A method and device for reducing noise of aviation magnetic field data and a flight electronic device

Abstract

The application discloses a noise reduction method and device for aviation magnetic field data, flight electronic equipment and a computer readable storage medium. The method comprises the following steps: acquiring noise reduction data and auxiliary data respectively, wherein the noise reduction data and the auxiliary data are magnetic field data obtained by performing magnetic compensation on data collected by two adjacent magnetic field sensors; performing addition and subtraction operation and time domain processing on the noise reduction data and the auxiliary data to obtain preprocessed data; and performing noise reduction processing on the noise reduction data by using the preprocessed data to obtain noise reduction data. After the magnetic field data of the two adjacent magnetic field sensors is acquired, the two magnetic field data is subjected to magnetic compensation, filtering and suppression processing, the preprocessed data is calculated by using the two processed magnetic field data, and then the noise reduction is performed by using the preprocessed data, so that the noise reduction effect is improved.

Description

Technical Field

[0001] This invention relates to the technical field of airborne magnetic detection, and in particular to a method, apparatus, and flight electronic equipment for noise reduction of airborne magnetic field data. Background Technology

[0002] Airborne magnetic detection involves mounting multiple magnetic field sensors on a flight platform. Each sensor measures the spatial magnetic anomalies generated by the target to achieve target detection. Its passive, covert nature, and insensitivity to time and weather, coupled with these advantages, have led to its widespread application.

[0003] However, in airborne magnetic detection, magnetic field sensors not only detect the magnetic field data generated by the target, but are also subject to interference from various factors such as the platform and the environment, resulting in a large amount of noise in the magnetic field data. To eliminate noise caused by different magnetic interferences, the commonly used method is to perform airborne magnetic compensation on the magnetic field data. This technology constructs a typical magnetic compensation model with the flight equipment as a rigid whole, calculates the error using the typical magnetic compensation model, and then adds the error to the magnetic field data to eliminate magnetic interference and achieve the purpose of noise reduction.

[0004] However, the commonly used methods have the following technical problems: due to the variability of flight conditions and environment, it is difficult to adapt to different magnetic interference factors with a single parameter supplement, and the demagnetization and noise reduction effects are not good, making it difficult to meet the current usage requirements. Summary of the Invention

[0005] This invention proposes a method, apparatus, and flight electronic equipment for noise reduction of aviation magnetic field data. The method acquires magnetic field data from two adjacent magnetic field sensors and performs magnetic compensation, then uses the two magnetic field data to calculate preprocessed data, and then uses the preprocessed data for noise reduction to improve the noise reduction effect.

[0006] A first aspect of this invention provides a method for denoising airborne magnetic field data, the method comprising:

[0007] The data to be denoised and the auxiliary data are acquired separately. The data to be denoised and the auxiliary data are magnetic field data obtained after magnetic compensation of the data collected by two adjacent magnetic field sensors.

[0008] Addition and subtraction operations and time-domain processing are performed on the data to be denoised and the auxiliary data to obtain preprocessed data;

[0009] The preprocessed data is used to perform noise reduction processing on the data to be denoised, resulting in denoised data.

[0010] In one possible implementation of the first aspect, the step of performing addition and subtraction operations and time-domain processing on the data to be denoised and the auxiliary data to calculate preprocessed data includes:

[0011] The data to be denoised and the auxiliary data are superimposed and subtracted respectively to obtain the first processed data and the second processed data.

[0012] Calculate the difference between the first processed data and the second processed data to obtain the difference data;

[0013] The difference data is processed in the time domain to obtain preprocessed data.

[0014] In one possible implementation of the first aspect, the step of performing time-domain processing on the difference data to obtain preprocessed data includes:

[0015] The difference data is used to perform time-domain correlation processing on the first processed data and the second processed data respectively to obtain the first time-domain data and the second time-domain data.

[0016] Calculate the ratio of the first time-domain data to the second time-domain data to obtain the correlation coefficient;

[0017] Preprocessed data is calculated using the correlation coefficient, the first processed data, and the second processed data.

