Electromagnetic data processing method and device and electronic equipment

Abstract

The embodiment of the invention provides an electromagnetic data processing method and device and electronic equipment. The electromagnetic data processing method comprises the steps that multiple sets of electromagnetic data collected in advance and collection position information of each set of electromagnetic data are obtained; filtering high-frequency noise in each group of electromagnetic data to obtain first de-noised electromagnetic data; performing power frequency noise de-noising processing on each group of first de-noised electromagnetic data to obtain multiple groups of second de-noised electromagnetic data; performing colored noise filtering processing on each group of second de-noised electromagnetic data to obtain a plurality of groups of third de-noised electromagnetic data; and according to the acquisition position information corresponding to each group of electromagnetic data, performing division and spatial superposition processing on the plurality of groups of third de-noised electromagnetic data to obtain a plurality of groups of target de-noised electromagnetic data. According to the embodiment of the invention, the method can achieve the overall denoising of the collected multiple groups of electromagnetic data according to different noise types and the mutual relation, and remarkably improves the purity and accuracy of the electromagnetic data.

Description

Technical Field

[0001] This application relates to the technical field of signal processing, and in particular, to an electromagnetic data processing method, apparatus, and electronic device. Background Art

[0002] In a practical environment, signals are often interfered by various noises from electronic devices, environmental conditions, or the sensors themselves. These noises can damage the signal quality and reduce the accuracy of information extraction. In related technologies, signal denoising is performed to improve the accuracy of extracting effective information in the signal. However, most of the existing signal denoising technologies can only effectively process a single specific type of noise, and do not fully consider the mutual relationship between different types of noises, and cannot perform overall denoising of multiple different types of noises, resulting in signal distortion or loss of useful information. Summary of the Invention

[0003] The purpose of the embodiments of this application is to provide an electromagnetic data processing method, apparatus, and electronic device to solve the problem in related technologies that overall denoising of multiple different types of noises cannot be performed.

[0004] To solve the above technical problem, the embodiments of this application are implemented as follows: In a first aspect, the embodiments of this application provide an electromagnetic data processing method, including: Obtaining multiple groups of pre-collected electromagnetic data and the acquisition location information of each group of the electromagnetic data; For each group of the electromagnetic data, filtering out high-frequency noise therein to obtain first denoised electromagnetic data; Performing power frequency noise denoising processing on each group of the first denoised electromagnetic data to obtain multiple groups of second denoised electromagnetic data; Performing colored noise filtering processing on each group of the second denoised electromagnetic data to obtain multiple groups of third denoised electromagnetic data; According to the acquisition location information corresponding to each group of the electromagnetic data, dividing and spatially superimposing multiple groups of the third denoised electromagnetic data to obtain multiple groups of target denoised electromagnetic data.

[0005] In a second aspect, the embodiments of this application provide an electromagnetic data processing apparatus, including: An obtaining module, configured to obtain multiple groups of pre-collected electromagnetic data and the acquisition location information of each group of the electromagnetic data; A first denoising module, configured to filter out high-frequency noise in each group of the electromagnetic data to obtain first denoised electromagnetic data; A second denoising module, configured to perform power frequency noise denoising processing on each group of the first denoised electromagnetic data to obtain multiple groups of second denoised electromagnetic data; The third denoising module is configured to perform colored noise filtering on each group of the second denoised electromagnetic data to obtain multiple groups of third denoised electromagnetic data; The fourth denoising module is configured to perform partitioning and spatial superposition processing on the multiple groups of third denoised electromagnetic data according to the acquisition position information corresponding to each group of the electromagnetic data to obtain multiple groups of target denoised electromagnetic data.

[0006] In a third aspect, an embodiment of the present application provides an electronic device, including: a processor, a communication interface, a memory, and a communication bus; wherein, the processor, the communication interface, and the memory complete communication with each other through the bus; the memory is used for storing a computer program; the processor is configured to execute the program stored on the memory to implement the electromagnetic data processing method as described in the first aspect.

[0007] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the electromagnetic data processing method as described in the first aspect is implemented.

[0008] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, the electromagnetic data processing method as described in the first aspect is implemented.

