Aeromagnetic compensation method, device, equipment, storage medium and program product

Abstract

The invention provides an aeromagnetic compensation method, device and equipment, a storage medium and a program product, which can be applied to the technical field of aeromagnetic measurement. The method comprises the steps that the magnetic induction intensity, the position information and the acceleration information of the mobile device are collected, and the magnetic induction intensity comprises the geomagnetic induction intensity carrying first interference and the aeromagnetic induction intensity carrying second interference; compensating the first interference based on the position information to obtain target geomagnetic induction intensity; and compensating the second interference based on the acceleration information and the target geomagnetic induction intensity to obtain the target aeromagnetic induction intensity.

Description

Technical Field

[0001] The present disclosure relates to the technical field of aeromagnetic measurement, and in particular to an aeromagnetic compensation method, device, equipment, medium and program product. Background Art

[0002] Aeromagnetic survey is a basic tool for geophysical exploration and is widely used in mineral, underwater submarine detection, geological mapping and environmental research. The changes in the Earth's magnetic field caused by ground magnetizable materials are measured during flight by aircraft equipped with fluxgate magnetometers and optically pumped magnetometers. However, the accuracy of aeromagnetic data is often affected by magnetic noise from the aircraft itself, so effective aeromagnetic compensation technology is needed to isolate geologically relevant signals from unwanted interference.

[0003] In the process of realizing the present invention, the inventors found that the related technologies are often based on the rigid connection of aircraft components, while the vibration caused by the non-rigid connection of aircraft components during the actual measurement process will cause unnecessary interference, resulting in lower measurement accuracy. Summary of the invention

[0004] In view of the above problems, the present disclosure provides an aeromagnetic compensation method, apparatus, device, medium and program product.

[0005] According to a first aspect of the present disclosure, an aeromagnetic compensation method is provided, comprising: collecting magnetic induction intensity of a movable device, position information of the movable device, and acceleration information of the movable device, wherein the magnetic induction intensity comprises geomagnetic induction intensity carrying a first interference and aeromagnetic induction intensity carrying a second interference; based on the position information, compensating for the first interference to obtain a target geomagnetic induction intensity; based on the acceleration information and the target geomagnetic induction intensity, compensating for the second interference to obtain a target aeromagnetic induction intensity.

[0006] According to an embodiment of the present disclosure, based on the acceleration information and the target geomagnetic induction intensity, the second interference is compensated to obtain the target aeromagnetic induction intensity, including: integrating the acceleration information to obtain the displacement information; and processing the displacement information and the target geomagnetic induction intensity based on a minimum mean square error algorithm to obtain the target aeromagnetic induction intensity.

[0007] According to an embodiment of the present disclosure, based on a minimum mean square error algorithm, displacement information and target geomagnetic induction intensity are processed to obtain target aeromagnetic induction intensity, including: determining displacement information entropy according to the displacement information, a preset displacement probability distribution function and a preset detection window, wherein the displacement information entropy characterizes the degree of uncertainty of the displacement information; obtaining a target compensation coefficient matrix according to at least one of a preset first step size, a preset second step size, the displacement information entropy, a preset step size control function and a preset information entropy threshold; determining a second interference according to the target compensation coefficient matrix and the information matrix, wherein the information matrix is ​​determined according to three components of magnetic induction intensity, and the three components of magnetic induction intensity are collected using a three-axis fluxgate magnetometer; determining the target aeromagnetic induction intensity according to the target geomagnetic induction intensity and the second interference.

[0008] According to an embodiment of the present disclosure, a target compensation coefficient matrix is ​​obtained according to at least one of a preset first step size, a preset second step size, a displacement information entropy, a preset step size control function and a preset information entropy threshold, including: when the displacement information entropy is less than the preset information entropy threshold, based on the displacement information entropy, the preset step size control function, the preset first step size, the preset second step size and the preset information entropy threshold, the preset initial compensation coefficient matrix is ​​updated to obtain the first target compensation coefficient matrix; when the displacement information entropy is greater than or equal to the preset information entropy threshold, based on the displacement information entropy, the preset step size control function, the preset first step size and the preset information entropy threshold, the preset initial compensation coefficient matrix is ​​updated to obtain the second target compensation coefficient matrix.

[0009] According to an embodiment of the present disclosure, the magnetic induction intensity of the movable device includes N, and a target compensation coefficient matrix is ​​obtained according to at least one of a preset first step length, a preset second step length, a displacement information entropy, a preset step length control function and a preset information entropy threshold. It also includes: when the displacement information entropy is less than the preset information entropy threshold and the number of magnetic induction intensity is 2, based on the displacement information entropy, the preset step length control function, the preset first step length, the preset second step length and the preset information entropy threshold, the preset initial compensation coefficient matrix is ​​updated to obtain a first target compensation coefficient matrix corresponding to the second magnetic induction intensity, wherein the preset initial compensation coefficient matrix represents the compensation coefficient matrix corresponding to the first magnetic induction intensity; when the displacement information entropy is less than the preset information entropy threshold and the number of magnetic induction intensity is greater than 2, for the nth magnetic induction intensity, based on the displacement information entropy, the preset step length control function, the preset first step length, the preset second step length and the preset information entropy threshold, the compensation coefficient matrix corresponding to the nth- The target compensation coefficient matrix corresponding to the first magnetic induction intensity is updated to obtain the first target compensation coefficient matrix corresponding to the n-th magnetic induction intensity, wherein N is a positive integer greater than or equal to 2, n is a positive integer greater than 2, and n is less than N; when the displacement information entropy is greater than or equal to the preset information entropy threshold, and the number of magnetic induction intensity is 2, based on the displacement information entropy, the preset step size control function, the preset first step size and the preset information entropy threshold, the preset initial compensation coefficient matrix is ​​updated to obtain the second target compensation coefficient matrix corresponding to the second magnetic induction intensity; when the displacement information entropy is greater than or equal to the preset information entropy threshold, and the number of magnetic induction intensity is greater than 2, for the n-th magnetic induction intensity, based on the displacement information entropy, the preset step size control function, the preset first step size and the preset information entropy threshold, the second target compensation coefficient matrix corresponding to the n-1-th magnetic induction intensity is updated to obtain the second target compensation coefficient matrix corresponding to the n-th magnetic induction intensity.

[0010] According to an embodiment of the present disclosure, the integration processing includes a first integration processing and a second integration processing, the first integration processing is used to time-integrate the acceleration information along different coordinate axes, and the second integration processing is used to time-integrate the velocity information along different coordinate axes, and the acceleration information is integrated to obtain displacement information, including: performing a first integration processing on the acceleration information to obtain velocity information, wherein the acceleration information includes acceleration vectors of different coordinate axes, and the velocity information includes velocity vectors of different coordinate axes; performing a second integration processing on the velocity information to obtain displacement information, wherein the displacement information includes displacement vectors of different coordinate axes.

[0011] According to an embodiment of the present disclosure, based on the position information, the first interference is compensated to obtain the target geomagnetic induction intensity, including: determining the first geomagnetic induction intensity component, the second geomagnetic induction intensity component and the third geomagnetic induction intensity component according to the position information and a preset Gaussian coefficient, wherein the first magnetic induction intensity component, the second geomagnetic induction intensity component and the third geomagnetic induction intensity component are respectively geomagnetic induction intensity components along different coordinate axes; determining the geomagnetic induction intensity scalar according to the first geomagnetic induction intensity component, the second geomagnetic induction intensity component and the third geomagnetic induction intensity component; and subtracting the geomagnetic induction intensity scalar from the magnetic induction intensity to obtain the target geomagnetic induction intensity.