[0018] In one possible implementation of the first aspect, acquiring the data to be denoised and the auxiliary data respectively includes:

[0019] After identifying two adjacent magnetic field sensors, the magnetic field data collected by the two adjacent magnetic field sensors are acquired in real time.

[0020] Each of the magnetic field data is sequentially subjected to magnetic compensation, filtering, and suppression processing to obtain the data to be denoised and auxiliary data.

[0021] A second aspect of the present invention provides a noise reduction device for airborne magnetic field data, the device comprising:

[0022] The data acquisition module is used to acquire the data to be denoised and the auxiliary data respectively. The data to be denoised and the auxiliary data are magnetic field data obtained after magnetic compensation of the data collected by two adjacent magnetic field sensors.

[0023] The computation module is used to perform addition and subtraction operations and time-domain processing on the data to be denoised and the auxiliary data to calculate the preprocessed data;

[0024] The noise reduction processing module is used to perform noise reduction processing on the data to be denoised using the preprocessed data to obtain noise-reduced data.

[0025] In one possible implementation of the second aspect, the computation module is further configured to:

[0026] The data to be denoised and the auxiliary data are superimposed and subtracted respectively to obtain the first processed data and the second processed data.

[0027] Calculate the difference between the first processed data and the second processed data to obtain the difference data;

[0028] The difference data is processed in the time domain to obtain preprocessed data.

[0029] In one possible implementation of the second aspect, the computation module is further configured to:

[0030] The difference data is used to perform time-domain correlation processing on the first processed data and the second processed data respectively to obtain the first time-domain data and the second time-domain data.

[0031] Calculate the ratio of the first time-domain data to the second time-domain data to obtain the correlation coefficient;

[0032] Preprocessed data is calculated using the correlation coefficient, the first processed data, and the second processed data.

[0033] In one possible implementation of the second aspect, the data acquisition module is further configured to:

[0034] After identifying two adjacent magnetic field sensors, the magnetic field data collected by the two adjacent magnetic field sensors are acquired in real time.

[0035] Each of the magnetic field data is sequentially subjected to magnetic compensation, filtering, and suppression processing to obtain the data to be denoised and auxiliary data.

[0036] A third aspect of the present invention provides a flight electronic device, the device being adapted to the noise reduction method for aviation magnetic field data as described above, the device comprising: at least two magnetic field sensors;

[0037] The at least two magnetic field sensors are respectively disposed on the two wings or the same side of the flight electronic device, and the at least two magnetic field sensors are spaced apart from each other.

[0038] Compared with the prior art, the noise reduction method and apparatus for aviation magnetic field data provided in this embodiment of the invention have the following advantages: After acquiring the magnetic field data of two adjacent magnetic field sensors, the invention can perform magnetic compensation, filtering and suppression processing on the two magnetic field data, calculate preprocessed data using the two processed magnetic field data, and then use the preprocessed data for noise reduction, so as to improve the noise reduction effect. Attached Figure Description

[0039] Figure 1This is a flowchart illustrating a method for denoising airborne magnetic field data according to an embodiment of the present invention;

[0040] Figure 2 This is an operation flowchart of a noise reduction method for airborne magnetic field data provided in an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of a noise reduction device for aviation magnetic field data provided in an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the structure of a flight electronic device provided in an embodiment of the present invention;

[0043] Figure 5 This is a waveform diagram of the magnetic field data measured by the two magnetic sensors before compensation, provided in an embodiment of the present invention;

[0044] Figure 6 This is a waveform diagram of the magnetic field data before and after compensation of the right probe provided in an embodiment of the present invention.

[0045] Figure 7 This is a waveform diagram of the magnetic field data before and after compensation of the left probe provided in an embodiment of the present invention;

[0046] Figure 8 This is a waveform diagram showing the comparison between the right probe after compensation and after processing, according to an embodiment of the present invention.

[0047] Figure 9 This is a waveform diagram showing the comparison between the compensated and processed results of the left probe according to an embodiment of the present invention. Detailed Implementation

[0048] 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 skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] To address the aforementioned issues, the following specific embodiments will provide a detailed description and explanation of a noise reduction method for airborne magnetic field data provided in this application.

