnetic interference involving relatively moving components of a platform. Background Technology

[0002] Airborne magnetic surveying plays a crucial role in numerous fields, including geological exploration, unexploded ordnance detection, marine resource exploration, and shipwreck salvage. In airborne magnetic surveying, magnetometers mounted on aircraft platforms are used to measure target signals. These signals are typically obscured by maneuvering magnetic interference from the aircraft platform, geomagnetic gradient interference, and magnetic interference generated by electronic equipment within the platform. Therefore, suppressing interference fields is essential for obtaining high-quality magnetic survey data. Airborne magnetic surveying typically uses scalar magnetometers (measuring scalar total magnetic field information) for magnetic field detection and vector magnetometers (measuring the three vertical components of the magnetic field) for compensating for maneuvering magnetic interference from the moving platform. To reduce the impact of magnetic interference from within the platform, scalar magnetometers are usually mounted on wingtips or tail booms. However, even with these measures, the maneuvering magnetic interference generated by the platform is still far greater than the target magnetic field; therefore, the performance of airborne magnetic compensation directly affects the capabilities of airborne magnetic surveying. To address this, in the 1950s, the authors of the paper "Magnetic Compensation of MAD-equipped Aircraft" proposed the classic compensation model, the TL model, to compensate for the maneuvering magnetic interference of aircraft platforms. This model was later further developed by others. Furthermore, to reduce the impact of geomagnetic gradient interference on measurement data, the paper "An aeromagnetic compensation coefficient-estimating method robust to geomagnetic gradient" established a geomagnetic gradient model and extended the TL model into the TLG model.

[0003] However, because the traditional TL compensation model treats the aircraft platform as a rigid connected body and does not consider the magnetic interference generated by relatively moving ferromagnetic components within the platform, it cannot effectively compensate for this interference. During airborne magnetic surveying, the magnetic interference generated by relatively moving components within the moving platform directly affects the solution of traditional airborne magnetic compensation coefficients, reducing the accuracy of airborne magnetic compensation and consequently impacting the performance of airborne magnetic surveying. Summary of the Invention

[0004] The present invention aims to provide an airborne magnetic interference compensation method, apparatus, device, and storage medium for magnetic interference of relatively moving components of a platform, in order to solve the above-mentioned technical problems, thereby improving the accuracy of airborne magnetic compensation and enhancing the performance of airborne magnetic detection.

[0005] To address the aforementioned technical problems, this invention provides an airborne magnetic interference compensation method that includes magnetic interference from relatively moving platform components, comprising:

[0006] Based on the traditional magnetic compensation model, a magnetic interference model of the relative moving parts is constructed by combining the relative moving parts model of the aircraft platform.

[0007] Based on the magnetic interference model of the relatively moving parts, a novel platform magnetic compensation model is constructed from the preset traditional magnetic interference compensation model; wherein, the traditional magnetic interference compensation model includes the traditional magnetic compensation model and the geomagnetic gradient magnetic interference model;

[0008] The optimal rotation angle of the relative motion component model in different headings is obtained by using a preset intelligent optimization algorithm, and the optimal compensation coefficient of the novel platform magnetic compensation model is determined based on the optimal rotation angle of the relative motion component.

[0009] The interference compensation amount for airborne magnetic measurement data is determined based on the novel platform magnetic compensation model, the optimal compensation coefficient, and the optimal rotation angle of the relatively moving parts.

[0010] Furthermore, the magnetic interference model for relatively moving components, constructed based on the traditional magnetic compensation model and combined with the relative moving component model of the aircraft platform, specifically includes:

[0011] The direction cosine of the geomagnetic field in the coordinate system of the relatively moving component is determined based on the direction cosine of the geomagnetic field in the rigid connection body coordinate system and the rotation angle of the relatively moving component model.

[0012] A magnetic interference model for the relatively moving components is constructed based on the fixed compensation coefficients of the three parts of the magnetic interference—the natural field, the induced field, and the eddy current field—corresponding to the coordinate system of the relatively moving components of the aircraft platform, as well as the direction cosine of the geomagnetic field in the coordinate system of the relatively moving components.

[0013] Furthermore, the step of using a preset intelligent optimization algorithm to obtain the optimal rotation angle of the relatively moving component model in different headings, and determining the optimal compensation coefficient of the novel platform magnetic compensation model based on the optimal rotation angle of the relatively moving component, specifically includes:

[0014] A filtering process is added to the novel platform magnetic compensation model, and a fitness function is determined based on the novel platform magnetic compensation model after the filtering process is added.

[0015] The fitness function is solved using a preset intelligent optimization algorithm to obtain the optimal relative motion component rotation angle for the relative motion component model in different headings;

[0016] Based on the optimal rotation angle of the relatively moving parts, the optimal compensation coefficient of the novel platform magnetic compensation model is determined by solving the equation using a preset recursive least squares method.

[0017] Furthermore, the determination of the interference compensation amount for airborne magnetic measurement data based on the novel platform magnetic compensation model, the optimal compensation coefficient, and the optimal rotation angle of the relatively moving parts specifically includes:

[0018] The direction cosine of the geomagnetic field in the rigid connection body coordinate system is obtained by using a preset fluxgate magnetometer, and the first relevant basis function corresponding to the traditional magnetic compensation model is determined based on the direction cosine of the geomagnetic field in the rigid connection body coordinate system.

[0019] The location information of the aircraft platform is read in real time using a GPS antenna;

[0020] The second relevant basis function corresponding to the relative motion component model is determined based on the optimal rotation angle of the relative motion component and the direction cosine of the geomagnetic field in the coordinate system of the relative motion component.

[0021] The interference compensation amount of the airborne magnetic measurement data is calculated based on the first relevant basis function corresponding to the traditional magnetic compensation model, the second relevant basis function corresponding to the relative motion component model, the optimal compensation coefficient, and the position information.

[0022] Furthermore, the construction method of the traditional magnetic compensation model is specifically as follows:

[0023] The magnetic interference fixed compensation coefficients of the three parts of the natural field, induced field and eddy current field corresponding to the rigid connection main coordinate system of the aircraft platform are constructed based on the direction cosine of the geomagnetic field in the rigid connection main coordinate system.

[0024] Furthermore, the intelligent optimization algorithm is a quantum genetic algorithm.

[0025] The present invention also provides an airborne magnetic interference compensation device for magnetic interference of relatively moving platform components, comprising:

[0026] The first building module is used to construct a magnetic interference model for relative moving parts based on the traditional magnetic compensation model and combined with the relative moving parts model of the aircraft platform.

