Aeromagnetic compensation method and aeromagnetic compensation system

Abstract

The present invention discloses an aeromagnetic compensation method and an aeromagnetic compensation system. The aeromagnetic compensation method is applied to an aeromagnetic compensation device, which is installed on an aircraft, and the aeromagnetic compensation device is wirelessly connected to a ground controller. The aeromagnetic compensation method includes: controlling the aeromagnetic compensation device to receive a compensation start instruction provided by the ground controller, and prompting to enter an aeromagnetic compensation flight mode based on the compensation start instruction; obtaining aeromagnetic compensation parameters in the aeromagnetic compensation flight mode, and feeding back the aeromagnetic compensation parameters to the ground controller, wherein the ground controller analyzes the aeromagnetic compensation results based on the aeromagnetic compensation parameters, and confirms whether the aeromagnetic compensation parameters are qualified; and storing the aeromagnetic compensation parameters in the control aeromagnetic compensation device when the aeromagnetic compensation results are qualified. The technical solution of the present application can effectively reduce the number of professionals on board and improve the automation of aeromagnetic compensation.

Description

Technical Field

[0001] The invention relates to the technical field of aeromagnetic measurement, and in particular to an aeromagnetic compensation method and an aeromagnetic compensation system. Background Art

[0002] Aeromagnetic survey is an earlier and more mature magnetic survey method in aerogeophysical prospecting. Generally, an aeromagnetic magnetometer and its supporting auxiliary equipment are loaded on an aircraft to measure the total field or gradient of the geomagnetic field at a pre-set survey line and altitude above the survey area. It can be applied to geoscience research, geological prospecting, resource exploration, engineering stability and environmental evaluation.

[0003] During the aeromagnetic measurement process, there are some ferromagnetic materials in the aircraft itself and the various equipment it carries, which can generate a constant magnetic field. The aircraft itself and the various equipment it carries can also generate an induced magnetic field under the action of the geomagnetic field. The cutting of the geomagnetic field during the movement of the aircraft can generate eddy current magnetic fields, and the currents in various electrical appliances and cables in the aircraft can also generate some magnetic fields. These constitute the magnetic interference of the aircraft, which will seriously affect the results of the aeromagnetic measurement.

[0004] At present, when conducting aeromagnetic compensation flight, a professional is required to board the aircraft to operate the aeromagnetic compensation instrument during the flight to complete the aeromagnetic compensation operation. However, with the development of the industry, the aeromagnetic measurement operation team has become less staffed, making it difficult to meet the requirements for professional personnel to board the aircraft. Summary of the invention

[0005] In view of the defects in the prior art, the present invention provides an aeromagnetic compensation method which can effectively reduce the number of professionals on board and improve the automation level of aeromagnetic compensation.

[0006] The present application provides an aeromagnetic compensation method, which is applied to an aeromagnetic compensation device, which is installed on an aircraft, and which is wirelessly connected to a ground controller. The aeromagnetic compensation method includes:

[0007] Controlling the aeromagnetic compensation device to receive a compensation start instruction provided by the ground controller, and prompting to enter an aeromagnetic compensation flight mode based on the compensation start instruction;

[0008] Acquiring aeromagnetic compensation parameters in the aeromagnetic compensation flight mode, and feeding back the aeromagnetic compensation parameters to the ground controller, wherein the ground controller analyzes an aeromagnetic compensation result based on the aeromagnetic compensation parameters, and confirms whether the aeromagnetic compensation result is qualified;

[0009] When the aeromagnetic compensation result is qualified, the aeromagnetic compensation parameter is stored in the control device for controlling the aeromagnetic compensation.

[0010] In one aspect, the step of obtaining aeromagnetic compensation parameters in the aeromagnetic compensation flight mode includes:

[0011] Acquiring a background value of the geomagnetic field during steady flight of the aircraft;

[0012] The aircraft is controlled to fly according to a predetermined action, and an aeromagnetic compensation parameter is obtained based on the geomagnetic field background value.

[0013] In one aspect, the step of entering the aeromagnetic compensation flight mode based on the compensation start instruction prompt comprises:

[0014] issuing a prompt message based on the compensation start instruction;

[0015] The aircraft is controlled to enter the aeromagnetic compensation flight mode through the prompt information.

