Multi-magnetic target positioning method for decoupling carrier attitude

Abstract

The invention discloses a multi-magnetic target positioning method for decoupling a carrier attitude, belongs to the technical field of magnetic target positioning, and solves the problems that the traditional magnetic target positioning technology is influenced by the size of a geomagnetic field, the positioning precision is interfered by a carrier attitude angle, and a plurality of magnetic targets are difficult to identify and position. Comprising the following steps: S1, measuring magnetic field data of a plane by multiple measuring lines, and screening out an effective measuring point set corresponding to each magnetic target; s2, respectively establishing a positioning equation set for each magnetic target, and calculating the coordinate of each magnetic target in an earth coordinate system; according to the decoupling carrier attitude multi-magnetic target positioning method, the problem that traditional positioning is influenced by a geomagnetic field and a carrier attitude is solved, and multiple magnetic targets can be accurately identified and positioned.

Description

Technical Field

[0001] The invention relates to the technical field of magnetic target positioning, and in particular to a multi-magnetic target positioning method for decoupling carrier posture. Background Art

[0002] Since magnetic objects generate magnetic fields and affect the distribution of environmental magnetic fields, the position of magnetic targets can be inverted by measuring and analyzing the environmental magnetic field with magnetic sensors. Magnetic detection technology has been widely used in many occasions due to its high efficiency and low cost. For some special scenarios, such as the exploration of magnetic mineral resources, the detection of underground and underwater unexploded ordnance, and the precise positioning of a small range inside the human body in medicine, magnetic target positioning technology has unique advantages due to its passive detection characteristics.

[0003] Magnetic sensors are usually installed on moving platforms such as drones and aerial survey aircraft to locate magnetic targets in order to improve positioning efficiency. The current magnetic target detection technologies mainly include scalar magnetic target positioning technology and tensor magnetic target positioning technology, but both methods have disadvantages to varying degrees:

[0004] 1. The magnitude of the geomagnetic field cannot be accurately obtained, and the positioning accuracy of scalar magnetic target positioning technology is limited.

[0005] The scalar magnetic target positioning technology approximates the projection of the magnetic anomaly field generated by the magnetic target in the direction of the geomagnetic field as the magnetic anomaly signal generated by the magnetic target. After the magnitude of the geomagnetic field at the measuring point is known, the magnetic moment and position information of the magnetic target are calculated by solving the different magnitudes of the magnetic anomalies at multiple measuring points. The international geomagnetic reference field model is usually used to obtain the magnitude of the local geomagnetic field, but the geomagnetic field changes all the time and is affected by extreme conditions such as geomagnetic storms, which will lead to limited application environments of scalar magnetic target positioning technology and poor positioning accuracy.

[0006] 2. The positioning accuracy of tensor magnetic target positioning technology is affected by the measurement accuracy of the attitude angle of the maneuvering platform.

[0007] During the detection process, the carrier's attitude angle changes due to environmental influences or steering, causing the positioning results of the tensor magnetic target positioning technology to deviate from the earth coordinate system. It is necessary to measure the carrier's attitude angle and perform coordinate conversion of the positioning results. However, due to the attitude angle measurement error, the positioning results of the tensor magnetic target positioning technology cannot be accurately converted to the earth coordinate system.

[0008] 3. Both methods cannot identify and locate multiple magnetic targets

[0009] Both the scalar magnetic target positioning technology and the tensor magnetic target positioning technology are based on the model of a single magnetic dipole, and the single target is approximated as a magnetic dipole for positioning. If there are other magnetic targets or interfering magnets in the detection area, the magnetic anomaly field distribution of the environment will be quite different from the magnetic anomaly field distribution of a single magnetic dipole. However, the scalar magnetic target positioning technology and the tensor magnetic target positioning technology will still approximate all magnetic targets as a magnetic dipole for positioning. Not only can they not identify the number of all magnetic targets in the detection area, but they can also not accurately locate each magnetic target. Summary of the invention

[0010] The present invention proposes a multi-magnetic target positioning method with decoupled carrier posture to solve the problems existing in scalar magnetic target positioning technology and tensor magnetic target positioning technology, such as the inability to accurately obtain the magnitude of the geomagnetic field, the positioning accuracy being affected by the carrier posture angle, and the inability to identify and locate multiple magnetic targets.

