An angle increment-based interference magnetic field compensation method and system

Abstract

The present application relates to target magnetic anomaly signal detection technical field, especially to a kind of interference magnetic field compensation method and system based on angle increment.The three-axis vector magnetic field value caused by the specific maneuver angle of unmanned aerial vehicle aeromagnetic survey system during flight according to specific trajectory is collected, and the total field value of magnetic field during the flight of unmanned aerial vehicle aeromagnetic survey system is collected;Three-axis vector magnetic field value and total field value of magnetic field are extracted;The change of maneuver angle during the flight of the unmanned aerial vehicle aeromagnetic survey system is calculated;Total field value increment is extracted;Cosine value is used to form base function, and total field value increment is used to build interference magnetic field compensation model based on angle increment, and the first order compensation model coefficient is obtained by using ridge estimation method;The error after compensation of interference magnetic field compensation model is calculated, and the second order compensation coefficient is obtained by using ridge estimation method.The present application realizes real-time, fast compensation to maneuver noise interference, so as to realize the extraction of time-domain waveform of weak target magnetic anomaly signal.

Description

Technical Field

[0001] This invention relates to the field of target magnetic anomaly signal detection technology, and in particular to a method and system for compensating for interference magnetic fields based on angle increment. Background Technology

[0002] During the detection of magnetic anomaly signals, UAV aeromagnetic detection systems undergo maneuvers such as pitch, roll, and yaw due to aerodynamic factors. These maneuvers alter the distribution of the permanent, induced, and eddy current magnetic fields around the system, and are reflected in the target magnetic anomaly detection signal as maneuvering noise. The noise caused by platform maneuvers is one of the main noise sources in target magnetic anomaly signal detection. Furthermore, the amplitude of this noise is large, and its frequency band is within the same range as the target magnetic anomaly signal, making it difficult to separate the target signal from the noise generated by platform maneuvers.

[0003] Therefore, there is an urgent need for a method that can quickly and efficiently compensate for maneuvering noise in the high-speed detection of target magnetic anomaly signals by UAV aeromagnetic detection systems, overcoming the problem of being unable to detect and extract weak ferromagnetic target magnetic anomaly signals in the context of strong maneuvering noise. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide an interference magnetic field compensation method and system based on angle increment, so as to solve the problem that the prior art cannot detect and extract the magnetic anomaly signal of weak ferromagnetic targets under strong maneuvering noise background.

[0005] To achieve the above and other related objectives, the present invention provides a method for compensating for interfering magnetic fields based on angle increments, comprising:

[0006] S1. Use a fluxgate magnetometer to collect the three-axis vector magnetic field value caused by a specific maneuver angle during the flight of the UAV airborne magnetic detection system along a specific trajectory, and use an optical pump magnetometer to collect the total magnetic field value during the flight of the UAV airborne magnetic detection system.

[0007] S2. Use wavelet decomposition and reconstruction algorithms to extract the three-axis vector magnetic field values ​​and the total magnetic field value of a specific frequency band;

[0008] S3. Calculate the change in maneuver angle during the flight of the UAV aeromagnetic detection system using the three-axis vector magnetic field values ​​collected by the fluxgate magnetometer;

[0009] S4. Use wavelet decomposition and reconstruction algorithm to extract the angle increment value calculated from the three-axis vector magnetic field value and the total field value increment caused by the maneuver angle increment in the total field value of the optical pump;

[0010] S5. The cosine value of the maneuver angle increment generated by the specific maneuver angle is used to construct the basis function f. i Furthermore, an interference magnetic field compensation model based on the angle increment is constructed using the total field value increment caused by the maneuver angle increment, and the first-order compensation model coefficients a are obtained using the ridge estimation method. i ;

[0011] S6. Calculate the total field enhancement value of the optical pump and the error Er after compensation by the interference magnetic field compensation model based on the angle increment, and then use the basis function f again. i A system of linear equations is constructed using the error Er, and the second-order compensation coefficient b is obtained by solving the ridge estimation method. i .

[0012] In one embodiment of the present invention, the specific trajectory is the S-shaped trajectory followed by the unmanned aerial magnetic detection system during flight.

[0013] In one embodiment of the present invention, the specific maneuver angles include pitch, roll, and yaw maneuver angles.

[0014] In one embodiment of the present invention, the specific frequency band is 0-5Hz.