[0009] As can be seen from the technical solutions provided by the embodiments of the present application above, in the embodiments of the present application, first, multiple groups of pre-acquired electromagnetic data and the acquisition position information of each group of electromagnetic data are obtained; then, for each group of electromagnetic data, high-frequency noise is filtered out to obtain first denoised electromagnetic data; next, power frequency noise denoising processing is performed on each group of first denoised electromagnetic data to obtain multiple groups of second denoised electromagnetic data; then, colored noise filtering is performed on each group of second denoised electromagnetic data to obtain multiple groups of third denoised electromagnetic data; finally, according to the acquisition position information corresponding to each group of electromagnetic data, partitioning and spatial superposition processing are performed on the multiple groups of third denoised electromagnetic data to obtain multiple groups of target denoised electromagnetic data. It can be seen that through the embodiments of the present application, specific denoising methods can be used to denoise different types of noise, and the multiple groups of electromagnetic data collected can be overall denoised according to different noise types and their mutual relationships, significantly improving the purity and accuracy of the electromagnetic data, and greatly reducing the interference of various types of noise on the electromagnetic data. At the same time, through targeted design and integration of different denoising means to perform overall denoising on multiple different types of noise, the efficiency of electromagnetic data denoising processing is improved, making data processing faster and more efficient. In this way, not only a more reliable data basis is provided for subsequent information extraction and analysis, but also the accuracy and efficiency of the electromagnetic data processing process are further improved. Description of the Drawings

[0010] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments recorded in the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0011] Figure 1 It is a schematic flowchart of an electromagnetic data processing method provided by an embodiment of the present application; Figure 2 It is a schematic diagram of the waveform of the transient electromagnetic secondary field signal provided by an embodiment of the present application; Figure 3 It is a schematic diagram of the power spectral density analysis of the transient electromagnetic secondary field signal provided by an embodiment of the present application; Figure 4 It is a schematic diagram of the waveform of the transient electromagnetic secondary field signal after filtering out high-frequency noise provided by an embodiment of the present application; Figure 5 It is a schematic diagram of the waveform of the transient electromagnetic secondary field signal after removing power frequency noise provided by an embodiment of the present application; Figure 6 It is a schematic diagram of the waveform of the transient electromagnetic secondary field signal after filtering out colored noise provided by an embodiment of the present application; Figure 7 It is a schematic diagram of the waveform of the transient electromagnetic secondary field signal after synthesis processing provided by an embodiment of the present application.

[0012] Figure 8 It is a schematic flowchart of an electromagnetic data denoising method provided by an embodiment of the present application; Figure 9 It is a schematic flowchart of a colored noise filtering method provided by an embodiment of the present application; Figure 10 It is a schematic diagram of the module composition of an electromagnetic data processing device provided by an embodiment of the present application; Figure 11 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0013] Embodiments of the present application provide an electromagnetic data processing method, device and electronic device.

[0014] To enable those skilled in the art to better understand the technical solutions in this application, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0015] The electromagnetic data processing method provided in the embodiments of this application can be applied to scenarios where transient electromagnetic methods are used to detect the electrical parameters and geometric forms of underground media. In a specific application scenario, by moving the detection device, pulse signals are continuously sent underground, and the secondary induced eddy current field generated by the underground medium during each pulse signal interval is collected, that is, the transient electromagnetic secondary field signal. By analyzing the transient electromagnetic secondary field signal, various different types of noise in the signal are identified and overall denoising processing is performed.

[0016] The following will specifically describe the electromagnetic data processing method provided in the embodiments of this application in combination with the above specific application scenario.

[0017] Figure 1 is a flowchart of an electromagnetic data processing method provided in the embodiments of this application. As Figure 1 shown, the embodiments of this application provide an electromagnetic data processing method, which can be executed by a server. The server can be an independent server, a server cluster composed of multiple servers, or a cloud server performing cloud computing processing. The electromagnetic data processing method specifically may include the following steps: S102, obtain multiple groups of pre-collected electromagnetic data and the acquisition position information of each group of electromagnetic data.

[0018] In the embodiments of this application, the electromagnetic data can be electromagnetic signals generated by using a detection device to emit pulse signals underground. The acquisition position information of each group of electromagnetic data can be the spatial position information when each group of electromagnetic data is acquired, that is, the position information of the coil when the pulse signal is emitted, such as coordinate information, etc.

[0019] In one implementation, the electromagnetic data can be the transient electromagnetic secondary field signal collected by using transient electromagnetic detection technology. During the detection process, by moving the detection device, pulse signals are continuously sent underground, and the secondary induced eddy current field generated by the underground medium during each pulse signal interval is the transient electromagnetic secondary field signal. This transient electromagnetic secondary field signal changes with time, and the electrical parameters and geometric forms of the underground medium can be inferred by analyzing this change.