[0016] In one aspect, the prompt information includes at least one of a countdown and flashing lights.

[0017] In one aspect, the wireless communication connection between the aeromagnetic compensation device and the ground controller is carried out by mobile communication and satellite communication.

[0018] In one aspect, after the step of feeding back the aeromagnetic compensation parameters to the ground controller, the method further comprises:

[0019] Controlling the aircraft to perform verification flight along a preset path, wherein the preset path includes at least one intersection;

[0020] Acquire a first magnetic field value and a second magnetic field value that successively pass through the same intersection;

[0021] comparing the difference between the first magnetic field value and the second magnetic field value to form a difference result;

[0022] Compare the difference result with the preset range, and if the difference result is within the preset range and the verification is passed, issue an end instruction;

[0023] If the difference result exceeds the preset range and the verification fails, the compensation start instruction is generated to perform aeromagnetic compensation again.

[0024] In order to solve the above problems, the present application also provides an aeromagnetic compensation method, which is applied to a ground controller, and the ground controller is wirelessly connected to an aeromagnetic compensation device, and the aeromagnetic compensation method includes:

[0025] Controlling the ground controller to generate a compensation start instruction, transmitting the compensation start instruction to the aeromagnetic compensation device, wherein the aeromagnetic compensation device receives the compensation start instruction, prompts to enter an aeromagnetic compensation flight mode based on the compensation start instruction, obtains aeromagnetic compensation parameters in the aeromagnetic compensation flight mode, and feeds back the aeromagnetic compensation parameters to the ground controller;

[0026] The ground controller receives the aeromagnetic compensation parameters, analyzes the aeromagnetic compensation results based on the aeromagnetic compensation parameters, and confirms whether the aeromagnetic compensation results are qualified, so as to control the aeromagnetic compensation device to store the aeromagnetic compensation parameters if the aeromagnetic compensation results are qualified.

[0027] In one aspect, the step of confirming whether the aeromagnetic compensation result is qualified comprises:

[0028] comparing the aeromagnetic compensation result with a preset standard;

[0029] If the aeromagnetic compensation result meets the preset standard, the aeromagnetic compensation parameter is qualified;

[0030] If the aeromagnetic compensation result exceeds the preset standard, the aeromagnetic compensation parameter is unqualified, and a compensation start instruction is generated again to perform aeromagnetic compensation again.

[0031] In order to solve the above problems, the present application also provides an aeromagnetic compensation system, the aeromagnetic compensation system comprising an aeromagnetic compensation device and a ground controller, the aeromagnetic compensation device is used to be installed on an aircraft, the ground controller is wirelessly connected to the aeromagnetic compensation device, the aeromagnetic compensation device comprises: a main controller and an aeromagnetic compensator, the aeromagnetic compensator is electrically connected to the main controller;

[0032] The ground controller is used to provide a compensation start instruction;

[0033] The main controller is used to receive the compensation start instruction, and prompt to enter the aeromagnetic compensation flight mode based on the compensation start instruction;

[0034] The aeromagnetic compensator is used to obtain aeromagnetic compensation parameters in the aeromagnetic compensation flight mode, and feed back the aeromagnetic compensation parameters to the ground controller;

[0035] The ground controller is further used to analyze the aeromagnetic compensation result based on the aeromagnetic compensation parameter, and confirm whether the aeromagnetic compensation result is qualified;

[0036] The main controller is further configured to store the aeromagnetic compensation parameters if the aeromagnetic compensation result is qualified.

[0037] In one aspect, the aeromagnetic compensation device further includes an attitude sensor and an analog signal collector, wherein the attitude sensor and the analog signal collector are both electrically connected to the aeromagnetic compensator, and the analog signal collector is also electrically connected to the main controller;

[0038] The attitude sensor is used to obtain the flight attitude data of the aircraft and send the flight attitude data to the aeromagnetic compensator;

[0039] The analog signal collector is used to receive control instructions from the ground controller, and convert the control instructions and send them to the aeromagnetic compensator.