[0015] In one embodiment of the present invention, the step S5 of constructing an interference magnetic field compensation model based on the angle increment using the total field value increment caused by the maneuver angle increment includes:

[0016]

[0017] Among them, B H Let B1, B2, and B3 be the scalar values ​​of the mobile interference magnetic field, respectively, representing the permanent magnetic field, induced magnetic field, and eddy current magnetic field, and a1, a2, a3, ... a 21 These are the coefficients of the permanent magnetic field, the induced magnetic field, and the eddy current magnetic field, respectively.

[0018] Let u = cosΔθ x v=cosΔθ y w = cosΔθ z Then formula (1) can be simplified to:

[0019]

[0020] Assuming the geomagnetic field B e If it is a constant, then formula (2) simplifies to formula (3):

[0021]

[0022] Equation (3) is further simplified to obtain equation (4):

[0023]

[0024] Formula (4) is further simplified according to the matrix operation rules to obtain formula (5):

[0025]

[0026] Further, we obtain formula (6):

[0027]

[0028] Equation (6) is further simplified to obtain equation (7):

[0029]

[0030] in,

[0031] Formula (7) is finally simplified to Formula (8):

[0032]

[0033] Among them, a i For the nine parameters to be determined in the model, f i (u,v,w) are nine basis functions composed of the cosine functions of the three maneuver angles: roll, pitch, and yaw. Formula (8) is the interference magnetic field compensation model of the UAV aeromagnetic detection system based on angle increment.

[0034] In one embodiment of the present invention, the calculation of the maneuver angle change during the flight of the UAV aeromagnetic detection system in step S3 includes:

[0035]

[0036] Where, θ x θ is the roll angle generated by the aircraft's roll maneuver. y θ is the yaw angle produced by the aircraft's yaw maneuver. z The pitch angle is the angle generated by the aircraft's pitch maneuver, and x1, y1, and z1 are the magnetic field component values ​​measured by the fluxgate magnetometer in the x-axis, y-axis, and z-axis directions, respectively.

[0037] The present invention also provides an interference magnetic field compensation system based on angle increment, comprising:

[0038] A fluxgate magnetometer is used to collect the three-axis vector magnetic field values ​​caused by a specific maneuver angle during the flight of an unmanned aerial vehicle (UAV) airborne magnetic detection system along a specific trajectory.

[0039] Optically pumped magnetometer, used to collect the total magnetic field value during the flight of UAV airborne magnetic detection system;

[0040] The wavelet decomposition and reconstruction algorithm unit is used to extract the three-axis vector magnetic field values ​​collected by the fluxgate magnetometer and the total magnetic field value collected by the optical pump magnetometer in a specific frequency band.

[0041] The first calculation unit is used to calculate the change in maneuver angle during the flight of the UAV aeromagnetic detection system using the three-axis vector magnetic field values ​​collected by the fluxgate magnetometer.

[0042] The extraction unit is used to extract the angle increment value calculated from the three-axis vector magnetic field value and the total field value increment caused by the maneuver angle increment in the total field value of the optical pump using wavelet decomposition and reconstruction algorithm;

[0043] The model building unit is used to construct the basis function f using the cosine value of the maneuver angle increment generated by the specific maneuver angle. i Furthermore, an interference magnetic field compensation model based on the angle increment is constructed using the total field value increment caused by the maneuver angle increment, and the first-order compensation model coefficients a are obtained using the ridge estimation method. i ;

[0044] The second calculation unit is used to calculate the total field enhancement value of the optical pump and the error Er after compensation by the interference magnetic field compensation model based on the angle increment, and again uses the basis function f i A system of linear equations is constructed using the error Er, and the second-order compensation coefficient b is obtained by solving the ridge estimation method. i .

[0045] The present invention also provides an electronic device, including a processor and a memory, wherein the memory stores program instructions, and the processor executes the program instructions to implement the above-described method for compensation of interference magnetic fields based on angle increment.

[0046] As described above, the interference magnetic field compensation method and system based on angle increment of the present invention has the following beneficial effects:

[0047] (1) The interference magnetic field compensation method based on angle increment of the present invention can overcome the problem that the traditional TL aeromagnetic compensation model cannot quickly and effectively compensate for the interference magnetic field generated by the maneuver during the detection of magnetic anomaly signals of ferromagnetic targets by the UAV magnetic detection system. The method of the present invention can extract the three-axis vector magnetic field value generated by the aircraft maneuver and the total field value of the optically pumped magnetometer in the 0-5Hz range detected by the fluxgate magnetometer under various complex maneuver noise and other environmental noise backgrounds, thereby achieving the suppression of maneuver noise of the UAV magnetic detection system and the effective extraction of the target magnetic anomaly signal.

