Precise magnetic measurement method suitable for single spacecraft and electronic equipment
By using the multi-magnetic dipole method and linear regression equation in the geomagnetic environment of a single spacecraft, the problem of large magnetic field measurement error in the existing technology is solved, and higher magnetic measurement accuracy and flexibility are achieved.
Patent Information
- Application Number
- CN202510188793.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-20
- Publication Date
- 2025-05-13
AI Technical Summary
When performing magnetic field measurement in a single-machine geomagnetic environment of spacecraft, the prior art fails to effectively consider the differences in magnetic field gradients between different magnetometers and the impact of environmental fluctuations, resulting in large errors.
The multi-magnetic dipole method is used to place multiple magnetic measurement magnetometers and background magnetometers in the test area to establish a linear regression equation, predict the environmental magnetic field during the magnetic measurement process, and calculate the magnetic moment of the spacecraft by deducting noise by predicting the magnetic field value.
It effectively reduces the impact of magnetic field gradients and environmental fluctuations between different magnetometers, and improves the flexibility and accuracy of spacecraft magnetic measurement.
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Figure CN119986480A_ABST
Abstract
Description
Technical Field
[0001] The present invention mainly relates to the field of spacecraft magnetic measurement technology, and in particular to a precision magnetic measurement method and electronic equipment suitable for a single spacecraft. Background Art
[0002] In geomagnetic environments, it is usually necessary to deduct the environmental magnetic field during the magnetic measurement process when measuring the magnetic field of a single spacecraft. The relevant technology usually uses one or more background magnetic sensors to collect geomagnetic field data during the magnetic measurement process, and then deducts the average value of the geomagnetic field data as the environmental magnetic field. However, this method does not take into account the influence of the magnetic field gradient between different magnetometers, resulting in large errors and being greatly affected by environmental fluctuations. Summary of the invention
[0003] In order to solve the above technical problems, the purpose of this application is to provide a precision magnetic measurement method and electronic equipment suitable for a single spacecraft.
[0004] In a first aspect, the present application provides a precision magnetic measurement method applicable to a single spacecraft, comprising:
[0005] m magnetic magnetometers and n background magnetometers are placed in the test area, and a first ambient magnetic field is measured by the m magnetic magnetometers and the n background magnetometers, where m and n are integers greater than or equal to 4;
[0006] Placing the single spacecraft in the test area, measuring the spacecraft magnetic field and the surrounding environment magnetic field respectively by means of the m magnetic magnetometers and the n background magnetometers, then removing the single spacecraft, and measuring a second environment magnetic field by means of the m magnetic magnetometers and the n background magnetometers;
[0007] Establishing a linear regression equation according to the first environmental magnetic field and the second environmental magnetic field, wherein the linear regression equation uses the magnetic field values measured by the n background magnetometers as linear regression inputs and uses the magnetic field values measured by the m magnetic field magnetometers as linear regression outputs;
[0008] Substitute the surrounding magnetic field into the linear regression equation to obtain the predicted magnetic field values of the m magnetic magnetometers during the magnetic measurement process, and calculate the magnetic moment of the single spacecraft according to the predicted magnetic field values.
[0009] In some embodiments, the distance r between each of the m magnetic magnetometers and the single spacecraft satisfies Where D is the envelope diameter of the single spacecraft.
[0010] In some embodiments, the distance r between each of the n background magnetometers and the spacecraft is bg satisfy Where D is the envelope diameter of the single spacecraft.
[0011] In some embodiments, the m magnetic magnetometers are placed on each bracket in the multi-magnetometer device respectively, and are arranged in any of the following ways in the test area: distributed in a circle around the sample table where the spacecraft is located, distributed in a positive and negative body, or distributed in a spherical shape.
[0012] In some embodiments, the linear regression equation is:
[0013] B(i)=B bg (k)A+β+ε
[0014] Where, B(i) is the magnetic field value measured by the i-th magnetic magnetometer, B bg (k) is the magnetic field value measured by the kth background magnetometer at the same time and in the same direction, 1≤i≤m, 1≤k≤n, B(i), B bg (k) are composed of three components in the X direction, Y direction and Z direction, A is the regression coefficient, and the regression coefficient is determined by minimizing the residual sum of squares, β is the intercept, and ε is the error term.