[0040] The beneficial effects of the present invention are as follows: the aeromagnetic compensation device installed on the aircraft is remotely controlled by the ground controller. The aeromagnetic compensation parameters obtained by the aeromagnetic compensation device can also be wirelessly transmitted to the ground controller, and the ground controller is cooperated to complete the analysis of the aeromagnetic parameters, form the aeromagnetic compensation results, and judge whether the aeromagnetic compensation results are qualified, thereby reducing the participation of professionals at one end of the aircraft, so that the boarding operation of professionals can be reduced. In addition, the entire compensation process can also reduce the cooperation of professionals, thereby improving the degree of automation of aeromagnetic compensation. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0042] Figure 1 This is a schematic diagram of the process steps of the aeromagnetic compensation method of this application;

[0043] Figure 2 A schematic diagram of the process steps for obtaining aeromagnetic compensation parameters in the aeromagnetic compensation method of this application;

[0044] Figure 3 A schematic diagram of the process steps for sending a prompt message before entering the aeromagnetic compensation flight mode in the aeromagnetic compensation method of this application;

[0045] Figure 4 A schematic diagram of the process steps for verifying aeromagnetic compensation parameters in the aeromagnetic compensation method of this application;

[0046] Figure 5 This is a schematic diagram of the process steps of another embodiment of the aeromagnetic compensation method of the present application;

[0047] Figure 6 A schematic diagram of the process steps for determining aeromagnetic compensation parameters in the aeromagnetic compensation method of the present application;

[0048] Figure 7 This is a schematic diagram of the module structure of the aeromagnetic compensation system of this application.

[0049] In the accompanying drawings, 1, aircraft; 10, aeromagnetic compensation device; 20, ground controller; 30, wireless communication system;

[0050] 110. Main controller; 120. Aeromagnetic compensator; 130. Attitude sensor; 140. Analog signal collector; 150. Prompt system. DETAILED DESCRIPTION

[0051] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0052] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0053] See also Figure 1 As shown, the present application provides an aeromagnetic compensation method, which is applied to an aeromagnetic compensation device 10, which is installed on an aircraft 1, and the aeromagnetic compensation device 10 is wirelessly connected to a ground controller 20, which is placed at a remote end, away from the aircraft 1. The aeromagnetic compensation method includes:

[0054] Step S10, controlling the aeromagnetic compensation device 10 to receive the compensation start instruction provided by the ground controller 20, and prompting to enter the aeromagnetic compensation flight mode based on the compensation start instruction; the compensation start instruction may be used to send a prompt message to prompt the pilot to control the aircraft 1 to enter the aeromagnetic compensation flight mode; the aeromagnetic compensation flight mode can be understood as the formal entry into the process of obtaining aeromagnetic compensation parameters.

[0055] Step S20, in the aeromagnetic compensation flight mode, aeromagnetic compensation parameters are obtained, and the aeromagnetic compensation parameters are fed back to the ground controller 20, wherein the ground controller 20 analyzes the aeromagnetic compensation results based on the aeromagnetic compensation parameters, and confirms whether the aeromagnetic compensation results are qualified; after the aeromagnetic compensation device 10 obtains the aeromagnetic compensation parameters, the aeromagnetic compensation parameters are remotely communicated to the ground controller 20. When the ground controller 20 analyzes the aeromagnetic compensation parameters, a standard can be set to automatically analyze the aeromagnetic compensation results, or a professional can judge the aeromagnetic compensation results, or the ground controller 20 can confirm whether the aeromagnetic compensation results are qualified in a combination of automatic and manual methods.

[0056] Step S30, if the aeromagnetic compensation result is qualified, the aeromagnetic compensation parameters are stored in the control aeromagnetic compensation device 10. When the aircraft is performing aerial exploration, the aeromagnetic compensation parameters can be extracted from the aeromagnetic compensation device for aeromagnetic compensation of the aircraft 1. At this time, if the aeromagnetic compensation parameters are qualified, the ground controller 20 can send a control instruction to the aeromagnetic compensation device 10, and the aeromagnetic compensation device 10 performs aeromagnetic compensation according to the aeromagnetic compensation parameters when the aircraft 1 performs aeromagnetic measurement.