[0050] Reference Figure 1 The diagram shows a flowchart of a noise reduction method for airborne magnetic field data according to an embodiment of the present invention.

[0051] In one embodiment, the method is applicable to flight equipment or aviation platforms equipped with magnetic field sensors.

[0052] As an example, the noise reduction method for airborne magnetic field data may include:

[0053] S11. Acquire the noise reduction data and auxiliary data respectively. The noise reduction data and the auxiliary data are magnetic field data obtained after magnetic compensation of the data collected by two adjacent magnetic field sensors.

[0054] In one embodiment, two magnetic field data can be acquired: one is the data to be denoised, which needs to be denoised, and the other is the data used for auxiliary adjustment.

[0055] Data is collected from two adjacent magnetic field sensors, which can be adjacent on the same side of the flight equipment or adjacent on different sides.

[0056] After acquiring the magnetic field data collected by the magnetic field sensor, magnetic compensation is required to remove magnetic interference from the platform or equipment where the magnetic field sensor is located.

[0057] In a preferred embodiment, the two magnetic field data are acquired simultaneously, so that the two data can be processed and noise reduced under the same conditions.

[0058] As an example, step S11 may include the following sub-steps:

[0059] S111. After identifying two adjacent magnetic field sensors, acquire the magnetic field data collected by the two adjacent magnetic field sensors in real time.

[0060] S112. Perform magnetic compensation, filtering and suppression processing on each of the magnetic field data in sequence to obtain the data to be denoised and auxiliary data.

[0061] In one implementation, multiple highly consistent magnetic sensors can be pre-deployed, spaced a certain distance apart. These sensors can be placed on one wing of the aircraft or platform, or on either wing. Preferably, a magnetic cleanup treatment is required at a predetermined distance (e.g., 1m) around the placement location.

[0062] Next, data from two adjacent magnetic field sensors can be randomly acquired. Optionally, the distance between these two sensors only needs to ensure that the magnetic interference measured by the two sensors is different, thus ensuring that the magnetic interference they measure has a certain difference.

[0063] Optionally, data from the magnetic sensor can be collected simultaneously, and the data and sampling time can be recorded.

[0064] Next, the data measured by the magnetic sensor can be preprocessed, namely, the traditional aeromagnetic compensation method is used to remove the platform's magnetic interference, and the compensated data is processed by Butterworth bandpass filtering (optionally, the bandwidth of the filter needs to be set according to the signal to be detected).

[0065] To reduce the amount of data processed, the length of the data segment to be processed can be preset, and the length should be greater than the signal length. For example, a data length of 1 minute can be selected, and pairs of sensors can be selected for pairing and then noise suppression can be performed on each other.

[0066] In one implementation, noise can be further suppressed by using magnetic field data measured by two sensors.

[0067] The following section analyzes the method of suppressing magnetic noise using two magnetic sensors. Assume the magnetic fields measured by the two sensors are represented by B... mr1 B mr2 The data measured by the two magnetic sensors were first compensated using the traditional aeromagnetic compensation method (TLG) for the first magnetic field B. mr1 The compensated expression is:

[0068]

[0069] In the above formula, a i i = 1, 2, ..., 19 are 19 compensation coefficients, f i 1 Let i = 1, 2, 3, ..., 19 be the corresponding 19 basis functions, which are expressed as:

[0070] f1=cosα X f2 = cosα Y f3 = cosα Z , ;

[0071] f4 = T g cosα X cosα X f5 = T g cosα X cosα Y f6 = T g cosα X cosα Z , ;

[0072] f7 = T g cosα Y cosα Y f8 = T g cosα Y cosα Z , ;

[0073] f9 = T g cosα X (cosα X )′,f 10 =T g cosα X (cosα Y )′,f 11 =T g cosα X (cosα Z )′,;

[0074] f 12 =T g cosα Y (cosα X )′,f 13 =T g cosα Y (cosα Y )′,f 14 =T g cosα Y (cosα Z )′,;

[0075] f 15 =T g cosα Z (cosα X )′,f 16 =T g cosα Z (cosα Y )′,;

[0076] f 17 =lat,f 18 =long,f 19 =alt;

[0077] In the above formula, T g This represents the external Earth's magnetic field, which can be represented by a fluxgate magnetic field or obtained by measuring the magnetic field using a scalar magnetic sensor and passing it through a low-pass filter. (cosα) X )′,(cosα Y )′,(cosα Z )′ represent cosα respectively X cosα Y cosα Z The derivative of .