[0011] A multi-magnetic target positioning method for decoupling a carrier posture, the multi-magnetic target positioning method for decoupling a carrier posture comprises the following steps:

[0012] S1. Multi-line measurement of plane magnetic field data and screening out effective measurement point sets corresponding to each magnetic target;

[0013] S2. Establish a positioning equation group for each magnetic target and calculate its coordinates in the earth coordinate system.

[0014] Furthermore, in S1, the following steps are included:

[0015] S11, fixing the magnetic sensor array on the tail of an aerial survey aircraft or under a drone as a mobile platform;

[0016] S12, planning the movement mode of the mobile platform in the plane of the detection area;

[0017] S13, the mobile platform moves along the planned path and collects magnetic field data at each measurement point. Then the collected measurement data is calculated and processed to obtain the planar distribution of the magnetic gradient tensor invariant;

[0018] S14. If there are multiple magnetic targets, multiple maximum points will appear, and the number of the multiple maximum points is the number of magnetic targets, so as to accurately identify the number of magnetic targets in the detection area;

[0019] S15. Filter the effective measurement point set. For each magnetic target, take its corresponding maximum point as the center, select m measurement points in the positive and negative directions of the x-axis and y-axis respectively, so as to form a set containing n = (2m + 1) 2 The valid measurement point set is m, where m is an integer.

[0020] Furthermore, in S12, the following steps are included: the mobile platform adopts a movement mode of multiple parallel measuring lines in the plane of the detection area, the measuring lines are parallel to the x-axis, the measuring line length is l meter, the measuring line interval is d meters, and d is not greater than 10% of the measuring line length l, and the measuring point interval on each measuring line is δ meters, and δ is not greater than 10% of the measuring line length l.

[0021] Furthermore, in S13, when measuring magnetic field data, the maximum change in attitude angle of the mobile platform when it moves stably on the planned survey line is 10°.

[0022] Furthermore, in S2, the following steps are included:

[0023] S21. For each valid measurement point set corresponding to each magnetic target, at the i-th valid measurement point, use the tensor magnetic target positioning technology to obtain the estimated distance r to one of the magnetic targets. i , where 1≤i≤n;

[0024] S22. Clearly define the coordinates (x i ,y i ,z i );

[0025] S23, assuming that the coordinates of the current magnetic target in the earth coordinate system are (x0, y0, z0);

[0026] S24, based on the distance estimation value r i , mobile platform coordinates (x i ,y i ,z i ) and the relationship between the current magnetic target coordinates to be solved (x0, y0, z0), establish the objective function:

[0027]

[0028] S25, calculating the position coordinates of the current magnetic target in the earth coordinate system by using an optimization method;

[0029] S26. Repeat the operations of S21-S25 for other magnetic targets, thereby achieving accurate positioning of all magnetic targets in the earth coordinate system.

[0030] Further, in S21, the tensor magnetic target positioning technology uses the STAR method to obtain the distance estimation value r i .

[0031] Further, in S25, the optimization method is the Levenberg-Marquardt method, and the convergence error is set to 0.01m.

[0032] A storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned multi-magnetic target positioning method for decoupling carrier posture.

[0033] A computer device comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-mentioned multi-magnetic target positioning method for decoupling carrier posture.

[0034] Compared with the prior art, the beneficial effects of the present invention include the following aspects:

[0035] (1) Both scalar magnetic target positioning technology and tensor magnetic target positioning technology are unable to identify the number and accurately locate multiple magnetic sources. To address this problem, it is proposed to first calculate the invariant distribution of the magnetic gradient tensor in the plane through multi-line measurement, identify the number of magnetic sources through the maximum points, and screen out the effective measurement point set corresponding to each magnetic target with each maximum point as the center, and establish a positioning equation group based on the estimated distance from the magnetic target to the effective measurement point, and locate multiple magnetic targets separately. When there are 5 magnetic targets in the detection area, the recognition success rate of the number of magnetic targets of the present invention is 100%, and the maximum positioning error is 0.1133m, which can effectively identify and distinguish multiple magnetic targets.