[0012] According to an embodiment of the present disclosure, the above-mentioned aeromagnetic compensation method also includes: determining a first standard deviation based on the target aeromagnetic induction intensity and the number of target aeromagnetic induction intensity, wherein the first standard deviation characterizes the degree to which the magnetic induction intensity after the second interference compensation deviates from the mean; determining a second standard deviation based on the magnetic induction intensity and the number of magnetic induction intensity, wherein the second standard deviation characterizes the degree to which the magnetic induction intensity before the first interference compensation deviates from the mean; determining an improvement ratio based on the first standard deviation and the second standard deviation, wherein the improvement ratio characterizes the compensation effect of the aeromagnetic compensation.

[0013] A second aspect of the present disclosure provides an aeromagnetic compensation device, including: a collection module, a first compensation module and a second compensation module.

[0014] The acquisition module is used to collect the magnetic induction intensity of the movable device, the location information of the movable device, and the acceleration information of the movable device, wherein the magnetic induction intensity includes the geomagnetic induction intensity carrying the first interference and the aeromagnetic induction intensity carrying the second interference.

[0015] The first compensation module is used to compensate the first interference based on the position information to obtain the target geomagnetic induction intensity.

[0016] The second compensation module is used to compensate the second interference based on the acceleration information and the target geomagnetic induction intensity to obtain the target aeromagnetic induction intensity.

[0017] A third aspect of the present disclosure provides an electronic device, comprising: one or more processors; and a memory for storing one or more computer programs, wherein the one or more processors execute the one or more computer programs to implement the steps of the above method.

[0018] The fourth aspect of the present disclosure further provides a computer-readable storage medium having a computer program or instructions stored thereon, which implements the steps of the above method when the above computer program or instructions are executed by a processor.

[0019] The fifth aspect of the present disclosure further provides a computer program product, including a computer program or instructions, which implement the steps of the above method when the above computer program or instructions are executed by a processor.

[0020] According to the aeromagnetic compensation method, apparatus, device, storage medium and program product provided by the present invention, the first interference can be compensated based on the position information of the movable device collected to obtain the target geomagnetic induction intensity. On this basis, the second interference is compensated based on the acceleration information of the movable device collected to obtain the target aeromagnetic induction intensity. Through the two interference compensations, the noise caused by the non-rigid connection of the movable device is reduced, the accuracy of the target aeromagnetic induction intensity is improved, and thus the signal-to-noise ratio of the geomagnetic anomaly signal is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above contents and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0022] Figure 1 The application scenario diagram of the aeromagnetic compensation method according to the embodiment of the present disclosure is schematically shown;

[0023] Figure 2 A flowchart of an aeromagnetic compensation method according to an embodiment of the present disclosure is schematically shown;

[0024] Figure 3 A schematic diagram schematically shows displacement information according to an embodiment of the present disclosure;

[0025] Figure 4 A schematic diagram schematically shows displacement information entropy according to an embodiment of the present disclosure;

[0026] Figure 5 A schematic diagram of a framework for eliminating interference based on a minimum mean square error algorithm according to an embodiment of the present disclosure is shown;

[0027] Figure 6 Schematically shows a flow chart of determining a target compensation coefficient matrix according to an embodiment of the present disclosure;

[0028] Figure 7 A structural block diagram of an aeromagnetic compensation device according to an embodiment of the present disclosure is schematically shown; and

[0029] Figure 8 A block diagram of an electronic device suitable for implementing an aeromagnetic compensation method according to an embodiment of the present disclosure is schematically shown. DETAILED DESCRIPTION

[0030] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0031] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0032] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0033] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0034] In the technical solution of the present disclosure, the user information (including but not limited to user personal information, user image information, user device information, such as location information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved are all information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with relevant laws, regulations and standards, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0035] In the scenario of using personal information for automated decision-making, the methods, devices, and systems provided by the embodiments of the present disclosure provide users with corresponding operation portals for users to choose to agree or reject the automated decision-making results; if the user chooses to reject, the expert decision-making process will be entered. The expression "automated decision-making" here refers to the activity of automatically analyzing and evaluating a person's behavioral habits, interests and hobbies, or economic, health, credit status, etc. through computer programs, and making decisions. The expression "expert decision-making" here refers to the activity of making decisions by people who specialize in a certain field, have specialized experience, knowledge and skills, and have reached a certain level of professionalism.

[0036] In the process of realizing the present disclosure, the inventors found that the compensation of magnetic noise in the related art mainly uses aeromagnetic compensation models, such as the Tolles-Lawson model (TL model for short). The TL model is established with the cosine and cosine derivative of the angle between the aircraft body coordinate system and the geomagnetic field as variables. The TL model believes that the magnetic interference generated by the flight platform mainly includes three parts: permanent magnetic field, induced magnetic field and eddy current magnetic field. In the prior art, when compensating for magnetic noise, it is often based on the assumption that the various components of the aircraft are rigidly connected. However, in the actual measurement process, the various components of the aircraft are not rigidly connected. In the case of non-rigid connection, the vibration of the body will cause magnetic interference, resulting in poor accuracy of the measured data.

[0037] In view of this, an embodiment of the present disclosure provides an aeromagnetic compensation method, including: collecting the magnetic induction intensity of a movable device, the position information of the movable device, and the acceleration information of the movable device, wherein the magnetic induction intensity includes the geomagnetic induction intensity carrying a first interference and the aeromagnetic induction intensity carrying a second interference; based on the position information, compensating for the first interference to obtain the target geomagnetic induction intensity; based on the acceleration information and the target geomagnetic induction intensity, compensating for the second interference to obtain the target aeromagnetic induction intensity.

[0038] Figure 1 The application scenario diagram of the aeromagnetic compensation method according to an embodiment of the present disclosure is schematically shown.

[0039] like Figure 1 As shown, the application scenario 100 according to this embodiment may include a mobile device 101, a network 102 and a server 103. The network 102 is used to provide a medium for a communication link between the mobile device 101 and the server 103. The network 102 may include various connection types, for example, a wireless communication link.

[0040] The movable device 101 may be a flyable device carrying a magnetometer and other devices, including but not limited to fixed-wing aircraft, helicopters, drones, aerostats, etc. The server 103 may be a server that provides various services.

[0041] It should be noted that the aeromagnetic compensation method provided in the embodiment of the present disclosure can generally be executed by the server 103. Accordingly, the aeromagnetic compensation device provided in the embodiment of the present disclosure can generally be arranged in the server 103. The aeromagnetic compensation method provided in the embodiment of the present disclosure can also be executed by a server or a server cluster that is different from the server 103 and can communicate with the mobile device 101 and / or the server 103. Accordingly, the aeromagnetic compensation device provided in the embodiment of the present disclosure can also be arranged in a server or a server cluster that is different from the server 103 and can communicate with the mobile device 101 and / or the server 103.

[0042] It should be understood that Figure 1 The number of removable devices, networks and servers in the embodiment is only for illustration. Any number of removable devices, networks and servers may be provided as required.

[0043] Figure 2 The flowchart of the aeromagnetic compensation method according to the embodiment of the present disclosure is schematically shown.

[0044] like Figure 2 As shown, the aeromagnetic compensation method 200 of this embodiment includes operations S210 to S230.

[0045] In operation S210, the magnetic induction intensity of the movable device, the location information of the movable device, and the acceleration information of the movable device are collected.

[0046] In operation S220, the first interference is compensated based on the position information to obtain the target geomagnetic induction intensity.

[0047] In operation S230, the second interference is compensated based on the acceleration information and the target geomagnetic induction intensity to obtain the target aeromagnetic induction intensity.

[0048] According to the embodiments of the present disclosure, the magnetic induction intensity can characterize the strength and direction of the magnetic field at a certain point in the magnetic field, and the magnetic induction intensity can be collected using a magnetic induction intensity collection device, such as an optically pumped magnetometer. The magnetic induction intensity collected using the optically pumped magnetometer can include the geomagnetic induction intensity carrying the first interference and the aeromagnetic induction intensity carrying the second interference.