[0048] (2) This invention can calculate the angle values ​​of pitch, roll, and yaw maneuvers based on the three-axis vector magnetic field values ​​of the fluxgate magnetometer, and extract the angle increment values ​​of pitch, roll, and yaw maneuvers, as well as the total field increment value corresponding to the optical pump magnetometer, through wavelet decomposition and reconstruction algorithms. After processing by the above algorithms, a linear equation of the compensation model can be constructed, but it still cannot solve the problem of complete error compensation of maneuver noise by the compensation model. The embodiments of this invention overcome this shortcoming by adopting an iterative strategy in the process of solving the parameters of the compensation model. The cosine values ​​of the angle increments generated by maneuvers such as roll, pitch, and yaw are used to construct the basis function f. i A disturbance magnetic field compensation model based on the angle increment is constructed by considering the total field increment caused by the maneuver angle increment, and the first-order compensation model coefficients α are obtained by using the ridge estimation method. i .

[0049] (3) This invention calculates the total field enhancement value of the optical pump and the error Er after compensation by the interference magnetic field compensation model based on the angle increment, and then uses the basis function f again. i A system of linear equations was constructed with Er, and the second-order compensation coefficient b was obtained by solving the ridge estimation method. i Therefore, this invention can achieve real-time and rapid compensation for motor noise interference, thereby enabling the extraction of time-domain waveforms of weak target magnetic anomaly signals. Attached Figure Description

[0050] Figure 1 A flowchart illustrating the process of the interference magnetic field compensation method based on angle increment provided in this application embodiment.

[0051] Figure 2 The “S”-shaped detection track of the interference magnetic field compensation method based on angle increment provided in the embodiments of this application.

[0052] Figure 3 The diagram shows the parameter solution scheme for the compensation model of the interference magnetic field compensation method based on angle increment provided in the embodiments of this application.

[0053] Figure 4 The total magnetic field compensation result of the UAV magnetic detection system flying at a certain altitude above the ground, based on the angle increment interference magnetic field compensation method provided in the embodiments of this application. Detailed Implementation

[0054] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0055] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0056] Please see Figure 1 , Figure 1 This is a flowchart illustrating the process of an angle-increment-based interference magnetic field compensation method provided in an embodiment of this application. The present invention provides an angle-increment-based interference magnetic field compensation method, comprising:

[0057] Step S1: Use a fluxgate magnetometer to collect the three-axis vector magnetic field value caused by a specific maneuver angle during the flight of the UAV airborne magnetic detection system along a specific trajectory, and use an optical pump magnetometer to collect the total magnetic field value during the flight of the UAV airborne magnetic detection system.

[0058] Specifically, in step S1, a fluxgate magnetometer is used to collect the three-axis vector magnetic field values ​​caused by the pitch, roll, and yaw maneuvers during the flight of the UAV airborne magnetic detection system along a specific "S"-shaped trajectory. An optically pumped magnetometer is used to collect the total magnetic field value during flight. The flight trajectory of the UAV airborne magnetic detection system is as follows: Figure 2 As shown.

[0059] Step S2: Use wavelet decomposition and reconstruction algorithm to extract the three-axis vector magnetic field values ​​collected by the fluxgate magnetometer and the total magnetic field value collected by the optical pump magnetometer in a specific frequency band.

[0060] Specifically, in step S2, wavelet decomposition and reconstruction algorithms are used to extract the three-axis vector magnetic field values ​​of the fluxgate magnetometer and the total magnetic field value of the optical pump magnetometer in the frequency band of 0-5Hz.

[0061] Step S3: Calculate the change in maneuver angle during the flight of the UAV aeromagnetic detection system using the three-axis vector magnetic field values ​​collected by the fluxgate magnetometer.

[0062] Specifically, in step S3, the maneuver angle change during the flight of the UAV aeromagnetic detection system is calculated using the three-axis vector magnetic field values ​​measured by the fluxgate magnetometer. θ x θ is the roll angle generated by the aircraft's roll maneuver. y θ is the yaw angle produced by the aircraft's yaw maneuver. z The pitch angle is generated by the aircraft's pitch maneuver. x1, y1, and z1 are the magnetic field components measured along the x-axis, y-axis, and z-axis of the fluxgate, respectively.

