Submarine magnetic field detection device, submarine magnetic field detection method and storage medium

Abstract

The invention is applicable to the technical field of geological exploration, and provides a submarine magnetic field detection device, a submarine magnetic field detection method and a storage medium, the device comprises a fixing frame, a first proton magnetic sensor, a second proton magnetic sensor and a fluxgate sensor, the fixing frame comprises a frame main body and first, second and third fixing pieces connected with the frame main body, the first, second and third fixing pieces are positioned on different parallel planes of the fixing frame; the first proton magnetic sensor and the second proton magnetic sensor are fixed to the first fixing piece and the third fixing piece respectively, the fluxgate sensor is fixed to the second fixing piece, and the second fixing piece is located between the first fixing piece and the third fixing piece. The fixing positions of the first proton magnetic sensor, the second proton magnetic sensor and the fluxgate sensor on the first fixing piece, the third fixing piece and the second fixing piece are located on the same vertical line of the plane where the first fixing piece, the second fixing piece and the third fixing piece are located. According to the submarine magnetic field detection device, while the submarine magnetic field detection precision is ensured, the structure of the submarine magnetic field detection device is simplified, and the installation difficulty of the device is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of geological detection, and in particular relates to a seabed magnetic field detection device, a seabed magnetic field detection method and a storage medium. Background Art

[0002] At present, marine geological exploration is mainly based on seismic exploration methods. By observing and analyzing the propagation patterns of seismic waves generated by artificial earthquakes underground, the properties and forms of underground rock formations are inferred, thereby surveying marine resources. Another effective exploration method is electromagnetic exploration technology, which obtains the resistivity characteristics of the detection target through electromagnetic exploration, thereby inferring the properties of the target. Therefore, seismic and electromagnetic exploration methods have become the two major technical pillars in the field of marine geophysical exploration. Existing seabed seismic and electromagnetic exploration has developed from towing to node acquisition. For example, Figure 1a , Figure 1b As shown, Figure 1a shows a seafloor seismograph, Figure 1b A seafloor electromagnetic acquisition station is shown. The node acquisition method has obvious advantages, which significantly improves the accuracy and quality of acquired data.

[0003] Traditional seabed electromagnetic acquisition stations require electric field dipoles (electrodes) and magnetic rods. In order to enhance the electric field signal, the electrodes in electromagnetic exploration are generally as long as possible, usually tens of meters to two or three hundred meters on land. If the electrodes are too long, it will be difficult to construct seabed electromagnetic acquisition. Therefore, it is generally several meters to ten meters. As an example, you can refer to Figure 1b The white rods sticking out from the lower left and right corners. In addition, the magnetic bar is mainly used to detect magnetic field signals, mainly in the low frequency band (such as below 10Hz) to ensure effective signal transmission and data collection. The low-frequency response characteristics of the magnetic bar are of great significance for improving exploration efficiency and accuracy. However, due to the attenuation effect of the low-resistance seawater on the seabed, it is difficult to obtain the changes in the seabed magnetic field with high accuracy. Summary of the invention

[0004] The purpose of the present invention is to provide a seabed magnetic field detection device, a seabed magnetic field detection method and a storage medium, aiming to solve the problem that the efficiency of seabed magnetic field detection is poor because the prior art cannot provide an effective seabed magnetic field detection device.

[0005] In a first aspect, the present invention provides a submarine magnetic field detection device, comprising a fixing frame, first and second proton magnetic sensors, and a fluxgate sensor, wherein:

[0006] The fixing frame comprises a frame body and first, second and third fixing members connected to the frame body, wherein the first, second and third fixing members are located on different parallel planes of the fixing frame;

[0007] The first and second proton magnetic sensors are fixed on the first and third fixing members respectively, the fluxgate sensor is fixed on the second fixing member, the second fixing member is located between the first and third fixing members, and the fixed positions of the first and second proton magnetic sensors and the fluxgate sensor on the first, third and second fixing members are located on the same vertical line of the plane where the first, second and third fixing members are located.

[0008] In some embodiments, the seabed magnetic field detection device also includes a main controller connected to the first and second proton magnetic sensors and the fluxgate sensor. The main controller is fixed on the fixed frame and is used to receive the sensor data sent by the first and second proton magnetic sensors and the fluxgate sensor, and obtain the magnetic field strength data of the location of the fluxgate sensor based on the received sensor data.