[0015] In some embodiments, the predicted magnetic field value is:
[0016] B′(i)=B′ bg (k)A+β
[0017] Where B′(i) is the predicted magnetic field value at the location of the i-th magnetic magnetometer during the magnetic measurement process, and B′ bg (k) is the magnetic field value measured by the kth background magnetometer at the same time and in the same direction during the magnetic measurement process, 1≤i≤m, 1≤k≤n, B′(i), B′ bg (k) are composed of three components in the X, Y and Z directions.
[0018] In some embodiments, calculating the magnetic moment of the single spacecraft according to the predicted magnetic field value includes:
[0019] Calculating the actual magnetic field value generated by the single spacecraft according to the ambient magnetic field and the predicted magnetic field values of the m magnetic magnetometers;
[0020] The magnetic moment of the single spacecraft is calculated according to the real magnetic field value.
[0021] In some embodiments, the real magnetic field value is:
[0022] B X (i) = B′ X (i)-B X0 (i)
[0023] B Y (i) = B′ Y (i)-B Y0 (i)
[0024] B Z (i) = B′ Z (i)-B Z0 (i)
[0025] Among them, B X (i) B Y (i) B Z (i) are the components of the true magnetic field value in the X direction, Y direction and Z direction, respectively, B′ X (i), B′ Y (i), B′ Z (i) are the components of the predicted magnetic field values in the X, Y and Z directions at the location of the i-th magnetic magnetometer during the magnetic measurement process, B X0 (i) B Y0 (i) B Z0 (i) are the components of the magnetic field values in the X direction, Y direction and Z direction measured by the i-th magnetic magnetometer at the same time, 1≤i≤m.
[0026] According to a second aspect, an electronic device is provided, comprising: one or more processors; and one or more memories coupled to the one or more processors and storing instructions thereon, wherein when the instructions are executed individually or collectively by the one or more processors, the electronic device executes a method according to any one of the first aspects.
[0027] According to a third aspect, a non-transitory computer-readable storage medium storing machine-executable instructions is provided. When the machine-executable instructions are executed by one or more processors of a machine, the machine executes any one of the methods of the first aspect.
[0028] Compared with the prior art, the present invention has the following advantages:
[0029] The present application provides a precision magnetic measurement method and electronic equipment suitable for a single spacecraft. The multi-magnetic dipole method is used in a geomagnetic environment, and multiple magnetic magnetometers and background magnetic field meters are combined to indirectly, efficiently and accurately predict the environmental magnetic field during the magnetic measurement process, thereby reducing the influence of magnetic field gradients and environmental fluctuations between different magnetometers, thereby improving the flexibility and accuracy of spacecraft magnetic measurement.
[0030] It should be understood that the invention summary is not intended to identify the key or essential features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS
[0031] The accompanying drawings are included to provide a further understanding of the present application. They are included and constitute a part of the present application. The accompanying drawings illustrate embodiments of the present application and together with the present specification serve to explain the principles of the present application. In the accompanying drawings:
[0032] Figure 1 This is a flowchart 100 of a precision magnetic measurement method applicable to a single spacecraft provided by the present application as an example;
[0033] Figure 2 is a front view 200 of a test area suitable for a precision magnetic measurement method provided as an example;
[0034] Figure 3 is a top view 300 of a test area suitable for a precision magnetic measurement method provided as an example;
[0035] Figure 4 is a box plot 400 of an average error between a predicted magnetic field value and a true magnetic field value in a simulation experiment provided as an example;
[0036] Figure 5 is a schematic diagram 500 of an electronic device provided as an example. DETAILED DESCRIPTION
[0037] The principle of the present disclosure will now be described with reference to some embodiments. It should be understood that the description of these embodiments is only for illustrative purposes, and helps those skilled in the art to understand and implement the present disclosure, without any limitation to the scope of the present disclosure. The disclosure described herein can be implemented in a manner different from that described below.