[0049] According to an embodiment of the present disclosure, the movable device may be a movable device such as an airplane or a drone. An optically pumped magnetometer may be installed on the movable device to collect the magnetic induction intensity of the movable device, and the first interference may characterize the geomagnetic interference encountered during the process of collecting the device using the magnetic induction intensity collection device. The second interference may characterize the aeromagnetic interference encountered during the process of collecting the device using the magnetic induction intensity collection device. The location information of the movable device may be collected using a location sensor installed on the movable device, and the location information of the movable device may include the altitude, longitude and latitude of the movable device. The acceleration information of the movable device may be collected using an inertial sensor.

[0050] According to an embodiment of the present disclosure, when the position information is determined, based on the position information, the first interference can be compensated using the International Geomagnetic Reference Model with a stage level of 13, so that the target geomagnetic induction intensity can be obtained.

[0051] According to an embodiment of the present disclosure, when the target geomagnetic induction intensity is determined, the target aeromagnetic induction intensity can be obtained by compensating the second interference by combining the target geomagnetic induction intensity with acceleration information. The target aeromagnetic induction intensity can characterize the magnetic induction intensity of the geomagnetic anomaly signal.

[0052] For example, during geological exploration, geomagnetic anomaly signals can represent geological-related signals measured when there are minerals or other substances at a certain location. During address exploration, if no geological anomaly signals are measured at a certain location, it can be considered that there are no minerals or other substances at that location.

[0053] According to an embodiment of the present disclosure, the first interference can be compensated based on the collected position information of the movable device to obtain the target geomagnetic induction intensity. On this basis, the second interference can be compensated based on the collected acceleration information of the movable device to obtain the target aeromagnetic induction intensity. Through the two interference compensations, the noise caused by the non-rigid connection of the movable device is reduced, the accuracy of the target aeromagnetic induction intensity is improved, thereby improving the signal-to-noise ratio of the geomagnetic anomaly signal.

[0054] According to an embodiment of the present disclosure, based on the position information, the first interference is compensated to obtain the target geomagnetic induction intensity, including: determining the first geomagnetic induction intensity component, the second geomagnetic induction intensity component and the third geomagnetic induction intensity component according to the position information and a preset Gaussian coefficient; determining the geomagnetic induction intensity scalar according to the first geomagnetic induction intensity component, the second geomagnetic induction intensity component and the third geomagnetic induction intensity component; subtracting the geomagnetic induction intensity scalar from the magnetic induction intensity to obtain the target geomagnetic induction intensity.

[0055] According to an embodiment of the present disclosure, the preset Gaussian coefficient may include a first preset Gaussian coefficient and a second preset Gaussian coefficient. The first magnetic induction intensity component, the second geomagnetic induction intensity component, and the third geomagnetic induction intensity component may be geomagnetic induction intensity components along different coordinate axes, for example, the first magnetic induction intensity component may represent the latitudinal component of the geomagnetic induction intensity in the spherical coordinate system, the second geomagnetic induction intensity component may represent the radial component of the geomagnetic induction intensity in the spherical coordinate system, and the third geomagnetic induction intensity component may represent the vertical component of the geomagnetic induction intensity in the spherical coordinate system.

[0056] According to an embodiment of the present disclosure, the first geomagnetic induction intensity component, the second geomagnetic induction intensity component and the third geomagnetic induction intensity component can be determined according to the position information and the preset Gaussian coefficient. , the second geomagnetic induction intensity component and the third geomagnetic induction intensity They are as follows: formula (1)~(3) respectively.

[0057] (1)

[0058] (2)

[0059] (3)

[0060] in, , r represents the radius of the sphere, a represents the radius of the reference sphere, and h represents the altitude of the movable device. represents the colatitude from the North Pole, It represents the longitude measured eastward from Greenwich. represents the first preset Gaussian coefficient, represents the second preset Gaussian coefficient, represents the Schmidt quasi-normalized nth-order and mth-order Legendre function.

[0061] According to an embodiment of the present disclosure, the radius of a sphere can represent the distance from the center of the sphere to the calculation point on the surface of the sphere. The radius of the reference sphere takes the average radius of the earth as a=6371.2km, and the cutoff orders of the first preset Gaussian coefficient and the second preset Gaussian coefficient are both n.

[0062] According to an embodiment of the present disclosure, when the first geomagnetic induction intensity component, the second geomagnetic induction intensity component and the third geomagnetic induction intensity component are determined, the geomagnetic induction intensity scalar can be determined according to the first geomagnetic induction intensity component, the second geomagnetic induction intensity component and the third geomagnetic induction intensity component. , as shown in formula (4).

[0063] (4)

[0064] According to the embodiment of the present disclosure, the target geomagnetic induction intensity can be obtained by subtracting the geomagnetic induction intensity scalar from the magnetic induction intensity. , as shown in formula (5).

[0065] (5)

[0066] in, Indicates the magnetic induction intensity collected by the magnetic induction intensity collection device.

[0067] According to an embodiment of the present disclosure, the first geomagnetic induction intensity, the second geomagnetic induction intensity component and the third geomagnetic induction intensity component can be determined based on position information and preset Gaussian coefficients. The square root of the sum of the squares of the first geomagnetic induction intensity, the second geomagnetic induction intensity component and the third geomagnetic induction intensity component can be used to obtain a geomagnetic induction intensity scalar, and the geomagnetic induction intensity scalar can be subtracted from the magnetic induction intensity to obtain the target geomagnetic induction intensity, thereby achieving geomagnetic interference compensation for the magnetic induction intensity and improving the accuracy of the target geomagnetic induction intensity.

[0068] According to an embodiment of the present disclosure, based on the acceleration information and the target geomagnetic induction intensity, the second interference is compensated to obtain the target aeromagnetic induction intensity, including: integrating the acceleration information to obtain the displacement information; and processing the displacement information and the target geomagnetic induction intensity based on a minimum mean square error algorithm to obtain the target aeromagnetic induction intensity.

[0069] According to an embodiment of the present disclosure, by integrating acceleration information, velocity information can be obtained, and by integrating the velocity information, displacement information can be obtained, wherein the integration process can utilize the Simpson integration method.

[0070] According to the embodiments of the present disclosure, the minimum mean square error algorithm can be used to process the displacement information and the target geomagnetic induction intensity based on the aeromagnetic compensation model to obtain the target aeromagnetic induction intensity. The aeromagnetic compensation model can be a Tolles-Lawson model. In the TL model, it is believed that the first interference and the second interference can be divided into three parts, which are caused by the permanent magnetic field, the induced magnetic field and the eddy current magnetic field. Therefore, the sum of the first interference and the second interference of the TL model, that is, the total interference of the TL model , as shown in formula (6).

[0071] (6)

[0072] in, represents the permanent magnetic field, represents the induced magnetic field, Represents the eddy current magnetic field.

[0073] According to an embodiment of the present disclosure, the posture information of the movable device can be collected by a fixedly connected three-axis fluxgate magnetometer, and a movable device coordinate system is constructed based on the movable device. The direction cosines of different coordinate axes and the geomagnetic induction intensity in the movable device coordinate system are as follows: formulas (7) to (9).

[0074] (7)

[0075] (8)

[0076] (9)

[0077] in, Indicates the T-axis component of the attitude information of the movable device in the movable device coordinate system. Indicates the L-axis component of the attitude information of the movable device in the movable device coordinate system. Indicates the V coordinate axis component of the movable device's attitude information in the movable device's coordinate system. It represents the angle between the T coordinate axis and the three components of the magnetic induction intensity in the movable device coordinate system. It represents the angle between the L coordinate axis and the three components of the magnetic induction intensity in the movable device coordinate system. It represents the angle between the V coordinate axis and the three components of the magnetic induction intensity in the movable device coordinate system. It represents the direction cosine of the T coordinate axis and the geomagnetic induction intensity in the movable device coordinate system. It represents the direction cosine of the T coordinate axis and the geomagnetic induction intensity in the movable device coordinate system. It represents the direction cosine of the T coordinate axis and the geomagnetic induction intensity in the movable device coordinate system.