[0027] The second construction module is used to construct a new platform magnetic compensation model from a preset traditional magnetic interference compensation model based on the magnetic interference model of the relatively moving parts; wherein, the traditional magnetic interference compensation model includes the traditional magnetic compensation model and the geomagnetic gradient magnetic interference model;

[0028] The coefficient determination module is used to obtain the optimal relative motion component rotation angle of the relative motion component model in different headings using a preset intelligent optimization algorithm, and to determine the optimal compensation coefficient of the novel platform magnetic compensation model based on the optimal relative motion component rotation angle.

[0029] The compensation determination module is used to determine the interference compensation amount of the aeromagnetic measurement data based on the novel platform magnetic compensation model, the optimal compensation coefficient, and the optimal rotation angle of the relative moving parts.

[0030] The present invention also provides a terminal device, including a processor and a memory storing a computer program, wherein the processor executes the computer program to implement any of the aero-magnetic interference compensation methods described above, including magnetic interference from relatively moving parts of the platform.

[0031] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the aero-magnetic interference compensation method for any of the above-described methods, including magnetic interference of relatively moving parts of a platform.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] This invention provides an airborne magnetic interference compensation method, apparatus, device, and storage medium for magnetic interference from relatively moving components of a platform. The method includes: constructing a magnetic interference model for relatively moving components based on a traditional magnetic compensation model and combining it with a model of the relatively moving components of the aircraft platform; constructing a novel platform magnetic compensation model from a pre-set traditional magnetic interference compensation model based on the magnetic interference model for relatively moving components; wherein the traditional magnetic interference compensation model includes the traditional magnetic compensation model and a geomagnetic gradient magnetic interference model; obtaining the optimal rotation angle of the relatively moving components in different headings using a pre-set intelligent optimization algorithm, and determining the optimal compensation coefficient of the novel platform magnetic compensation model based on the optimal rotation angle; and determining the interference compensation amount of airborne magnetic measurement data based on the novel platform magnetic compensation model, the optimal compensation coefficient, and the optimal rotation angle of the relatively moving components. This invention can remove the maneuvering magnetic interference and geomagnetic gradient magnetic interference from the entire platform and its relatively moving components during magnetic detection, thereby effectively improving the accuracy of airborne magnetic compensation and enhancing the performance of airborne magnetic detection. Attached Figure Description

[0034] Figure 1 This is one of the flowcharts of the aerospace magnetic interference compensation method for the relative motion of platform components provided by the present invention;

[0035] Figure 2 This is a schematic diagram of the coordinate system of the rigid connection body provided by the present invention;

[0036] Figure 3 This is a schematic diagram of the reference coordinate system for the relatively moving parts provided by the present invention;

[0037] Figure 4 This is a flowchart illustrating the quantum genetic algorithm provided by the present invention;

[0038] Figure 5 This is a schematic diagram of the calibration flight provided by the present invention;

[0039] Figure 6 This is the second flowchart of the aerospace magnetic interference compensation method for the relative motion of platform components provided by the present invention.

[0040] Figure 7 This is a schematic diagram of the structure of the aerospace magnetic interference compensation device for the relative motion of platform components provided by the present invention. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0042] Please see Figure 1 This invention provides an airborne magnetic interference compensation method for magnetic interference involving relatively moving components of a platform, which may include the following steps:

[0043] S1. Based on the traditional magnetic compensation model, a magnetic interference model of the relative moving parts is constructed by combining the relative moving parts model of the aircraft platform.

[0044] S2. Based on the magnetic interference model of the relatively moving parts, the preset traditional magnetic interference compensation model is constructed into a new platform magnetic compensation model; wherein, the traditional magnetic interference compensation model includes the traditional magnetic compensation model and the geomagnetic gradient magnetic interference model;

[0045] S3. Use a preset intelligent optimization algorithm to obtain the optimal relative motion component rotation angle of the relative motion component model in different headings, and determine the optimal compensation coefficient of the novel platform magnetic compensation model based on the optimal relative motion component rotation angle.

[0046] S4. Determine the interference compensation amount of the aero-magnetic measurement data based on the novel platform magnetic compensation model, the optimal compensation coefficient, and the optimal rotation angle of the relative moving parts.

[0047] In this embodiment of the invention, step S1 further includes:

[0048] The direction cosine of the geomagnetic field in the coordinate system of the relatively moving component is determined based on the direction cosine of the geomagnetic field in the rigid connection body coordinate system and the rotation angle of the relatively moving component model.

[0049] A magnetic interference model for the relatively moving components is constructed based on the fixed compensation coefficients of the three parts of the magnetic interference—the natural field, the induced field, and the eddy current field—corresponding to the coordinate system of the relatively moving components of the aircraft platform, as well as the direction cosine of the geomagnetic field in the coordinate system of the relatively moving components.

[0050] In this embodiment of the invention, step S3 further includes:

[0051] A filtering process is added to the novel platform magnetic compensation model, and a fitness function is determined based on the novel platform magnetic compensation model after the filtering process is added.

[0052] The fitness function is solved using a preset intelligent optimization algorithm to obtain the optimal relative motion component rotation angle for the relative motion component model in different headings;

[0053] Based on the optimal rotation angle of the relatively moving parts, the optimal compensation coefficient of the novel platform magnetic compensation model is determined by solving the equation using a preset recursive least squares method.

[0054] In this embodiment of the invention, step S4 further includes:

[0055] The direction cosine of the geomagnetic field in the rigid connection body coordinate system is obtained by using a preset fluxgate magnetometer, and the first relevant basis function corresponding to the traditional magnetic compensation model is determined based on the direction cosine of the geomagnetic field in the rigid connection body coordinate system.

[0056] The location information of the aircraft platform is read in real time using a GPS antenna;

[0057] The second relevant basis function corresponding to the relative motion component model is determined based on the optimal rotation angle of the relative motion component and the direction cosine of the geomagnetic field in the coordinate system of the relative motion component.

[0058] The interference compensation amount of the airborne magnetic measurement data is calculated based on the first relevant basis function corresponding to the traditional magnetic compensation model, the second relevant basis function corresponding to the relative motion component model, the optimal compensation coefficient, and the position information.

[0059] In this embodiment of the invention, the construction method of the traditional magnetic compensation model is further as follows:

[0060] The magnetic interference fixed compensation coefficients of the three parts of the natural field, induced field and eddy current field corresponding to the rigid connection main coordinate system of the aircraft platform are constructed based on the direction cosine of the geomagnetic field in the rigid connection main coordinate system.

[0061] In this embodiment of the invention, the intelligent optimization algorithm is further described as a quantum genetic algorithm.