[0009] In some embodiments, the seabed magnetic field detection device also includes a first communication module connected to the main controller, which is used to connect to an electronic device to send the obtained magnetic field strength data to the electronic device.

[0010] In some embodiments, the seabed magnetic field detection device also includes a posture sensor connected to the main controller and a base leveling component, the posture sensor and the base leveling component are fixed on the seabed magnetic field detection device, the posture sensor is used to monitor the posture of the seabed magnetic field detection device, if an unbalanced posture is detected, the posture data of the unbalanced posture is fed back to the main controller, and the main controller controls the base leveling component to adjust the posture of the seabed magnetic field detection device according to the posture data of the unbalanced posture.

[0011] In some embodiments, the seabed magnetic field detection device also includes a temperature-salinity-depth sensor, which is located on the same plane as the fluxgate sensor and is used to detect the temperature, salinity and depth of the location where the three-component fluxgate sensor is located.

[0012] In some embodiments, the seabed magnetic field detection device also includes a second communication module connected to the first and second proton magnetic sensors and fluxgate sensors, which is used to connect to an electronic device to send the sensor data detected by the first and second proton magnetic sensors and fluxgate sensors to the electronic device.

[0013] In some embodiments, the seabed magnetic field detection device also includes a power supply electrically connected to the first and second proton magnetic sensors and fluxgate sensors to provide power to the first and second proton magnetic sensors and fluxgate sensors.

[0014] In a second aspect, the present invention provides a seabed magnetic field detection method for the above-mentioned seabed magnetic field detection device, comprising the following steps:

[0015] Acquiring first and second magnetic field intensity data of the first and second proton magnetic sensors at fixed positions on the first and third fixing members through the first and second proton magnetic sensors;

[0016] Acquiring magnetic induction intensity data of the fluxgate sensor at a fixed position on the second fixing member through the fluxgate sensor;

[0017] The magnetic field intensity data of the fluxgate sensor at a fixed position on the second fixing member is obtained according to the first and second magnetic field intensity data and the magnetic induction intensity data.

[0018] In some embodiments, the fluxgate sensor is located in the middle between the first and second proton magnetic sensors, and the formula Hx=(H 0 x+Bx) / 2, Hy=(H 0 y+By) / 2 and Hz=(H 0 z+Bz) / 2 calculates the magnetic field intensity components of the fluxgate sensor in the magnetic east, magnetic north and vertical downward directions at the fixed position on the second fixing member, where H 0 x, H 0 y, H 0 z represents the magnetic field intensity components of the first and second proton magnetic sensors in the magnetic east, magnetic north and vertical downward directions, and Bx, By, and Bz represent the magnetic induction intensity components of the fluxgate sensor in the magnetic east, magnetic north and vertical downward directions.

[0019] In a third aspect, the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described above are implemented.

[0020] The seabed magnetic field detection device provided by the embodiment of the present invention includes a fixing frame, a first and a second proton magnetic sensor, and a fluxgate sensor. The fixing frame includes a frame body and a first, a second and a third fixing member connected to the frame body. The first, the second and the third fixing members are located on different parallel planes of the fixing frame. The first and the second proton magnetic sensors are fixed on the first and the third fixing members respectively. The fluxgate sensor is fixed on the second fixing member, and the second fixing member is located between the first and the third fixing members. The fixed positions of the first and the second proton magnetic sensors and the fluxgate sensor on the first, the third and the second fixing members are located on the same vertical line of the plane where the first, the second and the third fixing members are located. The seabed magnetic field detection device simplifies the structure of the seabed magnetic field detection device while ensuring the accuracy of seabed magnetic field detection, and reduces the difficulty of installing the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1a , Figure 1b This is an example diagram of a submarine magnetic field detection device provided by the prior art;

[0022] Figure 2 is a structural schematic diagram of a seabed magnetic field detection device provided in Embodiment 1 of the present invention;

[0023] Figure 3 is a schematic structural diagram of a submarine magnetic field detection device provided in Embodiment 2 of the present invention;

[0024] Figure 4 is a schematic structural diagram of a submarine magnetic field detection device provided in Embodiment 3 of the present invention;

[0025] Figure 5 is a schematic structural diagram of a submarine magnetic field detection device provided in a fourth embodiment of the present invention;