[0078] According to the embodiments of the present disclosure, the above formulas (7) to (9) can be expressed in the form of matrix vectors. The matrix vector form of the direction cosines of different coordinate axes and geomagnetic induction intensity in the movable device coordinate system is: As shown in formula (10).

[0079] (10)

[0080] in, Represents the T coordinate axis of the movable device coordinate system, Represents the T coordinate axis of the movable device coordinate system, Represents the T coordinate axis of the movable device coordinate system.

[0081] According to an embodiment of the present disclosure, the matrix vector form of the total interference of the TL model is as follows: Formula (11), and the matrix form of the total interference of the TL model is as follows: Formula (12).

[0082] (11)

[0083] (12)

[0084] in, express The transpose of Represents the three components of magnetic induction intensity, represents the i-th compensation coefficient, the value range of i is [1,18], express The time derivative of , A represents the information matrix, and X represents the target compensation coefficient matrix.

[0085] According to the embodiments of the present disclosure, the displacement information can be obtained by integrating the acceleration information, and then based on the minimum mean square error algorithm, the target aeromagnetic induction intensity can be obtained by combining the displacement information and the target geomagnetic induction intensity, thereby achieving aeromagnetic interference compensation for the magnetic induction intensity and further improving the accuracy of the target geomagnetic induction intensity.

[0086] According to an embodiment of the present disclosure, performing integration processing on acceleration information to obtain displacement information includes: performing a first integration processing on the acceleration information to obtain velocity information; and performing a second integration processing on the velocity information to obtain displacement information.

[0087] According to an embodiment of the present disclosure, the integration process may include a first integration process and a second integration process, and the first integration process may be used to integrate the acceleration information along different coordinate axes, for example, the first integration process may be used to integrate the acceleration information along the T coordinate axis, the L coordinate axis, and the V coordinate axis. The second integration process may be used to integrate the velocity information along different coordinate axes, for example, the second integration process may be used to integrate the velocity information along the T coordinate axis, the L coordinate axis, and the V coordinate axis.

[0088] According to an embodiment of the present disclosure, the acceleration information may include acceleration vectors of different coordinate axes, and the velocity information may include velocity vectors of different coordinate axes. The velocity information may be obtained by performing a first integral process on the acceleration information, as shown in the following formula (13).

[0089] (13)

[0090] in, Represents the velocity vector of the T coordinate axis in the movable device coordinate system, Represents the velocity vector of the L coordinate axis in the movable device coordinate system, Represents the velocity vector of the V coordinate axis in the movable device coordinate system, Represents the acceleration vector of the T coordinate axis in the movable device coordinate system, Represents the acceleration vector of the L coordinate axis in the movable device coordinate system, It represents the acceleration vector of the V axis in the movable device coordinate system, i represents the sampling point, and t represents the sampling interval.

[0091] According to an embodiment of the present disclosure, the displacement information may include displacement vectors of different coordinate axes. By performing a second integral process on the velocity information, the displacement information may be obtained, as shown in the following formula (14).

[0092] (14)

[0093] in, Represents the displacement vector of the T coordinate axis in the movable device coordinate system, Represents the displacement vector of the L coordinate axis in the movable device coordinate system, Represents the displacement vector of the V coordinate axis in the movable device coordinate system.

[0094] Figure 3 A schematic diagram of displacement information according to an embodiment of the present disclosure is schematically shown.

[0095] like Figure 3 As shown, the horizontal axis represents the sampling point, and the vertical axis represents the displacement information, which shows the displacement information of different sampling points. It can be seen that for different sampling points, the displacement information ranges from -0.04 to 0.04, and the maximum displacement information can be reached near the sampling point 2500.

[0096] According to the embodiments of the present disclosure, by integrating the acceleration information, velocity information can be obtained, and by integrating the velocity information again, displacement information can be obtained. The accuracy of the displacement information is improved by the two integration processes.

[0097] According to an embodiment of the present disclosure, based on a minimum mean square error algorithm, displacement information and target geomagnetic induction intensity are processed to obtain target aeromagnetic induction intensity, including: determining displacement information entropy according to the displacement information, a preset displacement probability distribution function and a preset detection window; obtaining a target compensation coefficient matrix according to at least one of a preset first step length, a preset second step length, displacement information entropy, a preset step length control function and a preset information entropy threshold; determining a second interference according to the target compensation coefficient matrix and the information matrix; determining the target aeromagnetic induction intensity according to the target geomagnetic induction intensity and the second interference.

[0098] According to an embodiment of the present disclosure, the displacement information entropy can characterize the uncertainty of the displacement information. The displacement information entropy can be determined according to the displacement information, a preset displacement probability distribution function and a preset detection window, as shown in the following formula (15).

[0099] (15)

[0100] in, represents the displacement information entropy, represents the preset displacement probability distribution function, K represents the preset detection window, Represents the displacement information of sampling point i.

[0101] Figure 4 A schematic diagram of displacement information entropy according to an embodiment of the present disclosure is schematically shown.

[0102] like Figure 4 As shown, the horizontal axis represents the sampling point, and the vertical axis represents the displacement information entropy. It shows the displacement information entropy of different sampling points. It can be seen that the range of displacement information entropy is 0~1. Combined with the above Figure 3 ,At the sampling points where the displacement information is larger, the displacement information entropy is also correspondingly larger, so it can be seen that the displacement information and the displacement information entropy have similar ,change trends.

[0103] According to an embodiment of the present disclosure, the preset displacement probability distribution function may be a displacement information probability distribution function estimated using a kernel smoothing method. The preset detection window may be a detection window of minimum information entropy. The preset detection window may be set based on experience or demand, for example, the preset detection window may be set to 5.

[0104] According to an embodiment of the present disclosure, the preset first step length and the preset second step length can be set according to experience or demand, and the preset first step length and the preset second step length can be different. For example, the preset first step length can be set to 0.05, and the preset second step length can be set to 0.5. The preset information entropy threshold can also be set according to experience or demand. For example, the preset information entropy threshold can be set to 0.5.

[0105] Figure 5 A framework diagram for eliminating interference based on a minimum mean square error algorithm according to an embodiment of the present disclosure is schematically shown.

[0106] like Figure 5 As shown, by integrating the acceleration information 510, the displacement information 520 can be obtained, and the displacement information entropy 530 can be determined according to the displacement information 520. Based on the minimum mean square error algorithm 540, the adaptive filter 550 processes the displacement information entropy 530 to obtain the second interference, and according to the target geomagnetic induction intensity 560 and the second interference, the target aeromagnetic induction intensity 570 with the magnetic interference eliminated can be obtained. Based on the minimum mean square error algorithm 540, the adaptive filter 550 can determine the target compensation coefficient matrix according to the fluctuation size of the magnetic interference, and then determine the second interference, wherein the magnetic interference can include geomagnetic interference and aeromagnetic interference.

[0107] According to an embodiment of the present disclosure, a target compensation coefficient matrix can be obtained according to at least one of the preset first step length, the preset second step length, the displacement information entropy, the preset step length control function and the preset information entropy threshold, as shown in the following formula (16).

[0108] (16)

[0109] in, represents the target compensation coefficient matrix corresponding to the n+1th magnetic induction intensity, represents the target compensation coefficient matrix corresponding to the nth magnetic induction intensity, Indicates the preset first step length, Indicates the preset second step length. represents the preset information entropy threshold, represents the displacement information entropy, Indicates the target aeromagnetic induction intensity, Indicates the magnetic induction intensity of the target.