[0062] Based on the above scheme, in order to better understand the airborne magnetic interference compensation method for the relative moving parts of the platform provided in the embodiments of the present invention, the following is a detailed description:

[0063] It should be noted that the authors in the paper "Extended aeromagnetic compensation modelling including non-maneuvering interferences" proposed modeling and compensating for magnetic interference generated by control surfaces such as the rudder and elevator by monitoring the distance the control cable moves. While the method described in that paper can reduce magnetic interference from the rudder and elevator to some extent, the compensation effect is limited by the measurement accuracy of the monitor. Furthermore, the method does not directly measure the motion attitude of the magnetic interference source but indirectly measures it by monitoring the movement of the cable, which increases measurement error and thus limits the method's compensation capability. Considering that adding additional equipment to the aircraft platform may bring installation and modification troubles, this invention designs a magnetic interference compensation method for relatively moving parts based on existing airborne equipment and the motion state of the magnetic interference source.

[0064] In this embodiment of the invention, the magnetic interference source is set as an independent entity, identical to the aircraft as a whole. Therefore, the magnetic interference measured by the magnetic detector can be considered as magnetic interference generated by two platforms, and its compensation model should be considered as the superposition of two compensation models. Both adopt the compensation principle of traditional compensation models, and the generated magnetic interference consists of three parts: a permanent magnetic field, an induced magnetic field, and an eddy current magnetic field. The basis functions in the aircraft platform compensation model can be obtained by transforming the onboard vector magnetometer. However, the attitude of the moving parts is not monitored by sensors, and its relationship with the measurement data of the onboard vector magnetometer cannot be directly obtained. However, it can be determined that when the aircraft flies in different headings, there is a fixed deflection attitude between the interference source and the aircraft. Moreover, in actual aeromagnetic detection, the aircraft's heading is limited. Therefore, if attitude information under several headings is obtained in some way, real-time compensation of the interference source can be achieved. Using intelligent optimization algorithms such as genetic algorithms to construct a fitness function based on the compensation principle, the attitude angles of each heading can be accurately solved, and thus the compensation coefficients of the two compensation models can be accurately solved. In practical applications, the optimal attitude angle is obtained from the pre-determined attitude angle based on the heading. Combined with the compensation coefficient and the real-time obtained basis function of the compensation model, the magnetic interference of the aircraft platform can be removed in real time with high accuracy.

[0065] This invention first models the platform as a whole and its relatively moving components based on the principle of magnetic interference generation. Then, a rotation matrix is ​​established based on the relationship between the attitudes of the relatively moving components and the platform attitude, unifying the attitude information in the compensation model into the platform coordinate system, thus obtaining a new aeromagnetic interference compensation model that includes the magnetic interference compensation model for the platform's relatively moving components. To obtain a more accurate relative motion attitude between the relatively moving components and the platform using mathematical methods, a quantum genetic intelligent optimization algorithm is introduced. The optimal attitude angle and compensation coefficients are obtained together with the established fitness function and recursive least squares. This method, based on traditional platform magnetic interference compensation, accurately removes magnetic interference generated by the aircraft platform and its relatively moving components without adding additional auxiliary sensors, thereby effectively improving the compensation accuracy of the aeromagnetic compensation algorithm and significantly enhancing the detection performance of aeromagnetic detection.

[0066] It should be noted that the principle of this invention is as follows: Based on the traditional magnetic compensation model, a model is created to address the magnetic interference generated by relatively moving components within the moving platform. This model uses the overall motion attitude and the relative motion attitude of the relatively moving components to describe the direction cosines within this model. This model is then combined with the traditional magnetic interference compensation model (TLG magnetic compensation model) to form a new platform magnetic compensation model (defined as the TLGM compensation model). Simultaneously, an intelligent optimization algorithm (such as a quantum genetic algorithm) is introduced to obtain accurate rotation angles of the relatively moving components. During calibration flights, compensation coefficients are obtained through linear regression. Then, in actual detection, these compensation coefficients, the optimized rotation angles of the relatively moving components, and the compensation model can be used to remove the maneuvering magnetic interference and geomagnetic gradient magnetic interference from the overall platform and the relatively moving components in real time, thereby achieving high-precision airborne magnetic compensation.

[0067] The embodiments of the present invention can be implemented through the following steps:

[0068] 1) Establish an attitude description model for the relatively moving parts;

[0069] 2) Establish a magnetic interference compensation model for relatively moving parts, and construct a new aeromagnetic compensation model, namely the TLGM compensation model, by combining it with the TLG magnetic interference model;

[0070] 3) Utilize intelligent optimization algorithms to optimize the rotation angles of relatively moving parts in different heading directions, and solve for the compensation coefficients of the new model;

[0071] 4) Verify the accuracy and reliability of the new model, its compensation coefficients, and the optimal rotation angle of the relatively moving parts.

[0072] The working principle of the embodiments of the present invention will be described in detail below.

[0073] First, a brief introduction to the TL model is given. The reference coordinate system used in this embodiment of the invention is established on an aircraft platform, with the airborne magnetometer at the origin O. The X and Y axes define the horizontal plane, with the Y axis pointing towards the nose along the fuselage direction. The Z axis is perpendicular to the horizontal plane and points downwards, satisfying the right-hand rule with the X and Y axes. Where B... E α represents the Earth's magnetic field, with N representing the geomagnetic north pole. α, β, and γ represent B, respectively. E The angle between the Earth's magnetic field and the X, Y, and Z axes. Therefore, the direction cosine of the Earth's magnetic field in the coordinate system can be written as:

[0074]

[0075] In the TL model, the aircraft platform is treated as a rigidly connected whole, therefore it does not take into account magnetic disturbances caused by relatively moving parts. The model defines the magnetic disturbance sources related to aircraft maneuvering as three parts: the intrinsic field, the induced field, and the eddy current field. The intrinsic field is represented by a constant vector B. p The formula is represented as (p1p2p3), where p1, p2, and p3 are compensation coefficients. Therefore, its scalar compensation model can be written as:

[0076]

[0077] The scalar compensation model for the induced field can be written as:

[0078]

[0079] Where u 11 ,u 12 …u 33 This is the compensation coefficient.

[0080] The vector variations of the eddy current field and the spatial magnetic field are related to the relative position of the measurement point and the platform. Let... and Let be the time derivatives of cosα, cosβ, and cosγ, respectively, and it is defined as:

[0081]

[0082] Where M represents α, β, or γ, the time-varying scalar compensation model can be written as:

[0083]

[0084] Where v 11 ,v 12 …v 33 Let be the compensation coefficient. Therefore, the TL compensation model can be obtained:

[0085]

[0086] Among them, w i (i = 1, ..., 18) are the fixed compensation coefficients for the three parts of magnetic interference, f i (i = 1, ..., 18) is derived from B E The relevant basis functions are composed of direction cosines. A geomagnetic gradient disturbance compensation term is added, and the combination of the TL model and the geomagnetic gradient model is defined as the TLG compensation model, written as:

[0087]

[0088] Among them, a j(j=1,2,3) are the compensation coefficients to be solved, g j (j=1,2,3) represents the platform's location information, which represents longitude, latitude, and altitude, respectively.