[0057] The aeromagnetic compensation device 10 installed on the aircraft 1 is remotely controlled by the ground controller 20. The aeromagnetic compensation parameters obtained by the aeromagnetic compensation device 10 can also be wirelessly transmitted to the ground controller 20, and the ground controller 20 is cooperated to complete the analysis of the aeromagnetic parameters, form the aeromagnetic compensation results, and judge whether the aeromagnetic compensation results are qualified, thereby reducing the participation of professionals at one end of the aircraft 1, so that the boarding operation of professionals can be reduced. In addition, the entire compensation process can also reduce the cooperation of professionals, thereby improving the automation of aeromagnetic compensation.

[0058] It should be further explained that the ground controller 20 can be synchronously connected to multiple aeromagnetic compensation devices 10, and multiple aeromagnetic compensation operations can be implemented by one ground controller 20. It can be understood that the number of professionals required is also reduced. In addition, through wireless communication connection, the ground controller 20 can control the aeromagnetic compensation device 10 at a longer distance, which can be hundreds of kilometers away, thousands of kilometers away, or even farther.

[0059] See also Figure 2 As shown, in one embodiment of the present application, the step of obtaining aeromagnetic compensation parameters in the aeromagnetic compensation flight mode includes:

[0060] Step S210, obtaining the geomagnetic field background value of the stable flight of the aircraft 1; stable flight can be understood as the aircraft 1 maintaining a certain altitude, without turbulence, tilt, pitch, etc. during the flight process. At this time, the basic aeromagnetic data of the aircraft 1, that is, the geomagnetic field background value, is detected. In order to improve the accuracy of the data, the aircraft 1 is also controlled to fly at a specified altitude and area.

[0061] Step S220, control the aircraft 1 to fly according to the predetermined action, and obtain the aeromagnetic compensation parameters based on the geomagnetic field background value. The predetermined action generally includes various situations that the aircraft 1 may encounter during the flight, and the aeromagnetic parameters of the aircraft 1 under various flight actions are obtained. These aeromagnetic parameters are compared with the geomagnetic field background value to obtain the aeromagnetic compensation parameters. In other words, the aeromagnetic compensation parameters can reduce the impact of the flight action on the aeromagnetic and compensate the detected aeromagnetic data. Among them, the predetermined action of the aircraft 1 may include pitching, swaying and sideslipping, etc.

[0062] When judging the accuracy of aeromagnetic parameters, the standard deviation after aeromagnetic compensation is used. If the standard deviation of the magnetic field after compensation is less than 0.08nT, the aeromagnetic compensation parameters can be considered accurate. If it is greater than 0.08nT, it means that the aeromagnetic compensation parameter measurement is inaccurate and needs to be retested.

[0063] In addition, controlling the aircraft to fly according to a predetermined action may be to perform a rectangular action flight with four flight directions, each flight direction for about 90 seconds (roll, pitch, yaw 4-6 times, each lasting 5-6.5 seconds).

[0064] See also Figure 3 As shown, in one embodiment of the present application, the step of entering the aeromagnetic compensation flight mode based on the compensation start instruction prompt includes:

[0065] Step S21, issuing a prompt message based on the compensation start instruction; the prompt message can be used to issue a prompt to the pilot, and the pilot can perform flight operations according to the prompt message.

[0066] Step S22, control the aircraft 1 to enter the aeromagnetic compensation flight mode through the prompt information. The prompt information can be used to remind the pilot in advance so that the pilot can prepare to enter the aeromagnetic compensation flight mode. In addition, the aircraft 1 can be automatically controlled to perform a predetermined action according to the prompt information, which can improve the degree of automation. The pilot can also operate and control the aircraft 1 according to the predetermined flight action.

[0067] In one embodiment of the present application, the prompt information includes at least one of a countdown and a flashing light. The prompt information can be a countdown, a flashing light, or a combination of the countdown and the flashing light. At this time, a voice reminder can also be used.

[0068] The countdown is 100 seconds. During the time before the end of the 100 seconds, the aircraft 1 can be controlled to fly steadily, thereby obtaining the geomagnetic field background value, and start flying according to the predetermined action after the countdown ends.

[0069] The flashing of lights can be designed in a countdown-like manner, such as a group of lights, when the lights go out one by one, the predetermined action flight begins.