[0110] According to an embodiment of the present disclosure, the information matrix may be determined based on the three components of magnetic induction intensity, and the three components of magnetic induction intensity may be collected using a three-axis fluxgate magnetometer. The second interference may be determined based on the target compensation coefficient matrix and the information matrix, as shown in the following formula (17).

[0111] (17)

[0112] in, represents the second interference, represents the target compensation coefficient matrix, represents the information matrix.

[0113] According to an embodiment of the present disclosure, the target aeromagnetic induction intensity can be determined according to the target geomagnetic induction intensity and the second interference. , as shown in formula (18).

[0114] (18)

[0115] in, Indicates the magnetic induction intensity of the target.

[0116] According to the embodiments of the present disclosure, the displacement information entropy can be determined through displacement information, a preset displacement probability distribution function and a preset detection window, and then the target compensation coefficient matrix can be calculated based on at least one of the preset first step length, the preset second step length, the displacement information entropy, the preset step length control function and the preset information entropy threshold, and the second interference can be determined based on the target compensation coefficient matrix and the information matrix, and then the target aeromagnetic induction intensity can be obtained by subtracting the second interference from the target geomagnetic induction intensity. Since the adaptive step length can be achieved according to the preset first step length and the preset second step length, the accuracy of the target aeromagnetic induction intensity is improved.

[0117] According to an embodiment of the present disclosure, a target compensation coefficient matrix is ​​obtained according to at least one of a preset first step size, a preset second step size, a displacement information entropy, a preset step size control function and a preset information entropy threshold, including: when the displacement information entropy is less than the preset information entropy threshold, based on the displacement information entropy, the preset step size control function, the preset first step size, the preset second step size and the preset information entropy threshold, the preset initial compensation coefficient matrix is ​​updated to obtain the first target compensation coefficient matrix; when the displacement information entropy is greater than or equal to the preset information entropy threshold, based on the displacement information entropy, the preset step size control function, the preset first step size and the preset information entropy threshold, the preset initial compensation coefficient matrix is ​​updated to obtain the second target compensation coefficient matrix.

[0118] According to an embodiment of the present disclosure, when the displacement information entropy is less than the preset information entropy threshold, the sigmoid function that controls the step size quickly approaches 0. Therefore, the preset second step size can participate in the adaptive step size, that is, the preset initial compensation coefficient matrix can be updated based on the displacement information entropy, the preset step size control function, the preset first step size, the preset second step size and the preset information entropy threshold, so as to obtain the first target compensation coefficient matrix.

[0119] For example, when the preset information entropy is 0.5 and the displacement information entropy is less than 0.5, the sigmoid function in the above formula (16) can quickly approach 0, and the above formula (16) can be simplified to the following formula (19).

[0120] (19)

[0121] According to an embodiment of the present disclosure, when the displacement information entropy is greater than or equal to the preset information entropy threshold, the sigmoid function that controls the step size quickly approaches 1, and therefore, only the preset first step size is involved in the adaptive step size, that is, the preset initial compensation coefficient matrix can be updated based on the displacement information entropy, the preset step size control function, the preset first step size and the preset information entropy threshold, thereby obtaining the second target compensation coefficient matrix.

[0122] For example, when the preset information entropy is 0.5 and the displacement information entropy is greater than or equal to 0.5, the sigmoid function in the above formula (16) can quickly approach 1, and the above formula (16) can be simplified to the following formula (20).

[0123] (20)

[0124] According to an embodiment of the present disclosure, by utilizing the sigmoid function, in different situations, at least one of the preset first step size and the preset second step size can be involved in the adaptive step size, so that a larger step size can be adaptively used for interference compensation at a location with large interference fluctuations, and a smaller step size can be adaptively used for interference compensation at a location with small interference fluctuations, thereby realizing interference compensation with adaptive step size and improving the flexibility of interference compensation.

[0125] According to an embodiment of the present disclosure, a target compensation coefficient matrix is ​​obtained according to at least one of a preset first step length, a preset second step length, a displacement information entropy, a preset step length control function and a preset information entropy threshold, and further includes: when the displacement information entropy is less than the preset information entropy threshold and the number of magnetic induction intensity is 2, based on the displacement information entropy, the preset step length control function, the preset first step length, the preset second step length and the preset information entropy threshold, the preset initial compensation coefficient matrix is ​​updated to obtain the first target compensation coefficient matrix corresponding to the second magnetic induction intensity; when the displacement information entropy is less than the preset information entropy threshold and the number of magnetic induction intensity is greater than 2, for the nth magnetic induction intensity, based on the displacement information entropy, the preset step length control function, the preset first step length, the preset second step length and the preset information entropy threshold, the target compensation coefficient matrix corresponding to the n-1th magnetic induction intensity is updated to obtain A first target compensation coefficient matrix corresponding to the nth magnetic induction intensity, wherein N is a positive integer greater than or equal to 2, n is a positive integer greater than 2, and n is less than N; when the displacement information entropy is greater than or equal to the preset information entropy threshold, and the number of magnetic induction intensity is 2, based on the displacement information entropy, the preset step size control function, the preset first step size and the preset information entropy threshold, the preset initial compensation coefficient matrix is ​​updated to obtain the second target compensation coefficient matrix corresponding to the second magnetic induction intensity; when the displacement information entropy is greater than or equal to the preset information entropy threshold, and the number of magnetic induction intensity is greater than 2, for the nth magnetic induction intensity, based on the displacement information entropy, the preset step size control function, the preset first step size and the preset information entropy threshold, the second target compensation coefficient matrix corresponding to the n-1th magnetic induction intensity is updated to obtain the second target compensation coefficient matrix corresponding to the nth magnetic induction intensity.

[0126] According to an embodiment of the present disclosure, an optically pumped magnetometer may be used to collect the magnetic induction intensities of a movable device at different positions, that is, the magnetic induction intensities of the movable device may include N intensities.

[0127] According to an embodiment of the present disclosure, the preset initial compensation coefficient matrix can represent the compensation coefficient matrix corresponding to the first magnetic induction intensity, and the preset initial compensation coefficient matrix can be set to an all-zero matrix. When the displacement information entropy is less than the preset information entropy threshold and the number of magnetic induction intensities is 2, based on the displacement information entropy, the preset step length control function, the preset first step length, the preset second step length and the preset information entropy threshold, the preset initial compensation coefficient matrix can be calculated using the above formula (19). The matrix is ​​updated to obtain the first target compensation coefficient matrix corresponding to the second magnetic induction intensity .

[0128] According to an embodiment of the present disclosure, when the displacement information entropy is less than the preset information entropy threshold and the number of magnetic induction intensities is greater than 2, the target compensation coefficient matrix corresponding to the n-1th magnetic induction intensity can be calculated using the above formula (19) based on the displacement information entropy, the preset step size control function, the preset first step size, the preset second step size and the preset information entropy threshold for the nth magnetic induction intensity. Update to obtain the first target compensation coefficient matrix corresponding to the nth magnetic induction intensity .

[0129] According to an embodiment of the present disclosure, when the displacement information entropy is greater than or equal to the preset information entropy threshold and the number of magnetic induction intensities is 2, based on the displacement information entropy, the preset step length control function, the preset first step length and the preset information entropy threshold, the above formula (20) can be used to calculate the preset initial compensation coefficient The matrix is ​​updated to obtain the second target compensation coefficient matrix corresponding to the second magnetic induction intensity .

[0130] According to an embodiment of the present disclosure, when the displacement information entropy is greater than or equal to the preset information entropy threshold and the number of magnetic induction intensities is greater than 2, for the nth magnetic induction intensity, based on the displacement information entropy, the preset step size control function, the preset first step size and the preset information entropy threshold, the above formula (20) can be used to calculate the second target compensation coefficient matrix corresponding to the n-1th magnetic induction intensity: Update to obtain the second target compensation coefficient matrix corresponding to the nth magnetic induction intensity .