[0063]

[0064] Step S4: Use wavelet decomposition and reconstruction algorithm to extract the angle increment value calculated from the three-axis vector magnetic field value and the total field value increment caused by the maneuver angle increment in the total field value of the optical pump.

[0065] Specifically, in step S4, wavelet decomposition and reconstruction algorithms are used to extract the angle increment value calculated from the three-axis vector magnetic field values ​​and the total field value increment caused by the maneuvering angle increment in the total optical pumping field value. The total optical pumping field value refers to the magnetic field value measured by the sensor.

[0066] Step S5: Construct a basis function f using the cosine value of the maneuver angle increment generated by the specific maneuver angle. i Furthermore, an interference magnetic field compensation model based on the angle increment is constructed using the total field value increment caused by the maneuver angle increment, and the first-order compensation model coefficients a are obtained using the ridge estimation method. i .

[0067] Step S6: Calculate the total field enhancement value of the optical pump and the error Er after compensation by the interference magnetic field compensation model based on the angle increment, and then use the basis function f again. i A system of linear equations is constructed using the error Er, and the second-order compensation coefficient b is obtained by solving the ridge estimation method. i Specifically, the optical pumping total field enhancement value refers to the increment of the optical pumping total field.

[0068] This invention addresses the problem that, in the process of detecting magnetic anomaly signals of a target using a magnetic detection system for an unmanned aerial vehicle (UAV) platform, noise caused by platform maneuvering is one of the main noise sources. Moreover, the noise source has a large amplitude and its frequency band is in the same range as the target signal, making it difficult to separate the target signal from the noise caused by platform maneuvering.

[0069] Specifically, in step S5, the cosine value of the angle increment generated by maneuvers such as "roll," "pitch," and "yaw" is used to construct the basis function f. iThe model for compensating for interference magnetic fields based on the angle increment is constructed using the total field value increment caused by the maneuver angle increment. This construction includes:

[0070]

[0071] Among them, B H Let B1, B2, and B3 be the scalar values ​​of the mobile interference magnetic field, respectively, representing the permanent magnetic field, induced magnetic field, and eddy current magnetic field, and a1, a2, a3, ... a 21 These are the coefficients of the permanent magnetic field, the induced magnetic field, and the eddy current magnetic field, respectively.

[0072] Let u = cosΔθ x v=cosΔθ y w = cosΔθ z Then formula (1) can be simplified to:

[0073]

[0074] Within the operating area of ​​the magnetic detection system, the Earth's magnetic field changes relatively slowly. Assume the Earth's magnetic field B... e If it is a constant, then formula (2) simplifies to formula (3):

[0075]

[0076] Equation (3) is further simplified to obtain equation (4):

[0077]

[0078] Formula (4) is further simplified according to the matrix operation rules to obtain formula (5):

[0079]

[0080] Further, we obtain formula (6):

[0081]

[0082] Equation (6) is further simplified to obtain equation (7):

[0083]

[0084] in,

[0085] In implementing the detection mission, the UAV magnetic detection system operates at a relatively slow speed to ensure low-altitude flight safety. Furthermore, the UAV's fuselage is primarily constructed of high-hardness non-metallic materials, containing very little metallic material. Therefore, according to Faraday's law of electromagnetic induction, the electromagnetic field generated by the metal components of the fuselage cutting magnetic field lines in the Earth's magnetic field is very small and decays rapidly. Additionally, the optically pumped magnetometer is located at a distance greater than 1 meter from the fuselage. Since the magnetic field decays cubically with distance in space, the eddy current magnetic field detected by the optically pumped magnetometer is negligible, and equation (7) is ultimately simplified to equation (8):

[0086]

[0087] Among them, a i For the nine parameters to be determined in the model, f i (u,v,w) are nine basis functions composed of the cosine functions of the three maneuver angles: roll, pitch, and yaw. Formula (8) is the interference magnetic field compensation model of the UAV aeromagnetic detection system based on angle increment.