[0070] In one embodiment of the present application, the aeromagnetic compensation device 10 is wirelessly connected to the ground controller 20 by one of mobile communication and satellite communication. Mobile communication is communication between mobile bodies, or communication between a mobile body and a fixed body. Mobile communication is a modern technology for wireless communication, which is one of the important achievements in the development of electronic computers and mobile Internet. Satellite communication technology is a communication between two or more stations using artificial satellites as relay stations to forward radio waves.

[0071] See also Figure 4 As shown, in one embodiment of the present application, after the step of feeding back the aeromagnetic compensation parameters to the ground controller 20, the following steps are included:

[0072] Step S40, control the aircraft 1 to perform a verification flight along a preset path, wherein the preset path includes at least one intersection; the verification flight can verify whether the aeromagnetic compensation parameters are accurate. Generally, when the aircraft 1 passes through the same point, under the same flight state, the aeromagnetic changes should be the same, or the aeromagnetic compensation parameters should be the same.

[0073] Specifically, in step S50, the first magnetic field value and the second magnetic field value that pass through the same intersection point are obtained successively; at this time, the aircraft 1 can be positioned by a positioning system, such as a satellite system, and when it is confirmed that it passes through the same point, the first magnetic field value is obtained for the first time, and the second magnetic field value is obtained for the second time.

[0074] Step S60, comparing the difference between the first magnetic field value and the second magnetic field value to form a difference result; data verification can be performed through the difference result.

[0075] Step S70, comparing the difference result with a preset range; the preset range is a standard range, which can be used to analyze whether the size of the difference result meets the requirements.

[0076] Step S71, if the difference result is within the preset range, the verification is passed, and an end instruction is issued; if the difference result is within the preset range, it means that the difference between the first magnetic field value and the second magnetic field value is very small, which meets the use requirements and the verification is passed.

[0077] Step S72: If the difference result exceeds the preset range and the verification fails, a compensation start instruction is generated to re-perform aeromagnetic compensation. If the difference result is outside the preset range, it means that the difference between the first magnetic field value and the second magnetic field value is large, which does not meet the measurement requirements, the verification fails, and the obtained aeromagnetic parameters may be inaccurate, and the aeromagnetic compensation parameters need to be re-obtained. The preset range can be a ratio range or a difference range.

[0078] See also Figure 5 As shown, the present application also provides an aeromagnetic compensation method, which is applied to a ground controller 20, and the ground controller 20 is wirelessly connected to the aeromagnetic compensation device 10. Taking the ground controller 20 as an example, the aeromagnetic compensation method includes:

[0079] Step S1, controlling the ground controller 20 to generate a compensation start instruction, and transmitting the compensation start instruction to the aeromagnetic compensation device 10, wherein the aeromagnetic compensation device 10 receives the compensation start instruction, enters the aeromagnetic compensation flight mode based on the compensation start instruction prompt, obtains aeromagnetic compensation parameters in the aeromagnetic compensation flight mode, and feeds back the aeromagnetic compensation parameters to the ground controller 20; the compensation start instruction can be generated manually, or it can be automatically generated by the positioning navigation system after confirming that the aircraft 1 has reached a predetermined area and a predetermined altitude.

[0080] In step S2, the ground controller 20 receives the aeromagnetic compensation parameters, analyzes the aeromagnetic compensation results based on the aeromagnetic compensation parameters, and confirms whether the aeromagnetic compensation results are qualified, so as to control the aeromagnetic compensation device to store the aeromagnetic compensation parameters if the aeromagnetic compensation results are qualified.

[0081] See also Figure 6 As shown in the figure, the steps to confirm whether the aeromagnetic compensation result is qualified include:

[0082] Step S200, comparing the aeromagnetic compensation result with a preset standard; the preset standard may be 0.08 nT.

[0083] Step S201, if the aeromagnetic compensation result meets the preset standard, the aeromagnetic compensation parameters are qualified; for example, when the standard deviation of the aeromagnetic compensation result is less than 0.08nT, the aeromagnetic compensation parameters can be considered qualified. It should be noted that the aeromagnetic compensation result reflects the aeromagnetic compensation parameters, and a qualified aeromagnetic compensation result means that the aeromagnetic compensation parameters are qualified.