[0131] According to the embodiments of the present disclosure, when the displacement information entropy is less than the preset displacement information entropy and the magnetic induction intensities are different, the preset first step size and the preset second step size can be included in the adaptive step size; when the displacement information entropy is greater than or equal to the preset displacement information entropy and the magnetic induction intensities are different, the preset first step size can be included in the adaptive step size, thereby adaptively adopting a larger step size for interference compensation at a location with large interference fluctuations, and adaptively adopting a smaller step size for interference compensation at a location with small interference fluctuations, thereby achieving interference compensation with an adaptive step size, thereby improving the flexibility and accuracy of interference compensation.

[0132] Figure 6 A flowchart for determining a target compensation coefficient matrix according to an embodiment of the present disclosure is schematically shown.

[0133] like Figure 6 As shown, determining the target compensation coefficient matrix includes operations S610 to S670.

[0134] In operation S610, it is determined whether the displacement information entropy is less than a preset information entropy threshold. If yes, operation S620 is performed; if not, operation S630 is performed.

[0135] In operation S620, it is determined whether the number of magnetic induction intensities is greater than 2, and if so, operation S640 is performed, and if not, operation S650 is performed.

[0136] In operation S630, it is determined whether the number of magnetic induction intensities is greater than 2, and if so, operation S660 is performed, and if not, operation S670 is performed.

[0137] In operation S640, the preset initial compensation coefficient matrix is ​​updated to obtain a first target compensation coefficient matrix corresponding to the second magnetic induction intensity.

[0138] In operation S650, the target compensation coefficient matrix corresponding to the n-1th magnetic induction intensity is updated to obtain a first target compensation coefficient matrix corresponding to the nth magnetic induction intensity.

[0139] In operation S660, the preset initial compensation coefficient matrix is ​​updated to obtain a second target compensation coefficient matrix corresponding to the second magnetic induction intensity.

[0140] In operation S670, the second target compensation coefficient matrix corresponding to the n-1th magnetic induction intensity is updated to obtain the second target compensation coefficient matrix corresponding to the nth magnetic induction intensity.

[0141] According to an embodiment of the present disclosure, in the process of updating the preset initial compensation coefficient matrix in the above-mentioned operation S640 and operation S660, the step size of the sigmoid function is different due to the different sizes of magnetic interference fluctuations. Similarly, in the process of updating the second target compensation coefficient matrix corresponding to the n-1th magnetic induction intensity in the above-mentioned operation S650 and operation S670, the step size of the sigmoid function is different due to the different sizes of magnetic interference fluctuations, thereby obtaining a target compensation coefficient matrix adaptive to the size of magnetic interference fluctuations.

[0142] According to an embodiment of the present disclosure, the above-mentioned aeromagnetic compensation method also includes: determining a first standard deviation based on the target aeromagnetic induction intensity and the quantity of the target aeromagnetic induction intensity; determining a second standard deviation based on the magnetic induction intensity and the quantity of the magnetic induction intensity; determining an improvement ratio based on the first standard deviation and the second standard deviation.

[0143] According to an embodiment of the present disclosure, the first standard deviation (STD) can characterize the degree to which the magnetic induction intensity after the second interference compensation deviates from the mean value. The first standard deviation can be determined according to the target aeromagnetic induction intensity and the number of target aeromagnetic induction intensity using the following formula (21).

[0144] (twenty one)

[0145] Where I represents the magnitude of magnetic induction intensity, represents the i-th magnetic induction intensity, Represents the mean value of I magnetic induction intensities.

[0146] According to an embodiment of the present disclosure, the second standard deviation can characterize the degree to which the magnetic induction intensity before the first interference compensation deviates from the mean value. The second standard deviation can be determined by using the above formula (21) according to the magnetic induction intensity and the number of magnetic induction intensities.

[0147] According to an embodiment of the present disclosure, an improved ratio (IR) can characterize the compensation effect of aeromagnetic compensation. The improved ratio can be determined based on the first standard deviation and the second standard deviation. , as shown in formula (22).

[0148] (twenty two)

[0149] in, represents the first standard deviation, represents the second standard deviation.

[0150] According to an embodiment of the present disclosure, the improvement ratio can be determined by the ratio of the first standard deviation to the second standard deviation, so that the compensation effect of aeromagnetic compensation can be evaluated using the improvement ratio, thereby simplifying the process of evaluating the compensation effect.

[0151] Based on the above-mentioned aeromagnetic compensation method, the present disclosure also provides an aeromagnetic compensation device. Figure 7 The device is described in detail.

[0152] Figure 7 The structural block diagram of the aeromagnetic compensation device according to an embodiment of the present disclosure is schematically shown.

[0153] like Figure 7 As shown, the aeromagnetic compensation device 700 of this embodiment includes a collection module 710 , a first compensation module 720 and a second compensation module 730 .

[0154] The acquisition module 710 is used to collect the magnetic induction intensity of the movable device, the location information of the movable device, and the acceleration information of the movable device, wherein the magnetic induction intensity includes the geomagnetic induction intensity carrying the first interference and the aeromagnetic induction intensity carrying the second interference. In one embodiment, the acquisition module 710 can be used to perform the operation S210 described above, which will not be repeated here.

[0155] The first compensation module 720 is used to compensate the first interference based on the position information to obtain the target ground magnetic induction intensity. In one embodiment, the first compensation module 720 can be used to perform the operation S220 described above, which will not be repeated here.

[0156] The second compensation module 730 is used to compensate the second interference based on the acceleration information and the target geomagnetic induction intensity to obtain the target aeromagnetic induction intensity. In one embodiment, the second compensation module 730 can be used to perform the operation S230 described above, which will not be described in detail here.

[0157] According to an embodiment of the present disclosure, the second compensation module 730 includes: a first compensation submodule and a second compensation submodule.

[0158] The first compensation submodule is used to perform integration processing on the acceleration information to obtain displacement information.

[0159] The second compensation submodule is used to process the displacement information and the target geomagnetic induction intensity based on a minimum mean square error algorithm to obtain the target aeromagnetic induction intensity.

[0160] According to an embodiment of the present disclosure, the second compensation submodule includes: a first compensation unit, a second compensation unit, a third compensation unit and a fourth compensation unit.

[0161] The first compensation unit is used to determine the displacement information entropy according to the displacement information, a preset displacement probability distribution function and a preset detection window, wherein the displacement information entropy represents the uncertainty degree of the displacement information.

[0162] The second compensation unit is used to obtain a target compensation coefficient matrix according to at least one of the preset first step length, the preset second step length, the displacement information entropy, the preset step length control function and the preset information entropy threshold.

[0163] The third compensation unit is used to determine the second interference according to the target compensation coefficient matrix and the information matrix, wherein the information matrix is ​​determined according to the three components of the magnetic induction intensity, and the three components of the magnetic induction intensity are collected by using a three-axis fluxgate magnetometer.

[0164] The fourth compensation unit is used to determine the target aeromagnetic induction intensity according to the target geomagnetic induction intensity and the second interference.

[0165] According to an embodiment of the present disclosure, the second compensation unit includes: a first compensation subunit and a second compensation subunit.

[0166] The first compensation subunit is used to update the preset initial compensation coefficient matrix based on the displacement information entropy, the preset step size control function, the preset first step size, the preset second step size and the preset information entropy threshold to obtain a first target compensation coefficient matrix when the displacement information entropy is less than the preset information entropy threshold.

[0167] The second compensation subunit is used to update the preset initial compensation coefficient matrix based on the displacement information entropy, the preset step size control function, the preset first step size and the preset information entropy threshold to obtain a second target compensation coefficient matrix when the displacement information entropy is greater than or equal to the preset information entropy threshold.

[0168] According to an embodiment of the present disclosure, the magnetic induction intensity of the movable device includes N second compensation units, and further includes: a third compensation subunit, a fourth compensation subunit, a fifth compensation subunit and a sixth compensation subunit.