[0036] (2) Since the value of the magnetic gradient tensor invariant is not affected by the carrier attitude angle, and the solution of the estimated distance from the magnetic target to the effective measurement point is also independent of the carrier attitude angle, the entire positioning process does not need to be combined with the carrier attitude angle data, making the magnetic target positioning process simpler than the tensor magnetic target positioning technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the distribution of magnetic target positioning survey lines;

[0038] Figure 2 is the distribution diagram of the magnetic gradient tensor invariant in the measurement plane;

[0039] Figure 3 Schematic diagram of the effective measurement point set. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0041] A multi-magnetic target positioning method for decoupling a carrier posture, the multi-magnetic target positioning method for decoupling a carrier posture comprises the following steps:

[0042] S1. Multi-line measurement of plane magnetic field data and screening out effective measurement point sets corresponding to each magnetic target;

[0043] S2. Establish a positioning equation group for each magnetic target and calculate its coordinates in the earth coordinate system.

[0044] Specifically, the multi-magnetic target positioning method of the present invention decouples the carrier posture, selects the effective measurement point set by measuring the magnetic field data of multiple survey lines, and then respectively establishes a positioning equation group to solve the coordinates of the magnetic target in the earth coordinate system, which can effectively identify the number of multiple magnetic targets in the detection area and realize the accurate positioning of multiple magnetic targets. At the same time, the method decouples the carrier posture, and the positioning process is not affected by the change of the carrier posture angle. Compared with the traditional positioning technology, it simplifies the magnetic target detection steps, improves the accuracy and stability of positioning, and has great application value in the fields of magnetic mineral resource exploration, unexploded ordnance detection, and small-scale precise positioning in medicine.

[0045] Furthermore, in S1, the following steps are included:

[0046] S11, fixing the magnetic sensor array on the tail of an aerial survey aircraft or under a drone as a mobile platform;

[0047] S12, planning the movement mode of the mobile platform in the plane of the detection area;

[0048] S13, the mobile platform moves along the planned path and collects magnetic field data at each measurement point. Then the collected measurement data is calculated and processed to obtain the planar distribution of the magnetic gradient tensor invariant;

[0049] S14. If there are multiple magnetic targets, multiple maximum points will appear, and the number of the multiple maximum points is the number of magnetic targets, so as to accurately identify the number of magnetic targets in the detection area;

[0050] S15. Filter the effective measurement point set. For each magnetic target, take its corresponding maximum point as the center, select m measurement points in the positive and negative directions of the x-axis and y-axis respectively, so as to form a set containing n = (2m + 1) 2 The valid measurement point set is m, where m is an integer.

[0051] Specifically, installing the magnetic sensor array on the tail of an aerial survey aircraft or under a drone can effectively reduce the platform's own magnetic interference and ensure the accuracy of the measurement data. Scientifically plan the movement of the mobile platform, comprehensively collect magnetic field data and process it to obtain the invariant planar distribution of the magnetic gradient tensor, and use its characteristics that are not affected by the carrier's posture to accurately identify the number of magnetic targets through the maximum points. Filter the effective measurement point set according to specific rules to provide sufficient and high-quality data for subsequent positioning calculations, which can achieve more accurate and efficient positioning of multiple magnetic targets, greatly improving the reliability and accuracy of positioning.

[0052] Furthermore, in S12, the following steps are included: the mobile platform adopts a movement mode of multiple parallel measuring lines in the plane of the detection area, the measuring lines are parallel to the x-axis, the measuring line length is l meter, the measuring line interval is d meters, and d is not greater than 10% of the measuring line length l, and the measuring point interval on each measuring line is δ meters, and δ is not greater than 10% of the measuring line length l.

[0053] Furthermore, in S13, when measuring magnetic field data, the maximum change in attitude angle of the mobile platform when it moves stably on the planned survey line is 10°.

[0054] Specifically, the magnetic sensor array is usually fixed on the tail of the aerial survey aircraft or under the drone to reduce the magnetic interference of the mobile platform itself. The motion platform equipped with the magnetic sensor array moves in a certain way on a certain plane in the detection area, and the measured magnetic field data is analyzed to obtain the plane distribution of the magnetic gradient tensor invariant. Usually, multiple parallel measurement lines are used, such as Figure 1 As shown, if the detection area is l×lm 2 In the square area, each measuring line is parallel to the x-axis. In order to cover all the measurement areas, the length of the measuring line is 1m. The interval between the measuring lines is dm, and the interval between the measuring points on each measuring line is δm. Then all the measuring points form a plane grid. The magnetic field data measured at all the measuring points are calculated and processed to obtain the plane magnetic gradient tensor invariant distribution. Since the value of the magnetic gradient tensor invariant is not affected by the attitude angle of the mobile platform, the magnetic field data does not need to be combined with the attitude angle measurement data of the mobile platform to perform the coordinate conversion of the magnetic data.