[0084] Step S202: If the aeromagnetic compensation result exceeds the preset standard, the aeromagnetic compensation parameter is unqualified, and a compensation start instruction is generated again to re-perform aeromagnetic compensation. That is, when the aeromagnetic compensation result is greater than 0.08nT, it means that the aeromagnetic compensation parameter measurement is unqualified, and re-testing is required to restart the aeromagnetic compensation.

[0085] See also Figure 7As shown, the present application also provides an aeromagnetic compensation system, the aeromagnetic compensation system includes an aeromagnetic compensation device 10 and a ground controller 20, the aeromagnetic compensation device 10 is used to be installed on the aircraft 1, the ground controller 20 is wirelessly connected to the aeromagnetic compensation device 10, the aeromagnetic compensation device 10 includes: a main controller 110 and an aeromagnetic compensator 120, the aeromagnetic compensator 120 is electrically connected to the main controller 110; the wireless communication connection can be through a wireless communication system 30, and the wireless communication system 30 is respectively connected to the aeromagnetic compensation device 10 and the ground controller 20 through a communication link. The ground controller 20 may include a display screen to intuitively display data such as aeromagnetic compensation parameters and compensation results. The aeromagnetic compensator 120 can perform aeromagnetic measurements and can also control the start of aeromagnetic compensation.

[0086] The ground controller 20 is used to provide compensation start instructions; the main controller 110 is used to receive the compensation start instructions, and prompt to enter the aeromagnetic compensation flight mode based on the compensation start instructions; the aeromagnetic compensator 120 is used to obtain aeromagnetic compensation parameters in the aeromagnetic compensation flight mode, and feed the aeromagnetic compensation parameters back to the ground controller 20; the ground controller 20 is also used to analyze the aeromagnetic compensation results based on the aeromagnetic compensation parameters, and confirm whether the aeromagnetic compensation results are qualified; the main controller 110 is also used to store the aeromagnetic compensation parameters when the aeromagnetic compensation results are qualified; the aeromagnetic compensation parameters are extracted when necessary, and provided to the aircraft 1 through the aeromagnetic compensator 120.

[0087] In one embodiment of the present application, the aeromagnetic compensation device 10 further includes an attitude sensor 130 and an analog signal collector 140, both of which are electrically connected to the aeromagnetic compensator 120, and the analog signal collector 140 is also electrically connected to the main controller 110; the attitude sensor 130 is used to obtain the flight attitude data of the aircraft 1, and send the flight attitude data to the aeromagnetic compensator 120; the analog signal collector 140 is used to receive the control instructions of the ground controller 20, and send the control instructions to the aeromagnetic compensator 120 after conversion. The aeromagnetic compensation device 10 also includes a prompt system 150, such as an indicator light, which is connected to the aeromagnetic compensator 120, and controls the prompt system 150 to operate before entering the aeromagnetic compensation flight mode.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. An aeromagnetic compensation method, characterized in that: The aeromagnetic compensation method is applied to an aeromagnetic compensation device, the aeromagnetic compensation device is installed on an aircraft, the aeromagnetic compensation device is wirelessly connected to a ground controller, and the aeromagnetic compensation method includes: Controlling the aeromagnetic compensation device to receive a compensation start instruction provided by the ground controller, and prompting to enter an aeromagnetic compensation flight mode based on the compensation start instruction; Acquiring aeromagnetic compensation parameters in the aeromagnetic compensation flight mode, and feeding back the aeromagnetic compensation parameters to the ground controller, wherein the ground controller analyzes an aeromagnetic compensation result based on the aeromagnetic compensation parameters, and confirms whether the aeromagnetic compensation result is qualified; When the aeromagnetic compensation result is qualified, the aeromagnetic compensation parameter is stored in the control device for controlling the aeromagnetic compensation.

2. The aeromagnetic compensation method according to claim 1, characterized in that: The step of obtaining aeromagnetic compensation parameters in the aeromagnetic compensation flight mode comprises: Acquiring a background value of the geomagnetic field during steady flight of the aircraft; The aircraft is controlled to fly according to a predetermined action, and an aeromagnetic compensation parameter is obtained based on the geomagnetic field background value.