[0026] Figure 6 is a structural schematic diagram of a submarine magnetic field detection device provided in Embodiment 5 of the present invention;

[0027] Figure 7 is a structural schematic diagram of a seabed magnetic field detection device provided in Embodiment 6 of the present invention;

[0028] Figure 8 It is a flow chart of the method for detecting seabed magnetic field provided in Embodiment 7 of the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0030] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their collections. And the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, the singular forms "one", "an" and "the" are intended to include plural forms unless the context clearly indicates otherwise. The terms "first", "second" and similar words do not indicate any order, quantity or importance, but are only used to distinguish different components. "Connected" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0031] In order to keep the following description of the embodiments of the present invention clear and concise, detailed descriptions of some known functions and components are omitted in this specification.

[0032] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments:

[0033] Embodiment 1:

[0034] Figure 2 The structure of the seabed magnetic field detection device provided in the first embodiment of the present invention is shown. For the convenience of description, only the parts related to the embodiment of the present invention are shown.

[0035] The seabed magnetic field detection device 1 provided in the embodiment of the present invention is used to detect the seabed magnetic field. The specific shape of the seabed magnetic field detection device 1 can be a triangular cone, a cube, or a rectangular parallelepiped. In this embodiment, it is described as a cylinder as shown in the figure.

[0036] The seabed magnetic field detection device 1 comprises a fixing frame 11 , a first proton magnetic sensor 12 , a second proton magnetic sensor 13 , and a fluxgate sensor 14 . The fixing frame 11 serves as a frame of the seabed magnetic field detection device 1, and is used to fix various components of the seabed magnetic field detection device 1 so that the seabed magnetic field detection device 1 can be placed on the seabed in a balanced manner. The fixing frame 11 includes a frame body 111 and a first fixing member 112, a second fixing member 113 and a third fixing member 114 connected to the frame body 111. The first fixing member 112, the second fixing member 113 and the third fixing member 114 are located on different parallel planes of the fixing frame 11. The first proton magnetic sensor 12 and the second proton magnetic sensor 13 are fixed on the first fixing member 112 and the third fixing member 114 respectively. The fluxgate sensor 14 is fixed on the second fixing member 113, and the second fixing member 113 is located between the first fixing member 112 and the third fixing member 114. The fixing positions 113 of the first proton magnetic sensor 12, the second proton magnetic sensor 12 and the fluxgate sensor 13 on the first fixing member 112, the third fixing member and the second fixing member are located on the same vertical line of the plane where the first fixing member 112, the second fixing member 113 and the third fixing member 114 are located. The first proton magnetic sensor 12 is used to measure the magnetic field strength at the location of the first proton magnetic sensor 12 , the second proton magnetic sensor 13 is used to measure the magnetic field strength at the location of the second proton magnetic sensor 13 , and the fluxgate sensor 14 is used to measure the magnetic induction strength at the location of the fluxgate sensor 14 .

[0037] In the specific implementation process, the fixing frame 11 can be an alloy or plastic frame of seawater corrosion resistant material, and its bottom surface forms a plane, so as to facilitate the stable placement of the seabed magnetic field detection device 1 on the seabed. The frame body 111 constitutes the basic shape of the fixing frame 11. The frame body 111 is provided with a first fixing member 112, a second fixing member 113 and a third fixing member 114 on three different parallel planes. The first fixing member 112, the second fixing member 113 and the third fixing member 114 are used to fix the first proton magnetic sensor 12 and the second proton magnetic sensor 11. The device 13 and the fluxgate sensor 14 are fixed on the fixing frame 11. The first fixing member 112, the second fixing member 113 and the third fixing member 114 can be extended from the frame body 111 to be integrally formed, or fixed to the frame body 111 by welding or screws. As shown in the figure, the frame body 111 is also provided with a connecting rod or a connecting column in the vertical direction of the seabed magnetic field detection device 1 to intersect with the frame rod of the transverse plane where the first fixing member 112, the second fixing member 113 and the third fixing member 114 are located to form a stable frame body. The first fixing member 112, the second fixing member 113 and the third fixing member 114 can be made into a packaging box, and the first proton magnetic sensor 12, the second proton magnetic sensor 13 and the fluxgate sensor 14 are placed in the box, so as to realize the fixing of the first proton magnetic sensor 12, the second proton magnetic sensor 13 and the fluxgate sensor 14.