[0055] For a single magnetic target, the magnetic gradient tensor invariant is at its maximum value directly above it; if there are multiple magnetic targets in the detection area, the magnetic gradient tensor invariant has multiple maxima, which are located directly above each magnetic source. The number of maximum points is the number of magnetic targets in the detection area. In order to meet the needs of establishing the positioning equation group and solving the magnetic target coordinates in step 2, each magnetic target needs to determine at least three corresponding measurement points, which are called effective measurement points. Select m (m is an integer) measurement points in the positive and negative directions of the x-axis and y-axis respectively for the measurement points corresponding to the maximum values. The number of effective measurement points is n = (2m + 1) 2, these n measurement points constitute the valid measurement point set corresponding to the magnetic target.

[0056] For the parameters d and δ, if their values ​​are small, the number of measurement points will be large, the positioning time will be long, and the positioning efficiency will be reduced; if their values ​​are large, the invariant information of the magnetic gradient tensor in the plane will be too little, which will lead to a decrease in the accuracy of number recognition and poor positioning accuracy. Usually d and δ are not greater than 10% of the length of the survey line l. For the parameter m, if the value of m is large, the valid measurement points corresponding to different magnetic targets may overlap. The value of m should be determined based on the relationship between the values ​​of d and δ and the position distribution of the magnetic targets. The value of m should ensure that the valid measurement points corresponding to different magnetic targets are not repeated, that is, each valid measurement point selected corresponds to only one magnetic target.

[0057] Furthermore, in S2, the following steps are included:

[0058] S21. For each valid measurement point set corresponding to each magnetic target, at the i-th valid measurement point, use the tensor magnetic target positioning technology to obtain the estimated distance r to one of the magnetic targets. i , where 1≤i≤n;

[0059] S22. Clearly define the coordinates (x i ,y i ,z i );

[0060] S23, assuming that the coordinates of the current magnetic target in the earth coordinate system are (x0, y0, z0);

[0061] S24, based on the distance estimation value r i , mobile platform coordinates (x i ,y i ,z i ) and the relationship between the current magnetic target coordinates to be solved (x0, y0, z0), establish the objective function:

[0062]

[0063] S25, calculating the position coordinates of the current magnetic target in the earth coordinate system by using an optimization method;

[0064] S26. Repeat the operations of S21-S25 for other magnetic targets, thereby achieving accurate positioning of all magnetic targets in the earth coordinate system.

[0065] Specifically, the tensor magnetic target positioning technology is used to obtain the estimated distance from each effective measurement point to the magnetic target, and combined with the coordinates of the mobile platform in the earth coordinate system, a reasonable objective function is established, and the optimization method is used to solve the precise position of each magnetic target in the earth coordinate system. Repeating this process for all magnetic targets ensures that all magnetic targets in the detection area can be accurately located. The method of the present invention is highly systematic and logically rigorous, and effectively solves the problem that traditional positioning technology cannot accurately identify and locate multiple magnetic targets. It provides a reliable and accurate technical means for practical applications in related fields and improves the overall efficiency of magnetic target positioning.

[0066] Further, in S21, the tensor magnetic target positioning technology uses the STAR method to obtain the distance estimation value r i .

[0067] Specifically, the STAR method has unique algorithmic advantages. Compared with other methods, it can more accurately calculate the estimated distance from the effective measurement point to the magnetic target. This precise distance estimate provides a more reliable data basis for the subsequent establishment of the objective function and the solution of the magnetic target coordinates, making the solution of the positioning equation group more accurate. When dealing with complex multi-magnetic target environments, the STAR method can effectively reduce the accumulation of positioning errors and further improve the accuracy and reliability of positioning multiple magnetic targets, so that the positioning method can perform better in actual application scenarios and better adapt to the needs of magnetic target detection in different environments.

[0068] Further, in S25, the optimization method is the Levenberg-Marquardt method, and the convergence error is set to 0.01m.