[0089] The magnetic interference of the entire platform is divided into two parts: the overall system and the relatively moving components. During flight, the magnetic state of the overall system remains constant, consistent with the assumptions of the TL compensation model. Now, we will analyze the magnetic interference generated by the relatively moving components.

[0090] First, consider the relatively moving components of the platform as an independent small motion platform. Its rotational motion can be described by three sets of maneuvering actions: roll, pitch, and yaw. Here, we divide the motion state of the relatively moving components into two parts: one part is the maneuvering action relative to the aircraft body as the aircraft's heading changes, and the other part is the motion along with the aircraft. The maneuvering action as the aircraft's heading changes is a fixed attitude that does not change throughout the heading, while the other part is the same as the aircraft's motion attitude.

[0091] Therefore, another coordinate system is established. Both coordinate systems share the same origin O. The X' and Y' axes define the horizontal plane, with the Y' axis pointing towards the nose of the aircraft along the fuselage direction relative to the moving parts. The Z' axis is perpendicular to the horizontal plane and points downwards, satisfying the right-hand rule with the X' and Y' axes. α′, β′, and γ′ represent B respectively. E The angle between the coordinate system and the X', Y', and Z' axes. Initially, the coordinate system of the whole part and the coordinate system of the relatively moving parts overlap. When the aircraft platform maneuvers, the coordinate system of the whole part remains unchanged, while the coordinate system of the relatively moving parts rotates relative to the initial state, causing a change in the overall magnetism of the platform. Let Ω (∈[0,2π]) be the yaw angle of the relatively moving parts relative to the whole part, i.e., the coordinate system of the relatively moving parts rotates clockwise by Ω around the Z-axis from the coordinate system of the whole part. Let Φ (∈[0,2π]) be the pitch angle of the relatively moving parts relative to the whole part, i.e., the coordinate system of the relatively moving parts rotates clockwise by Φ around the X-axis from the coordinate system of the whole part. Let Ψ (∈[0,2π]) be the roll angle of the relatively moving parts relative to the whole part, i.e., the coordinate system of the relatively moving parts rotates clockwise by Ψ around the Y-axis from the coordinate system of the whole part. Then, in the coordinate system of the relatively moving parts, let R... yaw R is the yaw rotation matrix. pitch R is the pitch and rotation matrix. roll For the roll rotation matrix, the direction cosine D of the geomagnetic field is... E′ Then it can be written as:

[0092]

[0093]

[0094]

[0095]

[0096] As can be seen from the above, when the moving platform performs maneuvering movements, the three rotation angles of the coordinate system relative to the moving parts change to varying degrees, resulting in a change in the overall magnetic state of the platform. When the platform's attitude changes, the moving parts will generate relative motion relative to the platform, and the direction cosine of the geomagnetic field in the coordinate system of the moving parts has changed from D... E It became D E′ At this point, traditional methods cannot be used; a separate model is required. The magnetic disturbances generated by the relatively moving parts are also categorized into three parts, namely the natural field B′. p Induction field B′ in and vortex field B′ ed Therefore, based on the TL compensation model, we can obtain the mechanical magnetic interference compensation model for relatively moving parts (magnetic interference model for relatively moving parts):

[0097]

[0098] Where, n k (k=1,…,18) are the fixed compensation coefficients for the three-part magnetic interference, m k (k = 1, ..., 18) is derived from B E The related basis functions are composed of direction cosines.

[0099] By combining the kinematic magnetic interference compensation model of relatively moving parts with the TLG model, a new compensation model (TLGM) is obtained, as shown in the following equation:

[0100]

[0101] Where J is a product of f i g j and m k The row vectors formed by w, where C is a vector composed of w. i a j and n k A column vector consisting of the coefficients to be determined. B z These are the measured values ​​from the scalar magnetometer.

[0102] To obtain accurate compensation coefficients, the platform is typically subjected to calibration flights. Specifically, to avoid the influence of the Earth's magnetic field, calibration flights are usually conducted at an altitude of several thousand meters in four orthogonal headings: east, south, west, and north. In each heading, the platform will sequentially perform three sets of maneuvers at a certain frequency: ±10° roll, ±5° pitch, and ±5° yaw. To improve the accuracy of the coefficient solution, a narrow-bandwidth bandpass filter incorporating the maneuvers is used to filter both ends of the TLGM model, resulting in:

[0103] filter[B z ]≈filter[J(Ψ,Φ,Ω)]·C. (14)

[0104] To avoid the influence of complex collinearity in solving the equations, a recursive least squares method is used to solve the equations when determining the compensation coefficient C. In the above equation, the three rotation angles Ω, Φ, and Ψ are unknown and need to be obtained before the compensation coefficient C can be calculated.

[0105] As mentioned earlier, the three rotation angles have fixed values ​​in each heading. During calibration, since the maneuvering is performed in four headings, 12 angles need to be determined. Solving the above equations involves solving a nonlinear system of equations, which is difficult. To address this, we introduce an intelligent optimization algorithm (using quantum genetic algorithm as an example) to find the optimal rotation angles. We then use recursive least squares to solve for the optimal equation coefficients at each angle, and establish a fitness function based on the fitted and measured interference magnetic fields to determine the optimal coefficients.

[0106] First, the problem to be solved needs to be transformed into a fitness function. Let φ, φ', and ω represent the roll, pitch, and yaw angles of the relatively moving parts that need to be optimized after the platform's maneuver, respectively, and let B... re =filter[B z ]-filter[J(φ,φ,ω)]·C is the compensated residual magnetic field, then the residual magnetic field B during the entire flight process RE =[B re1 B re2 ,…,B reN Let B be a finite-time series. ren Let be the residual magnetic field at the nth (n = 1, ..., N) measurement point. In airborne magnetic surveying, the standard deviation is often used to measure the effectiveness of magnetic interference compensation; therefore, it is used as the fitness function for the objective problem. B RE The standard deviation can be expressed as:

[0107]

[0108] in, This represents the average value of the remaining magnetic field throughout the entire flight. Therefore, by finding the most suitable values ​​of φ, φ', and ω within a certain range to minimize the value of FI, the goal of suppressing both the overall magnetic interference and the magnetic interference from the geomagnetic gradient of the relatively moving parts can be achieved.