[0038] In the following description and claims, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
[0039] References in this disclosure to "one embodiment," "an embodiment," "an exemplary embodiment," etc. indicate that the described embodiment may include a particular feature, structure, or characteristic, but not every embodiment necessarily includes the particular feature, structure, or characteristic. Moreover, such phrases do not necessarily refer to the same embodiment. In addition, when a particular feature, structure, or characteristic is described in conjunction with an exemplary embodiment, whether or not explicitly described, those skilled in the art will recognize that such feature, structure, or characteristic affects incorporation into other embodiments.
[0040] It should be understood that although the terms "first" and "second" etc. may be used to describe various elements herein, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, without departing from the scope of the exemplary embodiments, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element. The term "and / or" as used herein includes any and all combinations of one or more of the listed terms.
[0041] The terms used herein are only for describing specific embodiments, rather than for limiting exemplary embodiments. The singular forms "one", "an", and "the" used herein also include plural forms, unless the context clearly indicates otherwise. "A group of elements" or "element set" used herein is intended to include one or more elements. It should also be understood that the terms "include", "comprise", "have", "have", "include" and / or "include", when used herein, specify the presence of the features, elements and / or parts, etc., but do not exclude the presence or addition of one or more other features, elements, parts and / or combinations thereof.
[0042] Figure 1 100 is a flowchart of a precision magnetic measurement method applicable to a single spacecraft provided by the present application as an example, the method comprising:
[0043] S101, placing m magnetic magnetometers and n background magnetometers in a test area, and measuring a first ambient magnetic field by using the m magnetic magnetometers and the n background magnetometers.
[0044] Wherein m and n are integers greater than or equal to 4.
[0045] In some embodiments, the distance r between each of the m magnetic magnetometers and the spacecraft satisfies Where D is the envelope diameter of a single spacecraft.
[0046] In some embodiments, the distance r between each of the n background magnetometers and the spacecraft is bg satisfy Where D is the envelope diameter of a single spacecraft.
[0047] In some embodiments, m magnetic magnetometers are placed on each bracket in the multi-magnetometer device, and are arranged in any of the following ways in the test area: distributed in a circle around the sample table where the spacecraft is located, distributed in a positive and negative body, or distributed in a spherical shape.
[0048] Figure 2 2 is a front view 200 of a test area suitable for a precision magnetic measurement method provided as an example. Figure 3 FIG. 3 is a top view 300 of a test area suitable for a precision magnetic measurement method. Figure 2 , Figure 3 The test area 200 includes: a sample stage 201, a plurality of magnetic magnetometers 202 and a plurality of background magnetometers 203. The sample stage 201 can be used to place a single spacecraft. Each of the magnetic magnetometers 202 is arranged on a bracket 204 in a multi-magnetometer device and is spherically distributed around the sample stage 201. The background magnetometers are evenly distributed around the sample stage 201 to monitor the magnetic field of the surrounding environment.
[0049] S102, placing a single spacecraft in the test area, measuring the spacecraft magnetic field and the surrounding environment magnetic field respectively by means of m magnetic magnetometers and n background magnetometers, then removing the single spacecraft, and measuring the second environment magnetic field by means of m magnetic magnetometers and n background magnetometers.
[0050] In some embodiments, sensor values of all front and rear magnetic magnetometers and all background magnetometers are collected by a multi-channel data acquisition instrument.
[0051] S103, establishing a linear regression equation according to the first environmental magnetic field and the second environmental magnetic field.
[0052] The linear regression equation uses the magnetic field values measured by n background magnetometers as linear regression inputs and uses the magnetic field values measured by m magnetic field magnetometers as linear regression outputs.
[0053] In some embodiments, the linear regression equation is:
[0054] B(i)=B bg (k)A+β+ε
[0055] Where, B(i) is the magnetic field value measured by the i-th magnetic magnetometer, B bg (k) is the magnetic field value measured by the kth background magnetometer at the same time and in the same direction, 1≤i≤m, 1≤k≤n, B(i), B bg (k) are composed of three components in the X, Y and Z directions, A is the regression coefficient, which is determined by minimizing the residual sum of squares, β is the intercept, and ε is the error term.
[0056] In some embodiments, according to B bg (k), the components of B(i) in the X, Y, and Z directions train the linear regression equation corresponding to each component.
[0057] In some embodiments, minimizing the residual sum of squares may be: ||y-XA|| 2 , where y and X are determined by the general form of the linear regression equation: y = XA + ε.