[0169] The third compensation subunit is used to update the preset initial compensation coefficient matrix based on the displacement information entropy, the preset step size control function, the preset first step size, the preset second step size and the preset information entropy threshold when the displacement information entropy is less than the preset information entropy threshold and the number of magnetic induction intensity is 2, so as to obtain the first target compensation coefficient matrix corresponding to the second magnetic induction intensity, wherein the preset initial compensation coefficient matrix represents the compensation coefficient matrix corresponding to the first magnetic induction intensity.

[0170] The fourth compensation subunit is used to update the target compensation coefficient matrix corresponding to the n-1th magnetic induction intensity for the nth magnetic induction intensity based on the displacement information entropy, the preset step size control function, the preset first step size, the preset second step size and the preset information entropy threshold when the displacement information entropy is less than the preset information entropy threshold and the number of magnetic induction intensity is greater than 2, so as to obtain the first target compensation coefficient matrix corresponding to the nth magnetic induction intensity, wherein N is a positive integer greater than or equal to 2, n is a positive integer greater than 2, and n is less than N.

[0171] The fifth compensation subunit is used to update the preset initial compensation coefficient matrix based on the displacement information entropy, the preset step size control function, the preset first step size and the preset information entropy threshold when the displacement information entropy is greater than or equal to the preset information entropy threshold and the number of magnetic induction intensity is 2, so as to obtain a second target compensation coefficient matrix corresponding to the second magnetic induction intensity.

[0172] The sixth compensation subunit is used to update the second target compensation coefficient matrix corresponding to the n-1th magnetic induction intensity based on the displacement information entropy, the preset step size control function, the preset first step size and the preset information entropy threshold for the nth magnetic induction intensity when the displacement information entropy is greater than or equal to the preset information entropy threshold and the number of magnetic induction intensity is greater than 2, so as to obtain the second target compensation coefficient matrix corresponding to the nth magnetic induction intensity.

[0173] According to an embodiment of the present disclosure, the integration processing includes a first integration processing and a second integration processing, the first integration processing is used to time-integrate the acceleration information along different coordinate axes, the second integration processing is used to time-integrate the velocity information along different coordinate axes, and the first compensation submodule includes: a fifth compensation unit and a sixth compensation unit.

[0174] The fifth compensation unit is used to perform a first integration process on the acceleration information to obtain velocity information, wherein the acceleration information includes acceleration vectors of different coordinate axes, and the velocity information includes velocity vectors of different coordinate axes.

[0175] The sixth compensation unit is used to perform a second integral process on the velocity information to obtain displacement information, wherein the displacement information includes displacement vectors of different coordinate axes.

[0176] According to an embodiment of the present disclosure, the first compensation module 720 includes: a third compensation submodule, a fourth compensation submodule and a fifth compensation submodule.

[0177] The third compensation submodule is used to determine the first geomagnetic induction intensity component, the second geomagnetic induction intensity component and the third geomagnetic induction intensity component according to the position information and the preset Gaussian coefficient, wherein the first geomagnetic induction intensity component, the second geomagnetic induction intensity component and the third geomagnetic induction intensity component are respectively geomagnetic induction intensity components along different coordinate axes.

[0178] The fourth compensation submodule is used to determine the geomagnetic induction intensity scalar according to the first geomagnetic induction intensity component, the second geomagnetic induction intensity component and the third geomagnetic induction intensity component.

[0179] The fifth compensation submodule is used to subtract the geomagnetic induction intensity scalar from the magnetic induction intensity to obtain the target geomagnetic induction intensity.

[0180] According to an embodiment of the present disclosure, the aeromagnetic compensation device 700 further includes: a first determination module, a second determination module and a third determination module.

[0181] The first determination module is used to determine a first standard deviation according to the target aeromagnetic induction intensity and the number of target aeromagnetic induction induction intensities, wherein the first standard deviation represents the degree to which the magnetic induction intensity after the second interference compensation deviates from the mean value.

[0182] The second determination module is used to determine a second standard deviation according to the magnetic induction intensity and the quantity of the magnetic induction intensity, wherein the second standard deviation represents the degree to which the magnetic induction intensity before the first interference compensation deviates from the mean value.

[0183] The third determination module is used to determine an improvement ratio according to the first standard deviation and the second standard deviation, wherein the improvement ratio represents a compensation effect of the aeromagnetic compensation.

[0184] According to an embodiment of the present disclosure, any multiple modules of the acquisition module 710, the first compensation module 720 and the second compensation module 730 can be combined into one module for implementation, or any one of the modules can be split into multiple modules. Alternatively, at least part of the functions of one or more of these modules can be combined with at least part of the functions of other modules and implemented in one module. According to an embodiment of the present disclosure, at least one of the acquisition module 710, the first compensation module 720 and the second compensation module 730 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application-specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware and firmware or in any appropriate combination of any of them. Alternatively, at least one of the acquisition module 710, the first compensation module 720 and the second compensation module 730 can be at least partially implemented as a computer program module, and when the computer program module is run, the corresponding function can be executed.

[0185] Figure 8 A block diagram of an electronic device suitable for implementing an aeromagnetic compensation method according to an embodiment of the present disclosure is schematically shown.

[0186] like Figure 8 As shown, the electronic device 800 according to an embodiment of the present disclosure includes a processor 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage part 808 into a RAM (Random Access Memory). The processor 801 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a dedicated microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 801 may also include an onboard memory for caching purposes. The processor 801 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0187] In RAM 803, various programs and data required for the operation of electronic device 800 are stored. Processor 801, ROM 802 and RAM 803 are connected to each other via bus 804. Processor 801 performs various operations of the method flow according to the embodiment of the present disclosure by executing the program in ROM 802 and / or RAM 803. It should be noted that the program can also be stored in one or more memories other than ROM 802 and RAM 803. Processor 801 can also perform various operations of the method flow according to the embodiment of the present disclosure by executing the program stored in the one or more memories.

[0188] According to an embodiment of the present disclosure, the electronic device 800 may further include an I / O interface 805, which is also connected to the bus 804. The electronic device 800 may further include one or more of the following components connected to the I / O interface 805: an input portion 806 including a keyboard, a mouse, etc.; an output portion 807 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 808 including a hard disk, etc.; and a communication portion 809 including a network interface card such as a LAN card, a modem, etc. The communication portion 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as needed. A removable medium 811, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 810 as needed, so that a computer program read therefrom is installed into the storage portion 808 as needed.

[0189] The present disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or may exist independently without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present disclosure is implemented.

[0190] According to an embodiment of the present disclosure, a computer-readable storage medium may be a non-volatile computer-readable storage medium, for example, may include but is not limited to: a portable computer disk, a hard disk, a RAM (Random Access Memory), a ROM (Read Only Memory), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, an apparatus or a device. For example, according to an embodiment of the present disclosure, a computer-readable storage medium may include the ROM 802 and / or RAM 803 described above and / or one or more memories other than ROM 802 and RAM 803.

[0191] The embodiment of the present disclosure also includes a computer program product, which includes a computer program, and the computer program contains program code for executing the method shown in the flowchart. When the computer program product is run in a computer system, the program code is used to enable the computer system to implement the aeromagnetic compensation method provided by the embodiment of the present disclosure.

[0192] The above functions defined in the system / device of the embodiment of the present disclosure are executed when the computer program is executed by the processor 801. According to the embodiment of the present disclosure, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0193] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices, magnetic storage devices, etc. In another embodiment, the computer program may also be transmitted and distributed in the form of signals on a network medium, and downloaded and installed through the communication part 809, and / or installed from a removable medium 811. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0194] In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 809, and / or installed from the removable medium 811. When the computer program is executed by the processor 801, the above functions defined in the system of the embodiment of the present disclosure are performed. According to the embodiment of the present disclosure, the system, device, means, module, unit, etc. described above can be implemented by a computer program module.