[0109] Considering that during actual flight, the range of variation in the rotation angle of relatively moving components always falls within the maximum range of variation of the overall aircraft platform rotation angle (i.e., the rotation angle of the entire system), we set their search ranges to find the optimal values ​​of φ, φ', and ω more accurately and quickly. During the calibration flight, the platform flew four headings, i.e., made three large, near-right-angle turns. Since each turn was short in duration, for ease of calculation, we divided the measurement data of the current turn segment into the measurement data of the next segment. Compared to the platform's turning and heading changes, the impact of the 12 sets of maneuvers is small and negligible. Therefore, we will attempt to find a set of optimal rotation angles for relatively moving components in each heading.

[0110] At this time, let φ R φ R and ω R Let these be the roll, pitch, and yaw angles of the current overall component (all ranging from [0, 2π]). Therefore, we define the range of rotation angles of the relatively moving components within any given heading as follows:

[0111]

[0112] Where t0 is the initial moment of flight.

[0113] The following describes the detailed process of using a quantum genetic algorithm to solve for the optimal angle:

[0114] After setting the fitness function and the angle optimization range, we need to perform quantum encoding on the three angles. A brief introduction to quantum encoding follows. In quantum computing, the smallest basic unit of information storage is the qubit. In a quantum system, the ground state is indeterminate; it can be any complex value of |0>, |1>, or a linear combination or superposition of both. Therefore, the state of a qubit can be represented as:

[0115] |ψ>=A|0>+B|1>, (17)

[0116] Where A and B are complex numbers, representing the magnitudes of the left and right vectors, respectively. They satisfy the following condition:

[0117] |A| 2 +|B| 2 =1, (18)

[0118] Where |A| 2 and |B|2 Let P = {P1, P2, ..., P1} represent the probabilities of finding the qubit in states |0> and |1>, respectively. M Let} be a population of chromosomes (M = 1, 2, ...), where each chromosome is represented by a string of qubits. Let L be the encoding length of the chromosome. Therefore, any chromosome can be written as: In quantum genetic algorithms, the probability of each qubit of all individuals is [A] l B l ] T (l=1,…,L) are all set to The population is initialized. Then, the binary code of each individual is obtained by measuring its qubits, and this value is used to evaluate the fitness function.

[0119] In quantum genetic algorithms, quantum gates are introduced to change the state of qubits. Quantum gates typically include NOT gates, rotation gates, and Hadamard gates. Rotation gates are widely used in quantum genetic algorithms. To maintain population diversity, rotation gates are often used to update the probability amplitude of chromosome quantum states to obtain a new population; this is a crucial step. Let [A′] l B′ l ] T To use a rotation gate for the l-th (l=1,…,L) qubit of any chromosome [A] l B l ] T The updated result can be represented as:

[0120]

[0121] Where R(θ) l ) is the rotation matrix, θ l =s(A l B l )Δθ l s(A) represents the rotation angle. l B l ) is θ l The direction of rotation, Δθ l For θ l The amplitude of s(A). l B l ) and Δθ l The adjustment strategy is formulated based on the actual situation and experience.

[0122] Thus, by optimizing the three rotation angles of the relatively moving parts using an intelligent optimization algorithm (quantum genetic algorithm), the optimal FI and compensation coefficient can be obtained. Then, in actual airborne magnetic surveys, the TLGM compensation model, these compensation coefficients, and the three optimal angles can be used to perform real-time compensation for the overall portion of the measurement data, magnetic interference from the relatively moving parts, and geomagnetic gradient interference.

[0123] In summary, the embodiments of the present invention can be implemented through the following steps:

[0124] 1. Establish a traditional platform magnetic interference compensation model, namely the TLG model.

[0125] 1A. Obtain the compensation model of the rigidly connected main body. Where D E Let be the direction cosine of the Earth's magnetic field in the coordinate system, expressed as Equation 1:

[0126]

[0127] Where α, β, and γ represent the geomagnetic field B, respectively. E The angles between the X-axis, Y-axis and Z-axis in the coordinate system of the rigidly connected main body.

[0128] 1B. Construct the TL compensation model, expressed as Equation 2:

[0129]

[0130] Among them, w i (i = 1, ..., 18) are the fixed compensation coefficients for the three parts of magnetic interference, f i (i = 1, ..., 18) is derived from b E The related basis functions are composed of direction cosines.

[0131] 1C. Using data from navigation systems such as BeiDou or GPS to construct a compensation model for geomagnetic gradient magnetic interference, then B TLG The compensation for both the magnetic interference from the rigid connection body and the magnetic interference from the geomagnetic gradient is expressed as Equation 3:

[0132]

[0133] Among them, a j (j=1,2,3) are the compensation coefficients to be solved, g j (j=1,2,3) represents the platform's location information, which represents longitude, latitude, and altitude, respectively.

[0134] 2. Construct a relative motion attitude information matrix.

[0135] 2A. Construct the direction cosine of the geomagnetic field in the coordinate system of the rigidly connected main body and the rotation angle of the relatively moving parts. Let... The direction cosine of the geomagnetic field in the coordinate system of the relatively moving part when the movable part rotates in any direction relative to the rigid connecting body is expressed as Equation 4:

[0136]

[0137] in: There are three rotation matrices, Ω, Φ and Ψ, which represent the yaw, pitch and roll angles, respectively.

[0138] 3. Construct a magnetic interference model for the relatively moving parts in the platform and combine it with the TLG magnetic interference model to form a new TLGM compensation model.

[0139] 3A. First, establish a mechanical magnetic interference model for the movable parts. B MP (Ψ,Φ,Ω), represented by Equation 5:

[0140]

[0141] Where, n k (k=1,…,18) are the fixed compensation coefficients for the three-part magnetic interference, m k (k = 1, ..., 18) is derived from B E The related basis functions are composed of direction cosines.

[0142] 3B. Constructing a new TLGM compensation model. Combining Equation 5 with Equation 3 for the motor magnetic interference compensation model of movable parts, a new compensation model TLGM can be obtained, expressed as Equation 6:

[0143]

[0144] Where J is a product of f i g j and m k The row vectors formed by w, where C is a vector composed of w. i a j and n k A column vector consisting of the coefficients to be determined. B z These are the measured values ​​from the scalar magnetometer.

[0145] 4. Solve for the compensation coefficient.

[0146] 4A. Perform calibration maneuvers at high altitudes (above 2000 meters) to acquire scalar magnetometer data and fluxgate magnetometer data in four headings.

[0147] 4B. Construct a TLGM compensation model using the obtained data.