[0058] S104, substituting the surrounding magnetic field into a linear regression equation to obtain predicted magnetic field values of the m magnetic magnetometers during the magnetic measurement process, and calculating the magnetic moment of the spacecraft according to the predicted magnetic field values.
[0059] In some embodiments, the predicted magnetic field value is:
[0060] B′(i)=B′ bg (k)A+β
[0061] Where B′(i) is the predicted magnetic field value at the location of the i-th magnetic magnetometer during the magnetic measurement process, and B′ bg (k) is the magnetic field value measured by the kth background magnetometer at the same time and in the same direction during the magnetic measurement process, 1≤i≤m, 1≤k≤n, B′(i), B′ bg (k) are composed of three components in the X, Y and Z directions.
[0062] It will be understood that the predicted magnetic field value is used to characterize the ambient magnetic field at the magnetic magnetometer during the magnetic measurement process, so that the magnetic field of the spacecraft measured by the magnetic magnetometer is subtracted from the predicted ambient magnetic field to obtain the magnetic field actually generated by the spacecraft, and the magnetic moment of the spacecraft is calculated based on the magnetic field actually generated by the spacecraft.
[0063] In some embodiments, calculating the magnetic moment of a single spacecraft according to the predicted magnetic field value includes:
[0064] According to the surrounding magnetic field and the predicted magnetic field values of m magnetic magnetometers, the real magnetic field value generated by the spacecraft is calculated, and the magnetic moment of the spacecraft is calculated according to the real magnetic field value.
[0065] The true magnetic field value is:
[0066] B X (i) = B′ X (i)-B X0 (i)
[0067] B Y (i) = B′ Y (i)-B Y0 (i)
[0068] B Z (i) = B′ Z (i)-B Z0 (i)
[0069] Among them, B X (i) B Y (i) B Z (i) are the components of the true magnetic field in the X, Y and Z directions, respectively, B′ X (i), B′Y (i), B′ Z (i) are the components of the predicted magnetic field values in the X, Y and Z directions at the location of the i-th magnetic magnetometer during the magnetic measurement process, B X0 (i) B Y0 (i) B Z0 (i) are the components of the magnetic field in the X, Y and Z directions measured by the i-th magnetic magnetometer at the same time, 1≤i≤m.
[0070] To summarize, the inventive concept of the present application is to establish a corresponding relationship between a dry background magnetometer and the ambient magnetic field at the location of the magnetic measurement magnetometer to predict the ambient magnetic field at the location of the magnetic measurement magnetometer during the magnetic measurement process, and deduct it from the surrounding ambient magnetic field as noise to obtain the real magnetic field. This method reduces the influence of magnetic field gradients and environmental fluctuations between different magnetometers, thereby improving the flexibility and accuracy of spacecraft magnetic measurement.
[0071] In some embodiments, the magnetic induction intensity (B X0 (i), B Y0 (i), B Z0 (i)) is substituted into the particle swarm optimization algorithm, and the information of multiple magnetic sources of a single spacecraft can also be calculated, including the size M(j) and position P(j) of the magnetic dipole moment, which is helpful to complete the modeling of multiple magnetic sources of a single spacecraft. Among them, j represents the number of magnetic dipole moments contained in a single spacecraft.
[0072] Figure 4 4 is a box plot 400 of the average error between the predicted magnetic field value and the actual magnetic field value in a simulation experiment provided as an example. The conditions of the simulation experiment are:
[0073] Number of magnetic field magnetometers: 12, distributed spherically around the spacecraft;
[0074] Number of background magnetometers: 6;
[0075] Data acquisition frequency: 1Hz;
[0076] The simulation experiment is divided into five stages: Q1 (environmental magnetic field collection), Q2 (spacecraft single machine enters the test area), Q3 (spacecraft single machine magnetic measurement), Q4 (spacecraft single machine exits the magnetic measurement area), Q5 (environmental magnetic field collection), among which, the time of Q1 and Q5 is 120 seconds, the time of Q2 and Q4 is 120 seconds, and the time of Q3 is 300 seconds; in order to fully simulate the magnetic test process of the spacecraft single machine in the geomagnetic environment, the experiment divides the observation data into 80 groups at equal intervals;
[0077] See also Figure 4, the horizontal axis represents the numbers of the 12 magnetic magnetometers, and the vertical axis represents the average error between the predicted magnetic field value and the actual magnetic field value. It can be seen that the average error of magnetometer No. 6 is 0.6104nT at most, which is less than 1nT, that is, under the condition of fewer background magnetometers (6), the above method can meet the accurate prediction of the environmental magnetic field at the location of the magnetic magnetometer, which also means that the above method of the present application does not need to consume a lot of testing costs.