[0038] In the specific implementation process, the distance between the planes where the first fixing member 112 and the third fixing member 114 are located is greater than or equal to 1 meter, so as to ensure that the magnetic field strength data measured by the two is greater than the preset difference, so as to improve the accuracy of the magnetic field strength measurement of the fluxgate sensor. The second fixing member 113 is located between the first fixing member 112 and the third fixing member 114, so as to facilitate the calculation of the magnetic field strength of the fluxgate sensor 14 based on the magnetic field strength detected by the first proton magnetic sensor 12 and the second proton magnetic sensor 13. In a preferred implementation, the second fixing member 113 is located in the middle position between the first fixing member 112 and the third fixing member 114, so as to simplify the calculation complexity of the magnetic field strength of the seabed magnetic field detection device while ensuring the detection accuracy.

[0039] Specifically, the first proton magnetic sensor 12 and the second proton magnetic sensor 13 are three-component proton magnetic sensors, and the fluxgate sensor 14 is a three-component fluxgate sensor. When the seabed magnetic field detection device 1 is used to detect the seabed magnetic field, the seabed magnetic field detection device is placed horizontally on the seabed, and the three axes of the first proton magnetic sensor 12, the second proton magnetic sensor 13, and the fluxgate sensor 14 are respectively oriented to the magnetic east, the magnetic north, and the vertical downward direction, and then the magnetic field intensity components of the first proton magnetic sensor 12 in the magnetic east, the magnetic north, and the vertical downward direction, the magnetic field intensity components of the second proton magnetic sensor 13 in the magnetic east, the magnetic north, and the vertical downward direction, and the magnetic induction intensity components of the fluxgate sensor in the magnetic east, the magnetic north, and the vertical downward direction are measured. Finally, the magnetic field intensity data at the location of the fluxgate sensor is obtained according to the measured magnetic field intensity components and magnetic induction intensity components, so that the magnetic field data measured by the two proton magnetic sensors and the magnetic induction intensity data measured by the fluxgate sensor are compositely superimposed to obtain the magnetic field intensity at the seabed position to be measured, thereby improving the accuracy of the measurement data. Preferably, by the formula Hx=(H 0 x+Bx) / 2, Hy=(H 0 y+By) / 2 and Hz=(H 0 z+Bz) / 2 calculates the magnetic field intensity components of the fluxgate sensor in the magnetic east, magnetic north and vertical downward directions at the fixed position on the second fixing member. The magnetic field intensity components are the magnetic field intensity components of the seabed magnetic field detection device. The magnetic field intensity of the seabed magnetic field detection device can be obtained through these components. Among them, H 0 x, H 0 y, H 0 z represents the magnetic field intensity components of the first proton magnetic sensor and the second proton magnetic sensor in the magnetic east, magnetic north and vertical downward directions, and Bx, By and Bz represent the magnetic induction intensity components of the fluxgate sensor in the magnetic east, magnetic north and vertical downward directions. 0 x=(H1 x+H 2 x) / 2,H 0 y=(H 1 y+H 2 y) / 2,H 0 z=(H 1 z+H 2 z) / 2,H 1 x, H 1 y and H 1 z represents the measured magnetic field intensity components of the first proton magnetic sensor 12 on three axes, H 2 x、H 2 y, H 2 z represents the magnetic field intensity components of the second proton magnetic sensor 13 on three axes.

[0040] In some embodiments, the seabed magnetic field detection device also includes a communication module connected to the first and second proton magnetic sensors and the fluxgate sensor, and the communication module is used to connect to the electronic device to send the sensing data detected by the first and second proton magnetic sensors and the fluxgate sensor to the electronic device. Specifically, the communication module can be a corresponding data communication interface to facilitate the transmission of the sensing data of each sensor in the seabed magnetic field detection device 1 to the user's electronic device, and the communication module can also be a wireless communication module, so that the sensing data of each sensor in the seabed magnetic field detection device 1 can be transmitted to the electronic device through a wireless connection, and the electronic device can be an external device dedicated to collecting magnetic field intensity data, which can be an electronic device carried on board by the user when collecting data, or an electronic device set on land to communicate with the seabed magnetic field detection device through wireless means.