[0078] Similarly, for the second magnetic field B mr2 The compensated expression is:

[0079]

[0080] In the above formula, b i , i = 1, 2, ..., 19 are 19 compensation coefficients.

[0081] In practice, the target signal to be detected is usually a narrow-band signal. To improve the detection signal-to-noise ratio, it is usually necessary to perform bandpass filtering on the compensated data, denoted as "filter" here. The magnetic field data of the two magnetic sensors after filtering are expressed as follows:

[0082] B f1 (t) = filter(B) m1 (t)) (Formula 3);

[0083] B f2 (t) = filter(B) m2 (t)) (Formula 4);

[0084] For ease of explanation, the first magnetic field can be used as the data to be denoised (corresponding to the magnetic field data in Formula 3), and the second magnetic field can be used as the auxiliary data (corresponding to the magnetic field data in Formula 4).

[0085] S12. Perform addition and subtraction operations and time-domain processing on the data to be denoised and the auxiliary data to obtain preprocessed data.

[0086] In one embodiment, the data to be denoised and the auxiliary data can be added together, and then the data to be denoised and the auxiliary data can be subtracted. The result is used as preprocessed data, and then the preprocessed data is used for denoising.

[0087] In an optional embodiment, step S12 may include the following sub-steps:

[0088] S121. Perform superposition and subtraction operations on the data to be denoised and the auxiliary data respectively to obtain the first processed data and the second processed data.

[0089] Transforming the two sets of data above yields the following magnetic field data. Specifically, the first processed data can be represented by the following formula:

[0090] B df (t)=B f1 (t)+B f2 (t) (Formula 5);

[0091] The second processed data can be represented as follows:

[0092] B pf (t)=B f1 (t)-B f2 (t) (Formula 6);

[0093] In one calculation method, it can be assumed that the above formula (Formula 5) includes residual platform magnetic interference and other noise; similarly, (Formula 6) also includes platform magnetic interference and residual noise, and the residual platform magnetic interference in (Formula 5) and (Formula 6) has a certain correlation.

[0094] After performing a formulaic transformation (Formula 5), ​​the result can be shown in the following formula:

[0095] B df (t)=k(t·B air (t)+B n (t) (Formula 7);

[0096] Similarly, (Formula 6) can be transformed into the following formula:

[0097] B pf (t)=B air (t)+B n (t) (Formula 8).

[0098] In the above formula, k(t) indicates that the parameter k is time-varying and needs to be continuously updated. air (t) characterizes residual magnetic interference on the platform, etc., B n (t) represents noise.

[0099] S122. Calculate the difference between the first processed data and the second processed data to obtain the difference data.

[0100] S123. Perform time-domain processing on the difference data to obtain preprocessed data.

[0101] Here, we assume that the noise in the two formulas above is the same noise. Subtracting the two equations (equation 7 and equation 8) yields the difference data, which can be represented as follows:

[0102] dB(t) = (k(t) - 1)·B air (t) (Formula 9)

[0103] Then, the difference data (Formula (9)) is used to perform time-domain correlation processing with the first processed data (Formula 7) and the second processed data (Formula 8) respectively to obtain the preprocessed data.

[0104] In an optional embodiment, step S123 may include the following sub-steps:

[0105] S1231. The first processed data and the second processed data are subjected to time-domain correlation processing using the difference data to obtain first time-domain data and second time-domain data.

[0106] S1232. Calculate the ratio of the first time-domain data to the second time-domain data to obtain the correlation coefficient.

[0107] S1233. Calculate preprocessed data using the correlation coefficient, the first processed data, and the second processed data.