[0148] 4C. Filter both ends of the TLGM model. To improve the accuracy of the coefficient solution, a narrow-bandwidth bandpass filter that includes the maneuvering motion needs to be used to filter both ends of Equation 6, as shown in Equation 7:

[0149] filter[B z ]≈filter[J(Ψ,Φ,Ω)]·C. Equation 7

[0150] 4D. In order to avoid the problem of complex collinearity when solving for the compensation coefficient C, the recursive least squares (RLS) method is used to solve the equation.

[0151] 5. An intelligent optimization algorithm is used to optimize the rotation angle of movable parts in different headings, and the compensation coefficient of the new model is solved.

[0152] 5A. Establish the fitness function. Let B re =filter[B z ]-filter[J(φ,φ,ω)]·C is the compensated residual magnetic field, then the residual magnetic field B during the entire flight process RE =[B re1 B re2 ,…,B reN Let B be a finite-time series. ren Let be the residual magnetic field at the nth (n = 1, ..., N) measurement point. Then its standard deviation is the fitness function of the objective problem, expressed as Equation 8:

[0153]

[0154] in, This represents the average value of the remaining magnetic field throughout the entire flight.

[0155] 5B. Set the optimization range for the rotation angle of the movable part. Let φ R φ R and ω R Let be the roll, pitch, and yaw angles of the current rigidly connected main body (all ranging from [0, 2π]). Then, the range of rotation angles of the movable component within any course segment is expressed as Equation 9:

[0156]

[0157]

[0158] Where t0 is the initial moment of flight.

[0159] 5C. Solve the problem using intelligent optimization algorithms, taking the quantum genetic algorithm as an example:

[0160] Quantum encoding and updating. Quantum encoding is performed on the three angles within the range represented by Equation 9. The number of individuals in the population and the individual encoding length are set. Then, all individuals in the population are initialized, and the probability of each qubit is set to... The binary code of each individual is obtained by measuring its qubits, and then evaluated using a fitness function. Next, the initial population is updated using a quantum rotation gate, as expressed in Equation 10:

[0161]

[0162] Where R(θ) l ) is the rotation matrix, θ l =s(A l B l )Δθ l s(A) represents the rotation angle. l B l ) is θ l The direction of rotation, Δθ l For θ l The amplitude of s(A). l B l ) and Δθ l The adjustment strategy is formulated based on the actual situation and experience.

[0163] 5D. Find the optimal rotation angle and obtain the optimal compensation coefficient, and save them. Evaluate the updated population using the fitness function. If the previous generation's evaluation result is the smallest, stop iterating; otherwise, continue updating the population and evaluating the fitness function until the three angles that minimize FI for a given heading are found. After finding the target, save the three optimal angles and the compensation coefficient C.

[0164] 6. Subsequently, during magnetic detection on the motion platform, the optimal magnetic compensation coefficient, the optimal rotation angle of the movable parts, the fluxgate magnetometer, and the GPS system can be used in real time to obtain f. i g j and m k The model function related to magnetic compensation calculates the total magnetic interference value caused by magnetic interference from the rigid connection body and movable parts of the motion platform, as well as the geomagnetic gradient interference. This total magnetic interference value is then removed from the magnetometer to obtain the compensated total magnetic field value. Specifically, the following steps are performed:

[0165] 6A. The magnetometer reads the total magnetic field in real time;

[0166] 6B. Fluxgate magnetometer reads vector magnetic field in real time;

[0167] 6C. Obtain the direction cosine of the Earth's magnetic field in the rigidly connected main coordinate system using a fluxgate magnetometer, and calculate f using Equation 2. i(Magnetic compensation-related model function), filtered using the same bandpass filter;

[0168] The 6D GPS antenna reads the aircraft platform's location information in real time, namely latitude, longitude, and altitude, to obtain g. j The same bandpass filter is used to filter it.

[0169] 6E. Using the optimal rotation angles of the different heading movable parts obtained in 5D, calculate m using Equation 5. k The same bandpass filter is used to filter it.

[0170] 6F. Utilizing a new aerospace magnetic compensation model that includes a magnetic interference compensation model for movable parts in a moving platform, the magnetic compensation coefficient C solved in step 4D and the magnetic compensation coefficient f solved in steps 6C to 6E are... i g j and m k B was calculated TLGM .

[0171] 6G. The total magnetic field obtained in step 6A minus the magnetic field obtained in step 6F (B) TLGM The total magnetic field value after compensation is obtained.

[0172] Through the above steps, aerospace magnetic compensation, including a current magnetic interference compensation model in the motion platform, can be achieved.

[0173] The working process and principle of the present invention are illustrated below with specific examples:

[0174] 1. The specific experimental parameters are as follows:

[0175] In the overall coordinate system of the motion platform, the three axes of the fluxgate magnetometer are along the X, Y, and Z axes, respectively. Let α, β, and γ be the angles between the Earth's magnetic field and the X, Y, and Z axes of the motion platform coordinate system. Then, the direction cosines of the Earth's magnetic field in the overall coordinate system are:

[0176]

[0177] The direction cosine of the Earth's magnetic field in the coordinate system of the relatively moving component is:

[0178]

[0179] Meanwhile, the number of individuals in the population of the quantum genetic algorithm is set to 50, and the encoding length of each individual is 20.

[0180] 2. Working process and principle:

[0181] 1) The compensation model for the whole part can be expressed as:

[0182]

[0183] Among them, W i (i = 1, ..., 18) are the fixed compensation coefficients for the three parts of magnetic interference, f i (i = 1, ..., 18) is derived from B E The related basis functions are composed of direction cosines.

[0184] 2) Obtain the TLG compensation model that includes both overall and partial magnetic disturbances and geomagnetic gradient magnetic disturbances:

[0185]

[0186] Among them, a j (j=1,2,3) are the compensation coefficients to be solved, g j (j=1,2,3) represents the platform's location information, which represents longitude, latitude, and altitude, respectively.

[0187] 3) Using D E′ Establish a kinematic magnetic interference model B for relatively moving parts MP (Ψ,Φ,Ω):

[0188]

[0189] Where, n k (k=1,…,18) are the fixed compensation coefficients for the three-part magnetic interference, m k (k = 1, ..., 18) is derived from B E The related basis functions are composed of direction cosines.

[0190] 4) Construct a new TLGM compensation model:

[0191]

[0192] Where J is a product of f i g j and m k The row vectors formed by w, where C is a vector composed of w. i a j and n k A column vector consisting of the coefficients to be determined. B z These are the measured values ​​from the scalar magnetometer.

[0193] 5) Filter both ends of the TLGM model:

[0194] filter[B z ]≈filter[J(Ψ,Φ,Ω)]

[0195] To avoid the influence of complex collinearity when solving for the compensation coefficient C, the recursive least squares method is used to solve the equation.

[0196] 6) Introduce a quantum genetic algorithm to optimize the rotation angle of the relatively moving parts in different headings, and obtain the optimal compensation coefficient of the new model.