[0041] Embodiment 2:

[0042] Figure 3 The structure of the seabed magnetic field detection device provided by the second embodiment of the present invention is shown. For the convenience of description, only the parts related to the embodiment of the present invention are shown.

[0043] like Figure 3 As shown, on the basis of the first embodiment, the seabed magnetic field detection device 1 also includes a main controller 15 connected to the first proton magnetic sensor 12, the second proton magnetic sensor 13, and the fluxgate sensor 14. The main controller 15 is fixed on the fixed frame 11, and is used to receive the sensor data sent by the first proton magnetic sensor 12, the second proton magnetic sensor 13, and the fluxgate sensor 14, and obtain the magnetic field strength data of the location of the fluxgate sensor based on the received sensor data.

[0044] Specifically, when the seabed magnetic field detection device 1 is used to detect the seabed magnetic field, the fixing frame 11 is placed horizontally on the seabed, and the three axes of the first proton magnetic sensor 12, the second proton magnetic sensor 13, and the fluxgate sensor 14 are respectively oriented toward the magnetic east, the magnetic north, and the vertical downward direction. After receiving the magnetic field intensity components of the first proton magnetic sensor 12 in the three-axis direction, the magnetic field intensity components of the second proton magnetic sensor 13 in the three-axis direction, and the magnetic induction intensity components of the fluxgate sensor in the three-axis direction, the main controller 15 uses the formula Hx=(H 0 x+Bx) / 2, Hy=(H 0 y+By) / 2 and Hz=(H 0 z+Bz) / 2 calculates the magnetic field intensity components of the fluxgate sensor in the three-axis directions at the fixed position on the second fixing member. The magnetic field intensity components are the magnetic field intensity components of the seabed magnetic field detection device. The magnetic field intensity of the seabed magnetic field detection device can be obtained through these components. 0 x、H 0 y, H 0 z represents the magnetic field intensity components of the first proton magnetic sensor and the second proton magnetic sensor in the three-axis direction, and Bx, By, and Bz represent the magnetic induction intensity components of the fluxgate sensor in the three-axis direction. 0 x=(H 1 x+H 2 x) / 2,H 0 y=(H 1 y+H 2 y) / 2,H 0 z=(H 1 z+H 2 z) / 2,H 1 x、H 1 y and H 1 z represents the measured magnetic field intensity components of the first proton magnetic sensor 12 on three axes, H 2 x、H 2 y, H 2 z represents the magnetic field intensity components of the second proton magnetic sensor 13 on three axes.

[0045] In the embodiment of the present invention, the magnetic field data measured by the two proton magnetic sensors and the magnetic induction intensity data measured by the fluxgate sensor are compositely superimposed to obtain the magnetic field intensity at the seabed position to be measured, thereby improving the accuracy of the measurement data.

[0046] Embodiment three:

[0047] Figure 4 The structure of the seabed magnetic field detection device provided by the third embodiment of the present invention is shown. For the convenience of description, only the parts related to the embodiment of the present invention are shown.

[0048] like Figure 4 As shown, on the basis of the above-mentioned embodiment, the seabed magnetic field detection device 1 may further include a first communication module 16 connected to the main controller 15, which is used to connect to the electronic device to send the obtained magnetic field strength data to the electronic device. The electronic device can be an external device dedicated to collecting magnetic field strength data, which can be set on a ship that collects data or on land. The first communication module 16 is set on the fixed frame 11 in the figure, and can also be set on a buoy connected to the seabed magnetic field detection device 1, and is connected to the main controller 15 by wire or wireless means. After receiving the magnetic field strength data, the magnetic field strength data is sent to the electronic device.

[0049] Specifically, the communication module can be a corresponding data communication interface to facilitate the transmission of the magnetic field strength data calculated by the main controller 15 to the user's electronic device. The communication module can also be a wireless communication module, so that the magnetic field strength data can be transmitted to the electronic device via a wireless connection, and the electronic device can be an external device dedicated to collecting magnetic field strength data. It can be an electronic device carried on board by the user when collecting data, or it can be an electronic device set on land and communicate with the seabed magnetic field detection device via wireless means.

[0050] Embodiment 4:

[0051] Figure 5 The structure of the seabed magnetic field detection device provided by the fourth embodiment of the present invention is shown. For the convenience of explanation, only the parts related to the embodiment of the present invention are shown.