[0088] The first-order compensation model coefficients α are obtained using the ridge estimation method. i The total field enhancement value of the optical pumping and the error Er after compensation by the interference magnetic field compensation model based on the angle increment are calculated. The basis function f is then used again. i A system of linear equations was constructed with Er, and the second-order compensation coefficient b was obtained by solving the ridge estimation method. i The solution scheme for the compensation model parameters is as follows: Figure 3 As shown. Finally, Figure 4 The figure shown is the result of compensation for maneuvering noise using the angle increment compensation model. The peak-to-peak value of the interference magnetic field of the UAV maneuvering is 36 nT. After compensation using the interference magnetic field compensation model based on the angle increment, the noise of the interference magnetic field of the UAV maneuvering is suppressed to 0.3 nT.

[0089] This invention also provides an interference magnetic field compensation system based on angle increments, comprising:

[0090] A fluxgate magnetometer is used to collect the three-axis vector magnetic field values ​​caused by a specific maneuver angle during the flight of an unmanned aerial vehicle (UAV) airborne magnetic detection system along a specific trajectory.

[0091] Optically pumped magnetometer, used to collect the total magnetic field value during the flight of UAV airborne magnetic detection system;

[0092] The wavelet decomposition and reconstruction algorithm unit is used to extract the three-axis vector magnetic field values ​​collected by the fluxgate magnetometer and the total magnetic field value collected by the optical pump magnetometer in a specific frequency band.

[0093] The first calculation unit is used to calculate the change in maneuver angle during the flight of the UAV aeromagnetic detection system using the three-axis vector magnetic field values ​​collected by the fluxgate magnetometer.

[0094] The extraction unit is used to extract the angle increment value calculated from the three-axis vector magnetic field value and the total field value increment caused by the maneuver angle increment in the total field value of the optical pump using wavelet decomposition and reconstruction algorithm;

[0095] The model building unit is used to construct the basis function f using the cosine value of the maneuver angle increment generated by the specific maneuver angle. i Furthermore, an interference magnetic field compensation model based on the angle increment is constructed using the total field value increment caused by the maneuver angle increment, and the first-order compensation model coefficients a are obtained using the ridge estimation method. i ;

[0096] The second calculation unit is used to calculate the total field enhancement value of the optical pump and the error Er after compensation by the interference magnetic field compensation model based on the angle increment, and again uses the basis function f i A system of linear equations is constructed using the error Er, and the second-order compensation coefficient b is obtained by solving the ridge estimation method. i .

[0097] The present invention also provides an electronic device, including a processor and a memory, wherein the memory stores program instructions, and the processor executes the program instructions to implement the above-described method for compensation of interference magnetic fields based on angle increment.

[0098] In summary, the angle-increment-based interference magnetic field compensation method of this invention overcomes the problem that traditional TL aeromagnetic compensation models cannot quickly and effectively compensate for interference magnetic fields generated by maneuvers during the detection of magnetic anomaly signals from ferromagnetic targets by UAV magnetic detection systems. This invention's method can extract the three-axis vector magnetic field values ​​generated by aircraft maneuvers and the total field value of the optically pumped magnetometer within the 0-5Hz range detected by the fluxgate magnetometer under various complex maneuvering noise and other environmental noise backgrounds through wavelet decomposition and reconstruction algorithms. This achieves suppression of maneuvering noise in the UAV magnetic detection system and effective extraction of target magnetic anomaly signals.

[0099] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for compensating for interfering magnetic fields based on angle increments, characterized in that, include: S1. Use a fluxgate magnetometer to collect the three-axis vector magnetic field value caused by a specific maneuver angle during the flight of the UAV airborne magnetic detection system along a specific trajectory, and use an optical pump magnetometer to collect the total magnetic field value during the flight of the UAV airborne magnetic detection system. S2. Use wavelet decomposition and reconstruction algorithms to extract the three-axis vector magnetic field values ​​and the total magnetic field value of a specific frequency band; S3. Calculate the change in maneuver angle during the flight of the UAV aeromagnetic detection system using the three-axis vector magnetic field values ​​collected by the fluxgate magnetometer; S4. Use wavelet decomposition and reconstruction algorithm to extract the angle increment value calculated from the three-axis vector magnetic field value and the total field value increment caused by the maneuver angle increment in the total field value of the optical pump; S5, the cosine value of the increment of the steering angle generated by the specific steering angle is used to form a base function f i , and the increment of the total field value caused by the increment of the steering angle is used to construct an angle-increment-based interference magnetic field compensation model, and a ridge estimation method is used to solve the first-order compensation model coefficient a i ; S6. Calculate the total field enhancement value of the optical pump and the error Er after compensation by the interference magnetic field compensation model based on the angle increment, and then use the basis function f again. i A system of linear equations is constructed using the error Er, and the second-order compensation coefficient b is obtained by solving the ridge estimation method. i .