[0197] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0198] In airborne magnetic surveying, magnetic interference generated by relatively moving components within a moving platform directly affects the calculation of traditional airborne magnetic compensation coefficients, reducing the accuracy of airborne magnetic compensation and consequently impacting the performance of airborne magnetic surveying. This invention provides an airborne magnetic compensation method that includes compensating for magnetic interference from relatively moving components of the moving platform. First, the overall platform structure and relatively moving components are modeled. Then, the direction cosine of the geomagnetic field in the coordinate system of the relatively moving components is described using a rotation matrix and the direction cosine of the geomagnetic field in the overall coordinate system, thus establishing a magnetic interference compensation model for the relatively moving components. This model is then used to extend the TLG model, resulting in a new TLGGM compensation model. To obtain accurate compensation coefficients, an intelligent optimization algorithm (such as a quantum genetic algorithm) is introduced into the new model to optimize the rotation angle of the relatively moving components. This model not only improves the accuracy of the coefficients in the extended compensation model in traditional airborne magnetic compensation but also compensates for the magnetic interference generated by relatively moving components within the platform, significantly enhancing airborne magnetic surveying capabilities. This invention provides an airborne magnetic compensation algorithm that includes compensation for magnetic interference from relatively moving parts in a moving platform. This algorithm eliminates the maneuvering magnetic interference and geomagnetic gradient magnetic interference generated by the source whole part and relatively moving parts in the moving platform, thereby improving the performance indicators of airborne magnetic detection.

[0199] It should be noted that, for the sake of simplicity, the above methods or process embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are all optional embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0200] Please see Figure 7 This invention also provides an airborne magnetic interference compensation device for magnetic interference of relatively moving platform components, comprising:

[0201] The first building module 1 is used to build a magnetic interference model of relative motion components based on the traditional magnetic compensation model and combined with the relative motion component model of the aircraft platform.

[0202] The second construction module 2 is used to construct a new platform magnetic compensation model from a preset traditional magnetic interference compensation model based on the magnetic interference model of the relatively moving parts; wherein, the traditional magnetic interference compensation model includes the traditional magnetic compensation model and the geomagnetic gradient magnetic interference model;

[0203] The coefficient determination module 3 is used to obtain the optimal relative motion component rotation angle of the relative motion component model in different headings using a preset intelligent optimization algorithm, and to determine the optimal compensation coefficient of the novel platform magnetic compensation model based on the optimal relative motion component rotation angle.

[0204] The compensation determination module 4 is used to determine the interference compensation amount of the aeromagnetic measurement data based on the novel platform magnetic compensation model, the optimal compensation coefficient, and the optimal rotation angle of the relative moving parts.

[0205] Furthermore, the first building module 1 is specifically used for:

[0206] The direction cosine of the geomagnetic field in the coordinate system of the relatively moving component is determined based on the direction cosine of the geomagnetic field in the rigid connection body coordinate system and the rotation angle of the relatively moving component model.

[0207] A magnetic interference model for the relatively moving components is constructed based on the fixed compensation coefficients of the three parts of the magnetic interference—the natural field, the induced field, and the eddy current field—corresponding to the coordinate system of the relatively moving components of the aircraft platform, as well as the direction cosine of the geomagnetic field in the coordinate system of the relatively moving components.

[0208] Furthermore, the coefficient determination module 3 is specifically used for:

[0209] A filtering process is added to the novel platform magnetic compensation model, and a fitness function is determined based on the novel platform magnetic compensation model after the filtering process is added.

[0210] The fitness function is solved using a preset intelligent optimization algorithm to obtain the optimal relative motion component rotation angle for the relative motion component model in different headings;

[0211] Based on the optimal rotation angle of the relatively moving parts, the optimal compensation coefficient of the novel platform magnetic compensation model is determined by solving the equation using a preset recursive least squares method.

[0212] Furthermore, the compensation determination module 4 is specifically used for:

[0213] The direction cosine of the geomagnetic field in the rigid connection body coordinate system is obtained by using a preset fluxgate magnetometer, and the first relevant basis function corresponding to the traditional magnetic compensation model is determined based on the direction cosine of the geomagnetic field in the rigid connection body coordinate system.

[0214] The location information of the aircraft platform is read in real time using a GPS antenna;

[0215] The second relevant basis function corresponding to the relative motion component model is determined based on the optimal rotation angle of the relative motion component and the direction cosine of the geomagnetic field in the coordinate system of the relative motion component.

[0216] The interference compensation amount of the airborne magnetic measurement data is calculated based on the first relevant basis function corresponding to the traditional magnetic compensation model, the second relevant basis function corresponding to the relative motion component model, the optimal compensation coefficient, and the position information.

[0217] Furthermore, the construction method of the traditional magnetic compensation model is specifically as follows:

[0218] The magnetic interference fixed compensation coefficients of the three parts of the natural field, induced field and eddy current field corresponding to the rigid connection main coordinate system of the aircraft platform are constructed based on the direction cosine of the geomagnetic field in the rigid connection main coordinate system.

[0219] Furthermore, the intelligent optimization algorithm is a quantum genetic algorithm.

[0220] It is understood that the above-described device embodiments correspond to the method embodiments of the present invention. The airborne magnetic interference compensation device for magnetic interference of relatively moving parts of the platform provided by the embodiments of the present invention can realize the airborne magnetic interference compensation method for magnetic interference of relatively moving parts of the platform provided by any one of the method embodiments of the present invention.

[0221] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the aero-magnetic interference compensation method for any of the above-described methods, including magnetic interference of relatively moving parts of a platform.

[0222] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can be specifically implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0223] Those skilled in the art will clearly understand that, for convenience and brevity, the specific working process of the device described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0224] The terminal device can be a desktop computer, laptop, handheld computer, or cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0225] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device via various interfaces and lines.