[0078] further, Figure 5 The schematic diagram 500 of an exemplary electronic device includes one or more memories 501 and one or more processors 502, wherein the one or more memories 501 are coupled to the one or more processors 502 and store instructions thereon, and the instructions can be executed by the one or more processors 502 individually or collectively, so that the electronic device executes any of the above methods.
[0079] It should be understood that the processor mentioned in the embodiments of the present application may be a CPU, or other general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
[0080] It should also be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory, dynamic random access memory, synchronous dynamic random access memory, double data rate synchronous dynamic random access memory, enhanced synchronous dynamic random access memory, synchronously connected dynamic random access memory, and direct memory bus random access memory.
[0081] The present application also provides a non-transient computer-readable storage medium storing machine-executable instructions, and the computer-executable instructions can be executed by one or more processors of a machine. The machine may include the electronic device mentioned above, etc. When the computer-executable instructions are executed by one or more processors, the machine performs any of the methods mentioned above.
[0082] A computer-readable storage medium may include a propagated data signal containing computer program code, such as in baseband or as part of a carrier wave. The propagated signal may have a variety of forms, including electromagnetic, optical, etc., or a suitable combination. The computer-readable storage medium can be connected to an instruction execution system, device or equipment to communicate, propagate or transmit the program for use. The program code located on the computer-readable storage medium can be transmitted through any suitable medium, including radio, cable, fiber optic cable, radio frequency signal, or similar medium, or any combination of the above mediums.
[0083] The basic concepts have been described above. Obviously, for those skilled in the art, the above invention disclosure is only used as an example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the exemplary embodiments of the present application.
[0084] At the same time, the present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.
[0085] Some aspects of the present application may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". The processor may be one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, or combinations thereof. In addition, various aspects of the present application may be expressed as computer products located in one or more computer-readable media, which include computer-readable program codes. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, tapes ...), optical disks (e.g., compact disks CDs, digital versatile disks DVDs ...), smart cards, and flash memory devices (e.g., cards, sticks, key drives ...).
[0086] A computer-readable medium may include a propagated data signal containing computer program code, such as in baseband or as part of a carrier wave. The propagated signal may have a variety of manifestations, including electromagnetic, optical, etc., or a suitable combination. A computer-readable medium may be any computer-readable medium other than a computer-readable storage medium, which may be connected to an instruction execution system, device or apparatus to communicate, propagate or transmit a program for use. The program code on the computer-readable medium may be propagated via any suitable medium, including radio, cable, fiber optic cable, radio frequency signal, or similar medium, or any combination of the above mediums.
[0087] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more embodiments of the invention, in the above description of the embodiments of this application, multiple features are sometimes combined into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.
[0088] In some embodiments, numbers describing the number of components and attributes are used. It should be understood that such numbers used in the description of the embodiments are modified by the modifiers "about", "approximately" or "substantially" in some examples. Unless otherwise specified, "about", "approximately" or "substantially" indicate that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may change according to the required features of individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and adopt the general method of retaining digits. Although the numerical domains and parameters used to confirm the breadth of their range in some embodiments of the present application are approximate values, in specific embodiments, the setting of such numerical values is as accurate as possible within the feasible range.
[0089] Although the present application has been described with reference to the current specific embodiments, ordinary technicians in this technical field should recognize that the above embodiments are only used to illustrate the present application, and various equivalent changes or substitutions may be made without departing from the spirit of the present application. Therefore, as long as the changes and modifications to the above embodiments are within the essential spirit of the present application, they will fall within the scope of the claims of the present application.