[0108] In one embodiment, assume B air and noise B n If they are uncorrelated, then by performing time-domain correlation processing on the difference data (formula (9)) and the first processed data (formula (7), the first time-domain data can be obtained, which can be expressed as follows:

[0109]

[0110] By performing time-domain correlation processing on the difference data (formula (9)) and the second processed data (formula (8), the second time-domain data can be obtained, which can be expressed as follows:

[0111]

[0112] The correlation coefficient can be obtained by comparing the first time-domain data with the second time-domain data using formulas 10 and 11 above. The correlation coefficient can be expressed as follows:

[0113]

[0114] This can be simplified by multiplying both sides of (Equation 8) by k(t), resulting in:

[0115] k(t)·B pf (t)=k(t·B air (t)+k(t)·B n (t) (Formula 13);

[0116] Subtracting (Equation 7) from (Equation 13) yields:

[0117] k(t)·B pf (t)-B df (t)=k(t·B n (t)-B n (t) (Formula 14);

[0118] The preprocessed data in the above formula can then be expressed as:

[0119]

[0120] S13. The preprocessed data is used to perform noise reduction processing on the data to be denoised to obtain denoised data.

[0121] In one embodiment, the data to be denoised can be subtracted from the noise to eliminate the noise.

[0122] Specifically, the remaining denoised data after denoising can be calculated using the following formula:

[0123] B p2 (t)=B f1 (t)-B n (t) (Formula 16).

[0124] After processing the data to be denoised, if you want to denoise the auxiliary data, you can swap the data from the two magnetic sensors and then repeat the above steps. For example, you can use the data to be denoised as the auxiliary data, and the auxiliary data as the data to be denoised, and then perform the above operation.

[0125] The above method can be used to obtain the corresponding noise-suppressed magnetic field data for other magnetic sensors.

[0126] To enable real-time processing, the algorithm needs to perform relevant calculations and noise reduction within a certain data length. The data length is typically set to be such that it does not affect the length of the detected signal, and can be determined based on the maximum signal width. Here, the data length is set to t. c minutes, sampling rate f s Then the window length is n = t c ·60·f s By moving the pointer point by point, you can obtain the results after real-time processing.

[0127] Reference Figure 2 The diagram illustrates an operation flowchart of a noise reduction method for airborne magnetic field data provided in an embodiment of the present invention.

[0128] Specifically, in one implementation, the operation flow of the noise reduction method for airborne magnetic field data may include the following steps:

[0129] The first step is to obtain two sets of magnetic field data.

[0130] The second step is to perform magnetic compensation and bandpass filtering on each magnetic field data.

[0131] The third step is to add and subtract the two processed magnetic field data.

[0132] The fourth step is to calculate the difference between the sum and subtraction of the two sets of data.

[0133] The fifth step is to calculate the preprocessed data using the data difference.

[0134] The sixth step is to perform noise reduction based on the preprocessed data.

[0135] In this embodiment, the present invention provides a noise reduction method for aviation magnetic field data. Its beneficial effect is that after acquiring magnetic field data from two adjacent magnetic field sensors, the present invention performs magnetic compensation, filtering and suppression processing on the two magnetic field data, calculates preprocessed data using the two processed magnetic field data, and then uses the preprocessed data for noise reduction, thereby improving the noise reduction effect.

[0136] This invention also provides a noise reduction device for airborne magnetic field data, see [link to relevant documentation]. Figure 3 The diagram shows a structural schematic of a noise reduction device for airborne magnetic field data provided in an embodiment of the present invention.

[0137] As an example, the noise reduction device for airborne magnetic field data may include:

[0138] The data acquisition module 301 is used to acquire the data to be denoised and the auxiliary data respectively. The data to be denoised and the auxiliary data are magnetic field data obtained after magnetic compensation of the data collected by two adjacent magnetic field sensors.

[0139] The calculation module 302 is used to perform addition and subtraction operations and time-domain processing on the data to be denoised and the auxiliary data to calculate the preprocessed data;

[0140] The noise reduction processing module 303 is used to perform noise reduction processing on the data to be denoised using the preprocessed data to obtain noise-reduced data.