2. The interference magnetic field compensation method based on angle increment according to claim 1, characterized in that: The specific trajectory refers to the S-shaped trajectory followed by the UAV aeromagnetic detection system during flight.

3. The interference magnetic field compensation method based on angle increment according to claim 1, characterized in that: The specific maneuver angles include pitch, roll, and yaw maneuvers.

4. The interference magnetic field compensation method based on angle increment according to claim 1, characterized in that: The specific frequency range is 0-5Hz.

5. A method for compensating for interference magnetic fields based on angle increments according to any one of claims 1 to 4, characterized in that, Step S5, which involves constructing an interference magnetic field compensation model based on the angle increment using the total field value increment caused by the maneuver angle increment, includes: Among them, B H Let B1, B2, and B3 be the scalar values ​​of the mobile interference magnetic field, respectively, representing the permanent magnetic field, induced magnetic field, and eddy current magnetic field, and a1, a2, a3, ... a 21 These are the coefficients of the permanent magnetic field, the induced magnetic field, and the eddy current magnetic field, respectively. Let u = cosΔθ x v=cosΔθ y w = cosΔθ z Then formula (1) can be simplified to: Assuming the geomagnetic field B e If it is a constant, then formula (2) simplifies to formula (3): Equation (3) is further simplified to obtain equation (4): Formula (4) is further simplified according to the matrix operation rules to obtain formula (5): Further, we obtain formula (6): Equation (6) is further simplified to obtain equation (7): in, Formula (7) is finally simplified to Formula (8): Among them, a i For the nine parameters to be determined in the model, f i (u,v,w) are nine basis functions composed of the cosine functions of the three maneuver angles: roll, pitch, and yaw. Formula (8) is the interference magnetic field compensation model of the UAV aeromagnetic detection system based on angle increment.

6. The interference magnetic field compensation method based on angle increment according to claim 5, characterized in that, The calculation of the maneuver angle change during the flight of the UAV aeromagnetic detection system in step S3 includes: Where, θ x θ is the roll angle generated by the aircraft's roll maneuver. y θ is the yaw angle produced by the aircraft's yaw maneuver. z The pitch angle is the angle generated by the aircraft's pitch maneuver, and x1, y1, and z1 are the magnetic field component values ​​measured by the fluxgate magnetometer in the x-axis, y-axis, and z-axis directions, respectively.

7. A disturbance magnetic field compensation system based on angle increment, characterized in that, include: A fluxgate magnetometer is used to collect the three-axis vector magnetic field values ​​caused by a specific maneuver angle during the flight of an unmanned aerial vehicle (UAV) airborne magnetic detection system along a specific trajectory. Optically pumped magnetometer, used to collect the total magnetic field value during the flight of UAV airborne magnetic detection system; The wavelet decomposition and reconstruction algorithm unit is used to extract the three-axis vector magnetic field values ​​collected by the fluxgate magnetometer and the total magnetic field value collected by the optical pump magnetometer in a specific frequency band. The first calculation unit is used to calculate the change in maneuver angle during the flight of the UAV aeromagnetic detection system using the three-axis vector magnetic field values ​​collected by the fluxgate magnetometer. The extraction unit is used to extract the angle increment value calculated from the three-axis vector magnetic field value and the total field value increment caused by the maneuver angle increment in the total field value of the optical pump using wavelet decomposition and reconstruction algorithm; The model building unit is used to construct the basis function f using the cosine value of the maneuver angle increment generated by the specific maneuver angle. i Furthermore, an interference magnetic field compensation model based on the angle increment is constructed using the total field value increment caused by the maneuver angle increment, and the first-order compensation model coefficients a are obtained using the ridge estimation method. i ; The second calculation unit is used to calculate the total field enhancement value of the optical pump and the error Er after compensation by the interference magnetic field compensation model based on the angle increment, and again uses the basis function f i A system of linear equations is constructed using the error Er, and the second-order compensation coefficient b is obtained by solving the ridge estimation method. i .

8. An electronic device comprising a processor and a memory, the memory storing program instructions, characterized in that: The processor executes program instructions to implement the interference magnetic field compensation method based on angle increment as described in any one of claims 1 to 6.

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