Claims
1. A precision magnetic measurement method suitable for a single spacecraft, characterized in that: include: m magnetic magnetometers and n background magnetometers are placed in the test area, and a first ambient magnetic field is measured by the m magnetic magnetometers and the n background magnetometers, where m and n are integers greater than or equal to 4; Placing the single spacecraft in the test area, measuring the spacecraft magnetic field and the surrounding environment magnetic field respectively by means of the m magnetic magnetometers and the n background magnetometers, then removing the single spacecraft, and measuring a second environment magnetic field by means of the m magnetic magnetometers and the n background magnetometers; Establishing a linear regression equation according to the first environmental magnetic field and the second environmental magnetic field, wherein the linear regression equation uses the magnetic field values measured by the n background magnetometers as linear regression inputs and uses the magnetic field values measured by the m magnetic field magnetometers as linear regression outputs; Substitute the surrounding magnetic field into the linear regression equation to obtain the predicted magnetic field values of the m magnetic magnetometers during the magnetic measurement process, and calculate the magnetic moment of the single spacecraft according to the predicted magnetic field values.
2. The method according to claim 1, characterized in that The distance r between each of the m magnetic magnetometers and the single spacecraft satisfies Where D is the envelope diameter of the single spacecraft.
3. The method according to claim 1, characterized in that The distance r between each of the n background magnetometers and the single spacecraft bg satisfy Where D is the envelope diameter of the single spacecraft.
4. The method according to any one of claims 1 to 3, characterized in that: The m magnetic magnetometers are placed on each bracket in the multi-magnetometer device respectively, and are arranged in any of the following ways in the test area: distributed in a circle around the sample table where the spacecraft is located, distributed in a positive and negative body, or distributed in a spherical shape.
5. The method according to any one of claims 1 to 3, characterized in that: The linear regression equation is: B(i)=B bg (k)A+β+ε Where, B(i) is the magnetic field value measured by the i-th magnetic magnetometer, B bg (k) is the magnetic field value measured by the kth background magnetometer at the same time and in the same direction, 1≤i≤m, 1≤k≤n, B(i), B bg (k) are composed of three components in the X direction, Y direction and Z direction, A is the regression coefficient, and the regression coefficient is determined by minimizing the residual sum of squares, β is the intercept, and ε is the error term.
6. The method according to claim 5, characterized in that The predicted magnetic field value is: B′(i)=B ′ bg (k)A+β Where B′(i) is the predicted magnetic field value at the location of the i-th magnetic magnetometer during the magnetic measurement process, B ′ bg (k) is the magnetic field value measured by the kth background magnetometer at the same time and in the same direction during the magnetic measurement process, 1≤i≤m, 1≤k≤n, B′(i), B ′ bg (k) are composed of three components in the X, Y and Z directions.
7. The method according to any one of claims 1 to 3, characterized in that: The step of calculating the magnetic moment of the single spacecraft according to the predicted magnetic field value comprises: Calculating the actual magnetic field value generated by the single spacecraft according to the ambient magnetic field and the predicted magnetic field values of the m magnetic magnetometers; The magnetic moment of the single spacecraft is calculated according to the real magnetic field value.
8. The method according to claim 7, characterized in that The true magnetic field value is: B X (i)=B′ X (i)-B X0 (i) B Y (i)=B′ Y (i)-B Y0 (i) B Z (i)=B′ Z (i)-B Z0 (i) Among them, B X (i) B Y (i) B Z (i) are the components of the true magnetic field value in the X direction, Y direction and Z direction, respectively, B′ X (i), B′ Y (i), B′ Z (i) are the components of the predicted magnetic field values in the X, Y and Z directions at the location of the i-th magnetic magnetometer during the magnetic measurement process, B X0 (i) B Y0 (i) B Z0 (i) are the components of the magnetic field values in the X direction, Y direction and Z direction measured by the i-th magnetic magnetometer at the same time, 1≤i≤m.
9. An electronic device, characterized in that: include: one or more processors; as well as, One or more memories coupled to the one or more processors and storing instructions thereon, which, when the instructions are executed by the one or more processors individually or collectively, cause the electronic device to perform the method according to any one of claims 1-8.
10. A non-transitory computer-readable storage medium storing machine-executable instructions, which, when executed by one or more processors of a machine, cause the machine to perform the method of any one of claims 1-8.