[0069] Specifically, the Levenberg-Marquardt method is a nonlinear optimization algorithm that combines the advantages of the gradient descent method and the Gauss-Newton method. In the process of solving the objective function, it can not only quickly approach the optimal solution in the initial stage, but also ensure the stability of convergence when approaching the optimal solution, and avoid falling into the local optimal solution. This enables the algorithm to efficiently solve the objective function, thereby quickly determining the position coordinates of the magnetic target in the earth coordinate system. Setting the convergence error to 0.01m means that during the calculation process of the algorithm, when the error of the solution of the objective function is reduced to within 0.01m, it is considered that the magnetic target position that meets the accuracy requirements has been found. This clear precision control ensures the accuracy of the positioning results, so that the positioning accuracy of the magnetic target reaches a very high level.

[0070] A storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned multi-magnetic target positioning method for decoupling carrier posture.

[0071] Specifically, the storage medium of the present invention stores the multi-magnetic target positioning method of the decoupled carrier posture in the form of a computer program, so that the advanced positioning technology can be easily run on various devices equipped with processors. With the storage characteristics of the storage medium, the rapid deployment and wide dissemination of the positioning method can be achieved, so that more fields that require magnetic target positioning technology, such as resource exploration, military detection, medical equipment, etc. can easily obtain and apply this technology. At the same time, the storage medium ensures the stability and reliability of the program, and can effectively avoid the loss or damage of program data during multiple calls and executions, ensuring that the multi-magnetic target positioning method runs accurately and without error.

[0072] A computer device comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-mentioned multi-magnetic target positioning method for decoupling carrier posture.

[0073] Specifically, this computer device that integrates the multi-magnetic target positioning method of decoupling the carrier posture integrates the memory, processor and related programs to provide a stable operating environment for the positioning method, improve the convenience of positioning applications, simplify the operation process and reduce the skill requirements for personnel. With the secure storage of data by the memory and the powerful computing power of the processor, the accuracy and reliability of positioning are guaranteed. The device also has good scalability and compatibility, can connect and interact with other devices, and can optimize the positioning method through software upgrades.

[0074] The following is a specific embodiment of the present invention:

[0075] S1: Use multiple measurement lines to measure the magnetic field data in the plane and select the valid measurement point set corresponding to each magnetic source.

[0076] Assume that the detection plane is a 5m×5m square area located in the plane of z=0, the measuring line is parallel to the x-axis, the length is 5m, the spacing between each measuring line is 0.1m, the interval between measuring points on each measuring line is 0.1m, the resolution of the magnetic sensor is 0.01nT, the baseline distance of the magnetic sensor array is 0.02m, and the maximum attitude angle change of the mobile platform when it moves stably on the planned measuring line is 10°. There are 5 magnetic targets in the detection area, and their parameters are shown in Table 1:

[0077] Serial number x / m y / m z / m <![CDATA[Magnitude of magnetic moment / (A m 2 )]]> Magnetic inclination / (°) Magnetic declination / (°) 1 1.1 1.3 -0.95 7.3 65 110 2 3.7 0.8 -1.12 10.2 87 20 3 1.8 4.2 -0.65 8.4 12 85 4 2.6 2.9 -0.72 6.7 -6 -30 5 3.8 4.1 -0.77 11.5 -32 17

[0078] Table 1

[0079] After normalizing the magnetic gradient tensor invariant data of the measurement plane, its distribution diagram is obtained as follows: Figure 2 As shown, the black dot surrounded by the white circle is the accurate horizontal position of the magnetic target.

[0080] Let m = 3, then each magnetic target corresponds to 49 valid measurement points. The distribution of the valid measurement point set is obtained by maximum value search and expansion. Figure 3 As shown, the valid measurement points are indicated in black.

[0081] S2: Establish a positioning equation group for each magnetic target and calculate its coordinates in the earth coordinate system.

[0082] The STAR method in the tensor magnetic target positioning technology is used to obtain the estimated distance from each effective measurement point to its corresponding magnetic target. The coordinates of the mobile platform in the earth coordinate system have been known through the positioning system. After the positioning equation group is established, the optimization algorithm is used to solve it. When solving the distance equation group, the nonlinear optimization method selects the Levenberg-Marquardt method, and the convergence error is set to 0.01m. The positioning results and positioning errors of all magnetic targets are shown in Table 2. It can be seen that if there are multiple magnetic targets in the detection area, the method proposed in the present invention can achieve effective positioning for each magnetic target.