[0141] Optionally, the computing module is further configured to:

[0142] The data to be denoised and the auxiliary data are superimposed and subtracted respectively to obtain the first processed data and the second processed data.

[0143] Calculate the difference between the first processed data and the second processed data to obtain the difference data;

[0144] The difference data is processed in the time domain to obtain preprocessed data.

[0145] Optionally, the computing module is further configured to:

[0146] The difference data is used to perform time-domain correlation processing on the first processed data and the second processed data respectively to obtain the first time-domain data and the second time-domain data.

[0147] Calculate the ratio of the first time-domain data to the second time-domain data to obtain the correlation coefficient;

[0148] Preprocessed data is calculated using the correlation coefficient, the first processed data, and the second processed data.

[0149] Optionally, the data acquisition module is further configured to:

[0150] After identifying two adjacent magnetic field sensors, the magnetic field data collected by the two adjacent magnetic field sensors are acquired in real time.

[0151] Each of the magnetic field data is sequentially subjected to magnetic compensation, filtering, and suppression processing to obtain the data to be denoised and auxiliary data.

[0152] This invention also provides a flight electronic device, see [link to relevant documentation]. Figure 4 The present invention provides a schematic diagram of the structure of a flight electronic device according to an embodiment of the present invention.

[0153] The flight electronic device is applicable to the noise reduction method for aviation magnetic field data as described in the above embodiments, wherein, as an example, the flight electronic device may be equipped with at least two magnetic field sensors;

[0154] The at least two magnetic field sensors are respectively disposed on the two wings or the same side of the flight electronic device, and the at least two magnetic field sensors are spaced apart from each other.

[0155] In one implementation case, the flight electronics could be used for magnetic exploration of aircraft. For example... Figure 4 As shown.

[0156] One magnetometer can be installed on each wingtip of the magnetic survey aircraft. The magnetic field data measured by the two magnetometers are first processed by the platform's magnetic compensation algorithm, and then noise reduction is performed using noise suppression methods. The data shown here is the result after filtering with a Butterworth filter with a bandwidth of 0.04-0.6Hz. The specific processing is as follows:

[0157] The first step is to acquire magnetic field data from two magnetic sensors on the magnetic exploration aircraft. (Refer to...) Figure 5 The diagram shows a waveform of the magnetic field data measured by the two magnetic sensors before compensation, according to an embodiment of the present invention.

[0158] Figure 5 The solid black line represents the magnetic field data measured by the magnetic sensor on the right, while the dashed gray line represents the magnetic field data measured by the magnetic sensor on the left.

[0159] The second step is to perform platform magnetic interference compensation on the measurement data of the two magnetic sensors.

[0160] Reference Figure 6-7 The figures show the waveforms of the magnetic field data before and after compensation of the right probe provided in one embodiment of the present invention and the waveforms of the magnetic field data before and after compensation of the left probe provided in another embodiment of the present invention.

[0161] above Figure 6-7In both figures, the solid black lines represent the uncompensated magnetic field measurements, while the gray dotted lines represent the compensated results.

[0162] The third step involves processing the compensated data from the two magnetic sensors using the noise reduction algorithm proposed in this patent.

[0163] Reference Figure 8-9 The diagrams show the waveforms of the right probe after compensation and processing, as well as the waveforms of the left probe after compensation and processing, as provided in one embodiment of the present invention.

[0164] In the image above, the gray dotted line represents the result after compensation, and the black solid line represents the result after processing by this patented algorithm. It can be seen that the noise suppression effect is very obvious.

[0165] This invention addresses the problem that residual magnetic interference remains significant during airborne magnetic detection despite methods such as platform magnetic interference compensation and diurnal noise suppression. It provides a method that utilizes real-time magnetic field data measured by two magnetic sensors at different locations on the same platform. By superimposing and subtracting the data, information difference data is constructed. Then, correlation denoising is performed using the newly constructed data and the difference between the two. This method significantly reduces noise without damaging the signal, effectively improving the detection signal-to-noise ratio.

[0166] This invention can also be applied to magnetic noise suppression when multiple magnetic sensors are installed on a magnetic exploration platform.

[0167] Those skilled in the art will understand that, for ease of description 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.