[0020] When collecting electromagnetic data, the signal transceiver coil can be placed on a detection mobile platform for mobile and continuous signal transmission and collection, and the transceiver coil can adopt an eccentric structure. Specifically, the transmitting system controls the transmitting coil to continuously transmit pulse signals, and the receiving system controls the receiving coil to continuously collect transient electromagnetic secondary field signals. In one example, the system sampling rate is 256 kHz, the moving speed is 0.2 m / s, the transmitting frequency is 5 Hz, and the collected transient electromagnetic secondary field signals can refer to the schematic diagram of the transient electromagnetic secondary field signal waveform as shown in Figure 2 .

[0021] S104, for each group of electromagnetic data, filter out the high-frequency noise therein to obtain the first denoised electromagnetic data.

[0022] In the embodiments of the present application, high-frequency noise refers to the unwanted random disturbances with relatively high frequencies in the signal. The frequency of high-frequency noise is usually higher than the frequency of the useful information contained in the signal itself, and the amplitude changes rapidly and irregularly. The sources of high-frequency noise include but are not limited to: interference during sensor acquisition: during the acquisition of electromagnetic data, the sensor may be interfered by various external factors, thus generating high-frequency noise; artificially created sounds: such as the noise and whistles of vehicles on the street.

[0023] In the embodiments of the present application, after obtaining multiple groups of pre-collected electromagnetic data, for each group of electromagnetic data, filter out the high-frequency noise in the electromagnetic data to obtain the first denoised electromagnetic data after filtering out the high-frequency noise.

[0024] In one embodiment, filtering out the high-frequency noise in each group of electromagnetic data to obtain the first denoised electromagnetic data includes: For each group of electromagnetic data, perform power spectral density analysis processing to determine the high-frequency noise in the electromagnetic data; use the first filter to filter out the high-frequency noise in the electromagnetic data to obtain the first denoised electromagnetic data.

[0025] In the embodiments of the present application, for each group of pre-collected electromagnetic data, perform power spectral density analysis processing on the electromagnetic data to identify the high-frequency noise that needs to be filtered out, and use the first filter to filter out the high-frequency noise to obtain the first denoised electromagnetic data after filtering out the high-frequency noise.

[0026] In one implementation, the first filter can be a finite impulse response (FIR) low-pass filter. The FIR low-pass filter allows low-frequency signals to pass through while blocking high-frequency signals. Therefore, the FIR low-pass filter can effectively filter out the high-frequency noise in the electromagnetic data. In one example, using the above Figure 2Taking the transient electromagnetic secondary magnetic field signal shown as an example, performing power spectral density analysis on the above-mentioned transient electromagnetic secondary field signal, we can obtain as Figure 3 shown in the schematic diagram of the power spectral density analysis of the transient electromagnetic secondary field signal. As Figure 3 shown, the power spectral density of the transient electromagnetic secondary field signal is relatively prominent at 9 kHz. Based on this, when setting the cut-off frequency of the FIR low-pass filter, the cut-off frequency can be set to be less than 9 kHz. For example, the cut-off frequency can be set to 5 kHz. The window of the FIR low-pass filter can be selected as the Taylor window, and the window size can be set to 64, for example, and the number of side lobes can be set to 8, for example. The transient electromagnetic secondary field signal after filtering out high-frequency noise, that is, the first denoised electromagnetic data, can be seen in the waveform schematic diagram of the transient electromagnetic secondary field signal after filtering out high-frequency noise as Figure 4 shown.

[0027] By performing power spectral density analysis and processing on the electromagnetic data, that is, the transient electromagnetic secondary field signal, determining the high-frequency noise in the transient electromagnetic secondary field signal, and setting parameters such as the cut-off frequency, window size, and number of side lobes of the FIR low-pass filter according to the analysis results, the high-frequency noise in the transient electromagnetic secondary field signal is effectively filtered out.

[0028] S106, perform power frequency noise denoising processing on each group of the first denoised electromagnetic data to obtain multiple groups of second denoised electromagnetic data.

[0029] In the embodiments of the present application, the power frequency noise mainly refers to the interference noise generated near the power frequency (generally 50 Hz or 60 Hz). The reasons for the existence of power frequency noise in the transient electromagnetic secondary magnetic field signal include but are not limited to: human noise, natural electromagnetic noise, and self-interference of instrument equipment, etc.