[0083]

[0084] Table 2

[0085] The multi-magnetic target positioning method for decoupling the carrier posture involved in the present invention uses multi-survey line measurement of planar magnetic field data to screen out the effective measurement point set corresponding to each magnetic target, and then establishes a group of positioning equations respectively. It can accurately identify multiple magnetic targets in the detection area and calculate their coordinates in the earth coordinate system, effectively overcoming the problem that traditional positioning technology is affected by changes in the geomagnetic field and the carrier posture angle, and also solves the problem of difficulty in identifying and positioning multiple magnetic targets.

[0086] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A multi-magnetic target positioning method for decoupling carrier posture, characterized in that: The multi-magnetic target positioning method of decoupling the carrier posture comprises the following steps: S1. Multi-line measurement of plane magnetic field data and screening out effective measurement point sets corresponding to each magnetic target; S2. Establish a positioning equation group for each magnetic target and calculate its coordinates in the earth coordinate system.

2. A multi-magnetic target positioning method for decoupling carrier posture according to claim 1, characterized in that: In S1, the following steps are included: S11, fixing the magnetic sensor array on the tail of an aerial survey aircraft or under a drone as a mobile platform; S12, planning the movement mode of the mobile platform in the plane of the detection area; S13, the mobile platform moves along the planned path, collects magnetic field data at each measuring point, and then calculates and processes the collected measurement data to obtain the planar distribution of the magnetic gradient tensor invariant; S14. If there are multiple magnetic targets, multiple maximum points will appear, and the number of the multiple maximum points is the number of magnetic targets, so as to accurately identify the number of magnetic targets in the detection area; S15. Filter the effective measurement point set. For each magnetic target, take its corresponding maximum point as the center, select m measurement points in the positive and negative directions of the x-axis and y-axis respectively, so as to form a set containing n = (2m + 1) 2 The valid measurement point set is m, where m is an integer.

3. The multi-magnetic target positioning method for decoupling carrier posture according to claim 2 is characterized in that: In S12, the following steps are included: the mobile platform adopts a movement mode of multiple parallel measuring lines in the detection area plane, the measuring lines are parallel to the x-axis, the measuring line length is l meter, the measuring line interval is d meters, and d is not greater than 10% of the measuring line length l, and the measuring point interval on each measuring line is δ meters, and δ is not greater than 10% of the measuring line length l.

4. The multi-magnetic target positioning method for decoupling carrier posture according to claim 2 is characterized in that: In S13, when measuring magnetic field data, the maximum change in attitude angle of the mobile platform when it moves stably on the planned survey line is 10°.

5. The multi-magnetic target positioning method for decoupling carrier posture according to claim 1 is characterized in that: In S2, the following steps are included: S21. For each valid measurement point set corresponding to each magnetic target, at the i-th valid measurement point, use the tensor magnetic target positioning technology to obtain the estimated distance r to one of the magnetic targets. i , where 1≤i≤n; S22. Clearly define the coordinates (x i ,y i ,z i ); S23, assuming that the coordinates of the current magnetic target in the earth coordinate system are (x0, y0, z0); S24, based on the distance estimation value r i , mobile platform coordinates (x i ,y i ,z i ) and the relationship between the current magnetic target coordinates to be solved (x0, y0, z0), establish the objective function: S25, calculating the position coordinates of the current magnetic target in the earth coordinate system by using an optimization method; S26. Repeat the operations of S21-S25 for other magnetic targets, thereby achieving accurate positioning of all magnetic targets in the earth coordinate system.

6. The multi-magnetic target positioning method for decoupling carrier posture according to claim 5 is characterized in that: In S21, the tensor magnetic target positioning technology uses the STAR method to obtain the distance estimation value r i .

7. The multi-magnetic target positioning method for decoupling carrier posture according to claim 5, characterized in that: In S25, the optimization method is the Levenberg-Marquardt method, and the convergence error is set to 0.01m.

8. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, a multi-magnetic target positioning method for decoupling carrier posture as described in any one of claims 1 to 7 is implemented.

9. A computer device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a multi-magnetic target positioning method for decoupling a carrier posture as described in any one of claims 1 to 7.

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