[0226] The memory can be used to store the computer program. The processor implements various functions of the terminal device by running or executing the computer program stored in the memory and calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system, at least one application program required for a function, etc.; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0227] The storage medium is a computer-readable storage medium, and the computer program is stored in the computer-readable storage medium. When executed by a processor, the computer program can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0228] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for compensating for airborne magnetic interference involving magnetic interference from relatively moving components of a platform, characterized in that, include: Based on the traditional magnetic compensation model, a magnetic interference model for the relatively moving parts of the aircraft platform is constructed by combining the model of the relatively moving parts. Specifically, this includes: determining the direction cosine of the geomagnetic field in the coordinate system of the relatively moving parts based on the direction cosine of the geomagnetic field in the rigid connection body coordinate system and the rotation angle of the relatively moving parts model of the aircraft platform; determining the fixed compensation coefficient of magnetic interference corresponding to the coordinate system of the relatively moving parts of the aircraft platform based on the decomposition method of the three parts of magnetic interference (natural field, induced field, and eddy current field) in the traditional magnetic compensation model; and constructing the magnetic interference model for the relatively moving parts based on the fixed compensation coefficient of magnetic interference and the direction cosine of the geomagnetic field in the coordinate system of the relatively moving parts. Based on the magnetic interference model of the relatively moving parts, a novel platform magnetic compensation model is constructed from the preset traditional magnetic interference compensation model; wherein, the traditional magnetic interference compensation model includes the traditional magnetic compensation model and the geomagnetic gradient magnetic interference model; The optimal rotation angle of the relative motion component model in different headings is obtained by using a preset intelligent optimization algorithm, and the optimal compensation coefficient of the novel platform magnetic compensation model is determined based on the optimal rotation angle of the relative motion component. The interference compensation amount for airborne magnetic measurement data is determined based on the novel platform magnetic compensation model, the optimal compensation coefficient, and the optimal rotation angle of the relative moving parts. Specifically, this includes: obtaining the direction cosine of the geomagnetic field in the rigidly connected main body coordinate system using a preset fluxgate magnetometer; determining the first correlation basis function corresponding to the traditional magnetic compensation model based on the direction cosine of the geomagnetic field in the rigidly connected main body coordinate system; using a GPS antenna to read the position information of the aircraft platform in real time; determining the second correlation basis function corresponding to the relative moving parts model based on the optimal rotation angle of the relative moving parts and the direction cosine of the geomagnetic field in the relative moving parts coordinate system; and calculating the interference compensation amount for the airborne magnetic measurement data based on the first correlation basis function corresponding to the traditional magnetic compensation model, the second correlation basis function corresponding to the relative moving parts model, the optimal compensation coefficient, and the position information.

2. The aerospace magnetic interference compensation method according to claim 1, which includes magnetic interference from relatively moving platform components, is characterized in that, The process of obtaining the optimal rotation angle of the relatively moving component model in different headings using a preset intelligent optimization algorithm, and determining the optimal compensation coefficient of the novel platform magnetic compensation model based on the optimal rotation angle of the relatively moving component, specifically includes: A filtering process is added to the novel platform magnetic compensation model, and a fitness function is determined based on the novel platform magnetic compensation model after the filtering process is added. The fitness function is solved using a preset intelligent optimization algorithm to obtain the optimal relative motion component rotation angle for the relative motion component model in different headings; Based on the optimal rotation angle of the relatively moving parts, the optimal compensation coefficient of the novel platform magnetic compensation model is determined by solving the equation using a preset recursive least squares method.

3. The aerospace magnetic interference compensation method according to claim 1, which includes magnetic interference from relatively moving platform components, is characterized in that... The traditional magnetic compensation model is constructed as follows: The magnetic interference fixed compensation coefficients of the three parts of the natural field, induced field and eddy current field corresponding to the rigid connection main coordinate system of the aircraft platform are constructed based on the direction cosine of the geomagnetic field in the rigid connection main coordinate system.

4. The aerospace magnetic interference compensation method according to claim 1, which includes magnetic interference from relatively moving platform components, is characterized in that, The intelligent optimization algorithm is a quantum genetic algorithm.

5. An airborne magnetic interference compensation device for magnetic interference involving relatively moving platform components, characterized in that, include: The first construction module is used to construct a magnetic interference model for the relative moving parts based on the traditional magnetic compensation model and the relative moving parts model of the aircraft platform. Specifically, it includes: determining the direction cosine of the geomagnetic field in the coordinate system of the relative moving parts based on the direction cosine of the geomagnetic field in the rigid connection body coordinate system and the rotation angle of the relative moving parts model of the aircraft platform; determining the fixed compensation coefficient of magnetic interference corresponding to the coordinate system of the relative moving parts of the aircraft platform based on the decomposition method of the three parts of magnetic interference (natural field, induced field and eddy current field) in the traditional magnetic compensation model; and constructing the magnetic interference model of the relative moving parts based on the fixed compensation coefficient of magnetic interference and the direction cosine of the geomagnetic field in the coordinate system of the relative moving parts. The second construction module is used to construct a new platform magnetic compensation model from a preset traditional magnetic interference compensation model based on the magnetic interference model of the relatively moving parts; wherein, the traditional magnetic interference compensation model includes the traditional magnetic compensation model and the geomagnetic gradient magnetic interference model; The coefficient determination module is used to obtain the optimal relative motion component rotation angle of the relative motion component model in different headings using a preset intelligent optimization algorithm, and to determine the optimal compensation coefficient of the novel platform magnetic compensation model based on the optimal relative motion component rotation angle. The compensation determination module is used to determine the interference compensation amount of the airborne magnetic measurement data based on the novel platform magnetic compensation model, the optimal compensation coefficient, and the optimal rotation angle of the relative moving parts. Specifically, it includes: obtaining the direction cosine of the geomagnetic field in the rigidly connected main body coordinate system using a preset fluxgate magnetometer; determining the first correlation basis function corresponding to the traditional magnetic compensation model based on the direction cosine of the geomagnetic field in the rigidly connected main body coordinate system; reading the position information of the aircraft platform in real time using a GPS antenna; determining the second correlation basis function corresponding to the relative moving parts model based on the optimal rotation angle of the relative moving parts and the direction cosine of the geomagnetic field in the relative moving parts coordinate system; and calculating the interference compensation amount of the airborne magnetic measurement data based on the first correlation basis function corresponding to the traditional magnetic compensation model, the second correlation basis function corresponding to the relative moving parts model, the optimal compensation coefficient, and the position information.

6. The aerospace magnetic interference compensation device for magnetic interference of relatively moving platform components according to claim 5, characterized in that, The first building module is specifically used for: The direction cosine of the geomagnetic field in the coordinate system of the relatively moving component is determined based on the direction cosine of the geomagnetic field in the rigid connection body coordinate system and the rotation angle of the relatively moving component model. A magnetic interference model for the relatively moving components is constructed based on the fixed compensation coefficients of the three parts of the magnetic interference—the natural field, the induced field, and the eddy current field—corresponding to the coordinate system of the relatively moving components of the aircraft platform, as well as the direction cosine of the geomagnetic field in the coordinate system of the relatively moving components.

7. A terminal device, comprising a processor and a memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the airborne magnetic interference compensation method according to any one of claims 1 to 4, which includes magnetic interference from relatively moving components of the platform.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the airborne magnetic interference compensation method as described in any one of claims 1 to 4, which includes magnetic interference from relatively moving components of the platform.

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