[0030] After performing high-frequency noise denoising on multiple groups of electromagnetic data respectively to obtain multiple groups of first denoised electromagnetic data, power frequency noise denoising processing can be performed on each group of the first denoised electromagnetic data respectively to obtain multiple groups of second denoised electromagnetic data.

[0031] In one embodiment, performing power frequency noise denoising processing on each group of the first denoised electromagnetic data to obtain multiple groups of second denoised electromagnetic data includes: For each group of the first denoised electromagnetic data, determine whether there is power frequency signal interference in the first denoised electromagnetic data; for each group of the first denoised electromagnetic data, when it is determined that there is power frequency signal interference in the first denoised electromagnetic data, based on the target frequency points in the first denoised electromagnetic data, determine and filter out the power frequency noise corresponding to the power frequency signal in the first denoised electromagnetic data to obtain the second denoised electromagnetic data; the target frequency points include the frequency points corresponding to at least one multiple frequency of the power frequency signal.

[0032] In the embodiments of the present application, for each group of first denoised electromagnetic data, it is possible to first determine whether there is power frequency signal interference in the first denoised electromagnetic data. In the case where it is determined that there is power frequency signal interference in the first denoised electromagnetic data, according to the frequency points corresponding to at least one multiple frequency of the power frequency signal in the first denoised data, the power frequency noise corresponding to the power frequency signal is determined in the first denoised electromagnetic data and filtered to obtain the second denoised electromagnetic data.

[0033] In one embodiment, determining whether there is power frequency signal interference in the first denoised electromagnetic data includes: Based on the first vector corresponding to the first denoised electromagnetic data and the second vector corresponding to the power frequency signal, determining the interference coefficient between the first denoised electromagnetic data and the power frequency signal; Based on the interference coefficient and a preset interference coefficient threshold, determining whether there is power frequency signal interference in the first denoised electromagnetic data.

[0034] In the embodiments of the present application, when determining whether there is power frequency signal interference in each group of first denoised electromagnetic data, the interference coefficient between the first denoised electromagnetic data and the power frequency signal can be calculated according to the first vector corresponding to the first denoised electromagnetic data and the second vector corresponding to the power frequency signal. Then, according to the magnitude relationship between the interference coefficient and the preset interference coefficient threshold, it is determined whether there is power frequency signal interference in the first denoised electromagnetic data.

[0035] In an exemplary implementation, the first vector corresponding to each group of first denoised electromagnetic data can be expressed as: , where represents the nth data point in the first denoised electromagnetic data, and n is the amount of data in a group of electromagnetic data. The second vector corresponding to the power frequency signal can be expressed as: p , where is the power frequency interference frequency, takes a value of, for example, 50 Hz, is the signal sampling rate, is the amplitude, is the phase. The calculation formula for the interference coefficient between the first denoised electromagnetic data and the power frequency signal is: ; (1) where R is the interference coefficient, x represents the first denoised electromagnetic data, represents the vector corresponding to the first denoised electromagnetic data, p represents the power frequency signal, represents the vector corresponding to the power frequency signal.

[0036] Exemplarily, the value of the preset interference coefficient threshold is, for example, 0.5. When the interference coefficient R between the first denoised electromagnetic data and the power frequency signal is greater than 0.5, it can be determined that there is power frequency signal interference in the first denoised electromagnetic data.

[0037] In the case where it is determined that there is power frequency signal interference in the first denoised electromagnetic data, at least one frequency point corresponding to a multiple frequency of the power frequency signal can be determined in the first denoised electromagnetic data. Then, based on the at least one frequency point corresponding to the multiple frequency of the power frequency signal, the power frequency noise corresponding to the power frequency signal is determined and filtered out in the first denoised electromagnetic data to obtain the second denoised electromagnetic data.

[0038] In one example, the frequency of the power frequency signal is 50 Hz, and the target frequency points include the frequency points corresponding to three multiple frequencies (fundamental frequency, third harmonic, and sixth harmonic) of the power frequency signal, that is, 50 Hz, 150 Hz, and 300 Hz. Based on this, according to these three target frequency points, the power frequency noise corresponding to the power frequency signal is determined and filtered out in the first denoised electromagnetic data to obtain the second denoised electromagnetic data.