[0168] Furthermore, this application also provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the noise reduction method for airborne magnetic field data as described in the above embodiments.

[0169] Furthermore, embodiments of this application also provide a computer-readable storage medium storing a computer-executable program for causing a computer to perform the noise reduction method for airborne magnetic field data as described in the above embodiments.

[0170] 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 noise reduction with respect to airborne magnetic field data, characterized in that, The method comprises: respectively acquiring to-be-noise-reduced data and auxiliary data, the to-be-noise-reduced data and the auxiliary data being magnetic field data obtained after magnetic compensation is performed on data collected by two adjacent magnetic field sensors; performing addition and subtraction operations and time domain processing on the to-be-noise-reduced data and the auxiliary data to calculate preprocessed data; performing noise reduction processing on the to-be-noise-reduced data by using the preprocessed data to obtain noise-reduced data; the operation of performing addition and subtraction operations and time domain processing on the to-be-noise-reduced data and the auxiliary data to calculate preprocessed data comprises: respectively performing superposition operations and subtraction operations on the to-be-noise-reduced data and the auxiliary data to obtain first processing data and second processing data; calculating a difference value of the first processing data and the second processing data to obtain difference data; performing time domain processing on the difference data to obtain preprocessed data; the operation of performing time domain processing on the difference data to obtain preprocessed data comprises: respectively performing time domain correlation processing on the first processing data and the second processing data by using the difference data to obtain first time domain data and second time domain data; calculating a ratio of the first time domain data and the second time domain data to obtain a correlation coefficient; calculating preprocessed data by using the correlation coefficient, the first processing data, and the second processing data.

2. The method of claim 1, wherein, the operation of respectively acquiring to-be-noise-reduced data and auxiliary data comprises: after two adjacent magnetic field sensors are determined, acquiring magnetic field data collected by the two adjacent magnetic field sensors in real time; respectively performing magnetic compensation, filtering, and suppression processing on each of the magnetic field data in sequence to obtain to-be-noise-reduced data and auxiliary data.

3. A device for reducing noise in airborne magnetic field data, characterized in that The device comprises: an acquisition module configured to respectively acquire to-be-noise-reduced data and auxiliary data, the to-be-noise-reduced data and the auxiliary data being magnetic field data obtained after magnetic compensation is performed on data collected by two adjacent magnetic field sensors; an operation module configured to perform addition and subtraction operations and time domain processing on the to-be-noise-reduced data and the auxiliary data to calculate preprocessed data; a noise reduction processing module configured to perform noise reduction processing on the to-be-noise-reduced data by using the preprocessed data to obtain noise-reduced data; the operation of the operation module further comprises: respectively performing superposition operations and subtraction operations on the to-be-noise-reduced data and the auxiliary data to obtain first processing data and second processing data; calculating a difference value of the first processing data and the second processing data to obtain difference data; performing time domain processing on the difference data to obtain preprocessed data; the operation of the operation module further comprises: respectively performing time domain correlation processing on the first processing data and the second processing data by using the difference data to obtain first time domain data and second time domain data; calculating a ratio of the first time domain data and the second time domain data to obtain a correlation coefficient; calculating preprocessed data by using the correlation coefficient, the first processing data, and the second processing data.

4. The device for noise reduction on airborne magnetic field data according to claim 3, wherein, the operation of the acquisition module further comprises: after two adjacent magnetic field sensors are determined, acquiring magnetic field data collected by the two adjacent magnetic field sensors in real time; respectively performing magnetic compensation, filtering, and suppression processing on each of the magnetic field data in sequence to obtain to-be-noise-reduced data and auxiliary data.

5. An airborne electronic device, characterized by The device is suitable for the method for reducing noise of aviation magnetic field data according to any one of claims 1-2, and the device is provided with at least two magnetic field sensors. The at least two magnetic field sensors are respectively arranged on two wings or the same side of the flight electronic device, and the at least two magnetic field sensors are spaced apart from each other.

6. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer executable program, and the computer executable program is used for making the computer execute the method for reducing noise of aviation magnetic field data according to any one of claims 1-2.

Images