[0052] like Figure 5 As shown, on the basis of the above-mentioned embodiment, the seabed magnetic field detection device 1 may further include a posture sensor 17 connected to the main controller and a base leveling member 18, the posture sensor 17 and the base leveling member 18 are fixed on the seabed magnetic field detection device 1, and the posture sensor 17 is used to monitor the posture of the seabed magnetic field detection device 1, for example, the inclination angle and azimuth angle of the seabed magnetic field detection device 1. If an unbalanced posture is detected, the posture data of the unbalanced posture is fed back to the main controller 15, and the main controller 15 controls the base leveling member 18 to adjust the posture of the seabed magnetic field detection device according to the posture data of the unbalanced posture. For example, the bottom surface of the seabed magnetic field detection device 1 is adjusted to a horizontal level, or the three axes of the first proton magnetic sensor 12, the second proton magnetic sensor 13, and the fluxgate sensor 14 are respectively oriented to the magnetic east, the magnetic north, and the vertical downward direction, so as to ensure the accuracy of data detection.

[0053] Embodiment five:

[0054] Figure 6The structure of the seabed magnetic field detection device provided by the fifth embodiment of the present invention is shown. For the convenience of explanation, only the parts related to the embodiment of the present invention are shown.

[0055] like Figure 6 As shown, based on the foregoing embodiments, the seabed magnetic field detection device 1 may further include a temperature-salinity-depth sensor 19. The temperature-salinity-depth sensor 19 and the fluxgate sensor 14 are located on the same plane and can be fixed to the fixing frame 11 or the frame body 111 by screws, welding or fixing strips, and is used to detect the temperature, salinity and depth of the location of the fluxgate sensor 14, so as to accurately obtain magnetic field strength data corresponding to different locations, temperatures, salinities and depths.

[0056] Embodiment six:

[0057] Figure 7 The structure of the seabed magnetic field detection device provided by the sixth embodiment of the present invention is shown. For the convenience of explanation, only the parts related to the embodiment of the present invention are shown.

[0058] like Figure 7 As shown, on the basis of the above-mentioned embodiment, the submarine magnetic field detection device 1 may further include a power supply 20 electrically connected to the first proton magnetic sensor 12, the second proton magnetic sensor 13, and the fluxgate sensor 14, so as to provide power to the first proton magnetic sensor 12, the second proton magnetic sensor 13, and the fluxgate sensor 14. The power supply 21 may be a battery, and further, may also be provided with a solar panel, which may float on the sea surface and be connected to the energy storage battery by wire, thereby improving the endurance of the submarine magnetic field detection device 1.

[0059] Embodiment seven:

[0060] Figure 8 The implementation process of the seabed magnetic field detection method of the seabed magnetic field detection device provided in the seventh embodiment of the present invention is shown. The method is applicable to the seabed magnetic field detection device in the aforementioned embodiment. For the convenience of description, only the part related to the embodiment of the present invention is shown, which is described in detail as follows:

[0061] In step S101, first and second magnetic field intensity data of the first and second proton magnetic sensors at fixed positions on first and third fixing members are obtained by using the first and second proton magnetic sensors;

[0062] In step S101, the magnetic induction intensity data of the fluxgate sensor at a fixed position on the second fixing member is obtained by using the fluxgate sensor;

[0063] In step S101, magnetic field intensity data of the fluxgate sensor at a fixed position on the second fixing member is obtained according to the first and second magnetic field intensity data and the magnetic induction intensity data.

[0064] In the embodiment of the present invention, the magnetic field data measured by the two proton magnetic sensors and the magnetic induction intensity data measured by the fluxgate sensor are compositely superimposed to obtain the magnetic field intensity at the seabed position to be measured, thereby improving the accuracy of the measurement data.

[0065] In the specific implementation process, the first proton magnetic sensor and the second proton magnetic sensor are three-component proton magnetic sensors, the fluxgate sensor is a three-component fluxgate sensor, and the fluxgate sensor is located in the middle between the first and second proton magnetic sensors. 0 x+Bx) / 2, Hy=(H 0 y+By) / 2 and Hz=(H 0 z+Bz) / 2 calculates the magnetic field intensity components of the fluxgate sensor in the magnetic east, magnetic north and vertical downward directions at the fixed position on the second fixing member, where H 0 x, H 0 y, H 0 z represents the magnetic field intensity components of the first and second proton magnetic sensors in the magnetic east, magnetic north and vertical downward directions, and Bx, By, and Bz represent the magnetic induction intensity components of the fluxgate sensor in the magnetic east, magnetic north and vertical downward directions.