[0195] According to an embodiment of the present disclosure, the program code for executing the computer program provided by the embodiment of the present disclosure can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level process and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, Java, C++, python, "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, partially on the remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect through the Internet).

[0196] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0197] It will be appreciated by those skilled in the art that the features described in the various embodiments of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations or combinations are not explicitly described in the present disclosure. In particular, without departing from the spirit and teachings of the present disclosure, the features described in the various embodiments of the present disclosure may be combined and / or combined in a variety of ways. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0198] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. An aeromagnetic compensation method, characterized in that: The method comprises: Collecting magnetic induction intensity of a movable device, location information of the movable device, and acceleration information of the movable device, wherein the magnetic induction intensity includes geomagnetic induction intensity carrying a first interference and aeromagnetic induction intensity carrying a second interference; Based on the position information, compensating for the first interference to obtain target geomagnetic induction intensity; Based on the acceleration information and the target geomagnetic induction intensity, the second interference is compensated to obtain the target aeromagnetic induction intensity.

2. The method according to claim 1, characterized in that The compensating the second interference based on the acceleration information and the target geomagnetic induction intensity to obtain the target aeromagnetic induction intensity includes: Integrating the acceleration information to obtain displacement information; Based on a minimum mean square error algorithm, the displacement information and the target geomagnetic induction intensity are processed to obtain the target aeromagnetic induction intensity.

3. The method according to claim 2, characterized in that The method of processing the displacement information and the target geomagnetic induction intensity based on the minimum mean square error algorithm to obtain the target aeromagnetic induction intensity includes: Determine displacement information entropy according to the displacement information, a preset displacement probability distribution function and a preset detection window, wherein the displacement information entropy represents the uncertainty degree of the displacement information; Obtaining a target compensation coefficient matrix according to at least one of a preset first step length, a preset second step length, the displacement information entropy, a preset step length control function, and a preset information entropy threshold; Determining the second interference according to the target compensation coefficient matrix and the information matrix, wherein the information matrix is ​​determined according to three components of magnetic induction intensity, and the three components of magnetic induction intensity are collected by using a three-axis fluxgate magnetometer; The target aeromagnetic induction intensity is determined according to the target geomagnetic induction intensity and the second interference.

4. The method according to claim 3, characterized in that The step of obtaining a target compensation coefficient matrix according to at least one of the preset first step length, the preset second step length, the displacement information entropy, the preset step length control function and the preset information entropy threshold comprises: When the displacement information entropy is less than the preset information entropy threshold, based on the displacement information entropy, the preset step size control function, the preset first step size, the preset second step size and the preset information entropy threshold, the preset initial compensation coefficient matrix is ​​updated to obtain a first target compensation coefficient matrix; When the displacement information entropy is greater than or equal to the preset information entropy threshold, the preset initial compensation coefficient matrix is ​​updated based on the displacement information entropy, the preset step size control function, the preset first step size and the preset information entropy threshold to obtain a second target compensation coefficient matrix.

5. The method according to claim 4, characterized in that The magnetic induction intensity of the movable device includes N, and the target compensation coefficient matrix is ​​obtained according to at least one of the preset first step length, the preset second step length, the displacement information entropy, the preset step length control function and the preset information entropy threshold, and further includes: When the displacement information entropy is less than the preset information entropy threshold and the number of magnetic induction intensities is 2, based on the displacement information entropy, the preset step size control function, the preset first step size, the preset second step size and the preset information entropy threshold, the preset initial compensation coefficient matrix is ​​updated to obtain a first target compensation coefficient matrix corresponding to the second magnetic induction intensity, wherein the preset initial compensation coefficient matrix represents the compensation coefficient matrix corresponding to the first magnetic induction intensity; When the displacement information entropy is less than the preset information entropy threshold and the number of the magnetic induction intensity is greater than 2, for the nth magnetic induction intensity, based on the displacement information entropy, the preset step size control function, the preset first step size, the preset second step size and the preset information entropy threshold, the target compensation coefficient matrix corresponding to the n-1th magnetic induction intensity is updated to obtain a first target compensation coefficient matrix corresponding to the nth magnetic induction intensity, wherein N is a positive integer greater than or equal to 2, n is a positive integer greater than 2, and n is less than N; When the displacement information entropy is greater than or equal to the preset information entropy threshold and the number of magnetic induction intensities is 2, based on the displacement information entropy, the preset step size control function, the preset first step size and the preset information entropy threshold, the preset initial compensation coefficient matrix is ​​updated to obtain a second target compensation coefficient matrix corresponding to the second magnetic induction intensity; When the displacement information entropy is greater than or equal to the preset information entropy threshold and the number of magnetic induction intensity is greater than 2, for the nth magnetic induction intensity, based on the displacement information entropy, the preset step size control function, the preset first step size and the preset information entropy threshold, the second target compensation coefficient matrix corresponding to the n-1th magnetic induction intensity is updated to obtain the second target compensation coefficient matrix corresponding to the nth magnetic induction intensity.

6. The method according to claim 2, characterized in that The integration processing includes a first integration processing and a second integration processing, wherein the first integration processing is used to perform time integration on the acceleration information along different coordinate axes, and the second integration processing is used to perform time integration on the velocity information along different coordinate axes, and the integration processing on the acceleration information to obtain displacement information includes: Performing the first integration processing on the acceleration information to obtain velocity information, wherein the acceleration information includes acceleration vectors of different coordinate axes, and the velocity information includes velocity vectors of different coordinate axes; The second integral processing is performed on the velocity information to obtain displacement information, wherein the displacement information includes displacement vectors of different coordinate axes.

7. The method according to claim 1, characterized in that The compensating the first interference based on the position information to obtain the target geomagnetic induction intensity includes: Determine a first geomagnetic induction intensity component, a second geomagnetic induction intensity component, and a third geomagnetic induction intensity component according to the position information and the preset Gaussian coefficient, wherein the first geomagnetic induction intensity component, the second geomagnetic induction intensity component, and the third geomagnetic induction intensity component are geomagnetic induction intensity components along different coordinate axes respectively; Determine a geomagnetic induction intensity scalar according to the first geomagnetic induction intensity component, the second geomagnetic induction intensity component and the third geomagnetic induction intensity component; The geomagnetic induction intensity scalar is subtracted from the magnetic induction intensity to obtain the target geomagnetic induction intensity.

8. The method according to claim 4, characterized in that The method further comprises: Determine a first standard deviation according to the target aeromagnetic induction intensity and the number of the target aeromagnetic induction intensity, wherein the first standard deviation represents the degree to which the magnetic induction intensity after the second interference compensation deviates from the mean value; Determine a second standard deviation according to the magnetic induction intensity and the quantity of the magnetic induction intensity, wherein the second standard deviation represents the degree to which the magnetic induction intensity before the first interference compensation deviates from the mean value; An improvement ratio is determined according to the first standard deviation and the second standard deviation, wherein the improvement ratio represents a compensation effect of aeromagnetic compensation.

9. An aeromagnetic compensation device, characterized in that: The device comprises: A collection module, used to collect the magnetic induction intensity of the movable device, the location information of the movable device, and the acceleration information of the movable device, wherein the magnetic induction intensity includes the geomagnetic induction intensity carrying the first interference and the aeromagnetic induction intensity carrying the second interference; A first compensation module, configured to compensate the first interference based on the position information to obtain a target geomagnetic induction intensity; The second compensation module is used to compensate the second interference based on the acceleration information and the target geomagnetic induction intensity to obtain the target aeromagnetic induction intensity.

10. An electronic device comprising: one or more processors; a memory for storing one or more computer programs, It is characterized in that the one or more processors execute the one or more computer programs to implement the steps of the method according to any one of claims 1 to 8.

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