[0039] In one embodiment, based on the target frequency points in the first denoised electromagnetic data, determining and filtering out the power frequency noise corresponding to the power frequency signal in the first denoised electromagnetic data to obtain the second denoised electromagnetic data includes: Performing Fourier transform processing on the first denoised electromagnetic data, and determining the target frequency points in the processed first denoised electromagnetic data; Using the least squares method to fit and obtain the power frequency noise, and removing the power frequency noise in the first denoised electromagnetic data to obtain the second denoised electromagnetic data.

[0040] In the embodiments of the present application, when determining and filtering out the power frequency noise corresponding to the power frequency signal in the first denoised electromagnetic data based on the target frequency points in the first denoised electromagnetic data, the first denoised electromagnetic data can be first subjected to Fourier transform processing. Then, at least one frequency point corresponding to a multiple frequency of the power frequency signal is determined in the processed first denoised electromagnetic data. After that, using the least squares method, phase and amplitude estimation processing is performed on the at least one frequency point corresponding to the multiple frequency of the power frequency signal, and the power frequency noise corresponding to the power frequency signal is determined and filtered out in the first denoised electromagnetic data to obtain the second denoised electromagnetic data.

[0041] In one implementation manner, when performing Fourier transform processing on the first denoised electromagnetic data, it can be performing Fourier transform processing on all the data of the first denoised electromagnetic data, or performing Fourier transform processing on the latter half of the data in the first denoised electromagnetic data.

[0042] In an exemplary implementation, the least squares method can be used to estimate the amplitudes and phases of 50 Hz, 150 Hz, and 300 Hz respectively based on the following objective function, fit the power frequency noise under the combined action of the power frequency and its harmonics, and remove it from the first denoised electromagnetic data. The objective function is as follows: ; (2) Wherein, represents a set of first denoised electromagnetic data; , represents the frequencies of the existing power frequency signal and its harmonics; is the signal sampling rate; , represents the amplitudes corresponding to 50 Hz, 150 Hz, and 300 Hz respectively; , represents the phases corresponding to 50 Hz, 150 Hz, and 300 Hz respectively. In one example, ; ; .

[0043] By performing power frequency noise removal processing on the first denoised electromagnetic data, the obtained second denoised electromagnetic data can refer to Figure 5 the schematic diagram of the transient electromagnetic secondary field signal waveform after removing the power frequency noise shown in

[0044] S108. Perform colored noise filtering processing on each group of second denoised electromagnetic data to obtain multiple groups of third denoised electromagnetic data.

[0045] In the embodiments of the present application, after obtaining multiple groups of second denoised electromagnetic data, colored noise filtering processing can be performed on each group of second denoised electromagnetic data to obtain multiple groups of third denoised electromagnetic data.

[0046] In one embodiment, performing colored noise filtering processing on each group of second denoised electromagnetic data to obtain multiple groups of third denoised electromagnetic data includes: For each group of second denoised electromagnetic data, use a second filter to whiten the second denoised electromagnetic data to obtain the processed second denoised electromagnetic data; the order of the second filter is the first order, and the first order is determined according to the data volume of the second denoised electromagnetic data when it is determined that the data volume of the second denoised electromagnetic data is less than a preset data volume threshold; For each group of processed second denoised electromagnetic data, determine whether the standard deviation of the power spectral density of the processed second denoised electromagnetic data is less than the corresponding preset standard deviation threshold; the preset standard deviation threshold is determined according to the standard deviation of the power spectral density of the corresponding second denoised electromagnetic data; For each set of processed second denoised electromagnetic data, when it is determined that the standard deviation of the power spectral density of the processed second denoised electromagnetic data is less than the corresponding preset standard deviation threshold, the processed second denoised electromagnetic data is determined as the third denoised electromagnetic data after colored noise filtering.

[0047] In one embodiment, the method further includes: For each set of processed second denoised electromagnetic data, when it is determined that the standard deviation of the power spectral density of the processed second denoised electromagnetic data is greater than or equal to the corresponding preset standard deviation threshold, based on the first order of the second filter, using a preset algorithm, determine the second order of the second filter, and assign the order of the second filter to the second order, so that the second filter performs whitening processing on the processed second denoised electromagnetic data according to the second order.