[0066] Embodiment eight:

[0067] In an embodiment of the present invention, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, it implements the steps in the above-mentioned seabed magnetic field detection method embodiment, for example, steps S801 to S803 shown in Figure 1.

[0068] The computer-readable storage medium of the embodiment of the present invention may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EEPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In an embodiment of the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or device.

[0069] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the disclosure scope involved in the above embodiments is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0070] In addition, although each operation is described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present invention. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

Claims

1. A seabed magnetic field detection device, characterized in that: It includes a fixing frame, a first proton magnetic sensor, a second proton magnetic sensor, and a fluxgate sensor, wherein: The fixing frame comprises a frame body and first, second and third fixing members connected to the frame body, wherein the first, second and third fixing members are located on different parallel planes of the fixing frame; The first and second proton magnetic sensors are fixed on the first and third fixing members respectively, the fluxgate sensor is fixed on the second fixing member, the second fixing member is located between the first and third fixing members, and the fixed positions of the first and second proton magnetic sensors and the fluxgate sensor on the first, third and second fixing members are located on the same vertical line of the plane where the first, second and third fixing members are located.

2. The device according to claim 1, characterized in that It also includes a main controller connected to the first and second proton magnetic sensors and the fluxgate sensor. The main controller is fixed on the fixed frame and is used to receive the sensor data sent by the first and second proton magnetic sensors and the fluxgate sensor, and obtain the magnetic field strength data of the location of the fluxgate sensor based on the received sensor data.

3. The device according to claim 2, characterized in that It also includes a first communication module connected to the main controller, which is used to connect to an electronic device to send the obtained magnetic field strength data to the electronic device.

4. The device according to claim 2, characterized in that It also includes a posture sensor and a base leveling component connected to the main controller, the posture sensor and the base leveling component are fixed on the seabed magnetic field detection device, the posture sensor is used to monitor the posture of the seabed magnetic field detection device, if an unbalanced posture is detected, the posture data of the unbalanced posture is fed back to the main controller, and the main controller controls the base leveling component to adjust the posture of the seabed magnetic field detection device according to the posture data of the unbalanced posture.

5. The device according to claim 1, characterized in that It also includes a temperature-salinity-depth sensor, which is located on the same plane as the fluxgate sensor and is used to detect the temperature, salinity and depth of the location where the three-component fluxgate sensor is located.

6. The device according to claim 1, characterized in that It also includes a second communication module connected to the first and second proton magnetic sensors and fluxgate sensors, which is used to connect to an electronic device to send the sensing data detected by the first and second proton magnetic sensors and fluxgate sensors to the electronic device.

7. The device according to claim 1, characterized in that It also includes a power supply electrically connected to the first and second proton magnetic sensors and the fluxgate sensor to provide power to the first and second proton magnetic sensors and the fluxgate sensor.

8. A method for detecting a seabed magnetic field used in the seabed magnetic field detection device according to any one of claims 1 to 7, characterized in that: The steps include: Acquiring first and second magnetic field intensity data of the first and second proton magnetic sensors at fixed positions on the first and third fixing members through the first and second proton magnetic sensors; Acquiring magnetic induction intensity data of the fluxgate sensor at a fixed position on the second fixing member through the fluxgate sensor; The magnetic field intensity data of the fluxgate sensor at a fixed position on the second fixing member is obtained according to the first and second magnetic field intensity data and the magnetic induction intensity data.

9. The method according to claim 8, characterized in that The fluxgate sensor is located in the middle between the first and second proton magnetic sensors. 0 x+Bx) / 2, Hy=(H 0 y+By) / 2 and Hz=(H 0 z+Bz) / 2 calculates the magnetic field intensity components of the fluxgate sensor in the magnetic east, magnetic north and vertical downward directions at the fixed position on the second fixing member, where H 0 x, H 0 y, H 0 z represents the magnetic field intensity components of the first and second proton magnetic sensors in the magnetic east, magnetic north and vertical downward directions, and Bx, By, and Bz represent the magnetic induction intensity components of the fluxgate sensor in the magnetic east, magnetic north and vertical downward directions.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to claim 8 or 9 are implemented.

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