3. The aeromagnetic compensation method according to claim 1, characterized in that: The step of entering the aeromagnetic compensation flight mode based on the compensation start instruction prompt comprises: issuing a prompt message based on the compensation start instruction; The aircraft is controlled to enter the aeromagnetic compensation flight mode through the prompt information.

4. The aeromagnetic compensation method according to claim 3, characterized in that: The prompt information includes at least one of a countdown and light flashing.

5. The aeromagnetic compensation method according to any one of claims 1 to 4, characterized in that: The wireless communication connection between the aeromagnetic compensation device and the ground controller is carried out by mobile communication or satellite communication.

6. The aeromagnetic compensation method according to any one of claims 1 to 4, characterized in that: After the step of feeding back the aeromagnetic compensation parameter to the ground controller, the method further comprises: Controlling the aircraft to perform verification flight along a preset path, wherein the preset path includes at least one intersection; Acquire a first magnetic field value and a second magnetic field value that successively pass through the same intersection; comparing a magnetic field deviation between the first magnetic field value and the second magnetic field value to form a difference result; Compare the magnetic field deviation with the preset range; If the magnetic field deviation is within the preset range and the verification is passed, an end instruction is issued; If the magnetic field deviation exceeds the preset range and the verification fails, the compensation start instruction is generated to perform aeromagnetic compensation again.

7. An aeromagnetic compensation method, characterized in that: The aeromagnetic compensation method is applied to a ground controller, and the ground controller is wirelessly connected to an aeromagnetic compensation device. The aeromagnetic compensation method includes: Controlling the ground controller to generate a compensation start instruction, transmitting the compensation start instruction to the aeromagnetic compensation device, wherein the aeromagnetic compensation device receives the compensation start instruction, prompts to enter an aeromagnetic compensation flight mode based on the compensation start instruction, obtains aeromagnetic compensation parameters in the aeromagnetic compensation flight mode, and feeds back the aeromagnetic compensation parameters to the ground controller; The ground controller receives the aeromagnetic compensation parameters, analyzes the aeromagnetic compensation results based on the aeromagnetic compensation parameters, and confirms whether the aeromagnetic compensation results are qualified, so as to control the aeromagnetic compensation device to store the aeromagnetic compensation parameters if the aeromagnetic compensation results are qualified.

8. The aeromagnetic compensation method according to claim 7, characterized in that: The step of confirming whether the aeromagnetic compensation result is qualified comprises: comparing the aeromagnetic compensation result with a preset standard; If the aeromagnetic compensation result meets the preset standard, the aeromagnetic compensation parameter is qualified; If the aeromagnetic compensation result exceeds the preset standard, the aeromagnetic compensation parameter is unqualified, and a compensation start instruction is generated again to perform aeromagnetic compensation again.

9. An aeromagnetic compensation system, characterized in that: The aeromagnetic compensation system comprises an aeromagnetic compensation device and a ground controller, wherein the aeromagnetic compensation device is used to be installed on an aircraft, and the ground controller is wirelessly connected to the aeromagnetic compensation device, and the aeromagnetic compensation device comprises: a main controller and an aeromagnetic compensator, and the aeromagnetic compensator is electrically connected to the main controller; The ground controller is used to provide a compensation start instruction; The main controller is used to receive the compensation start instruction, and prompt to enter the aeromagnetic compensation flight mode based on the compensation start instruction; The aeromagnetic compensator is used to obtain aeromagnetic compensation parameters in the aeromagnetic compensation flight mode, and feed back the aeromagnetic compensation parameters to the ground controller; The ground controller is further used to analyze the aeromagnetic compensation result based on the aeromagnetic compensation parameter, and confirm whether the aeromagnetic compensation result is qualified; The main controller is further configured to store the aeromagnetic compensation parameters if the aeromagnetic compensation result is qualified.

10. The aeromagnetic compensation system according to claim 9, characterized in that: The aeromagnetic compensation device further includes an attitude sensor and an analog signal collector, wherein the attitude sensor and the analog signal collector are both electrically connected to the aeromagnetic compensator, and the analog signal collector is also electrically connected to the main controller; The attitude sensor is used to obtain the flight attitude data of the aircraft and send the flight attitude data to the aeromagnetic compensator; The analog signal collector is used to receive control instructions from the ground controller, and convert the control instructions and send them to the aeromagnetic compensator.

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