[0048] In the embodiments of the present application, when performing colored noise filtering on each set of second denoised electromagnetic data, first, for each set of second denoised electromagnetic data, use the second filter to perform whitening processing on the second denoised electromagnetic data to filter the colored noise in the second denoised electromagnetic data and obtain the processed second denoised electromagnetic data. Among them, the order of the second filter is the first order, and the first order is determined according to the data volume of the second denoised electromagnetic data when it is determined that the data volume of the second denoised electromagnetic data is less than the preset data volume threshold. Then, for each set of processed second denoised electromagnetic data, it is necessary to determine whether the standard deviation of the power spectral density of the processed second denoised electromagnetic data is less than the corresponding preset standard deviation threshold; the preset standard deviation threshold corresponding to each set of processed second denoised electromagnetic data can be determined according to the second denoised electromagnetic data corresponding to each set of processed second denoised electromagnetic data, that is, the standard deviation of the power spectral density of the second denoised electromagnetic data before filtering the colored noise. When it is determined that the standard deviation of the power spectral density of the processed second denoised electromagnetic data is less than the corresponding preset standard deviation threshold, the processed second denoised electromagnetic data is determined as the third denoised electromagnetic data after colored noise filtering.

[0049] On the contrary, if it is determined that the standard deviation of the power spectral density of the processed second denoised electromagnetic data is less than the corresponding preset standard deviation threshold, then, according to the first order of the second filter, use a preset algorithm to calculate the second order of the second filter, and assign the order of the second filter to the second order, so that the second filter continues to perform whitening processing on the processed second denoised electromagnetic data according to the second order to filter the colored noise therein.

[0050] In an exemplary implementation, the second filter can be a Wiener filter. When using the Wiener filter to perform colored noise filtering on the second denoised electromagnetic data, it is possible to first determine whether the data volume of the second denoised electromagnetic data is less than a preset data volume threshold. If the determination result is that the data volume of the second denoised electromagnetic data is less than the preset data volume threshold, then the initial order of the Wiener filter can be determined according to the data volume of the second denoised electromagnetic data. Suppose the data volume of the data points included in the second denoised electromagnetic data is n (n > 0), the value of n is 956, and the preset data volume threshold is 5000. The initial order of the Wiener filter is , in the case where it is determined that the data volume of the second denoised electromagnetic data is less than the preset data volume threshold, can take the value of n / 5, and the initial order is, for example, 192. If the determination result is that the data volume of the second denoised electromagnetic data is less than the preset data volume threshold, then the second denoised electromagnetic data can be first downsampled so that the data volume of the second denoised electromagnetic data is less than the preset data volume threshold, and then the initial order of the Wiener filter can be determined according to the data volume of the downsampled second denoised electromagnetic data. For example, the data volume of the second denoised electromagnetic data after downsampling is n / 10.

[0051] In one implementation, the output of the Wiener filter is: ; (3) where represents a set of processed second denoised electromagnetic data, M represents the current order of the Wiener filter, represents the impulse response parameter of the Wiener filter, the value of k ranges from 0 to M, represents a set of second denoised electromagnetic data, and n represents the data volume of a set of electromagnetic data.

[0052] After the Wiener filter outputs the processed second denoised electromagnetic data, power spectral density analysis can be performed on the processed second denoised electromagnetic data to calculate the standard deviation of the power spectral density within the bandwidth of the processed second denoised electromagnetic data. In the case where it is determined that the standard deviation of the power spectral density of the processed second denoised electromagnetic data is less than the corresponding preset standard deviation threshold, the processed second denoised electromagnetic data is determined as the third denoised electromagnetic data after colored noise filtering. Or, in the case where it is determined that the standard deviation of the power spectral density within the bandwidth of the processed second denoised electromagnetic data is not less than the corresponding preset standard deviation threshold, the order of the Wiener filter is adjusted by the minimum mean square error estimation (MMSE) using a preset algorithm to achieve effective filtering of colored noise. The formulas involved in the above process include: ; (4) = ; (5) ; (6) Wherein, represents the standard deviation of the power spectral density of the processed second denoised electromagnetic data, represents the power spectral density of the processed second denoised electromagnetic data, represents the average value of the power spectral density of the processed second denoised electromagnetic data, n represents the amount of data in a set of electromagnetic data, represents a set of processed second denoised electromagnetic data, M is the order of the Wiener filter, and the value of k ranges from 0 to M, is the signal sampling rate, represents the mean square error estimation.

[0053] Since the noise power spectral density contained in the frequency bands with equal bandwidth of white noise is equal, that is, the standard deviation of the power spectral density of white noise is 0, that is . It can be understood that in the ideal state, when the colored noise is completely filtered out, the value of may be 0. Therefore, it can be set that when , it is determined that the colored noise in the second denoised electromagnetic data is effectively removed, wherein, represents a preset standard deviation threshold, and the value of the preset standard deviation threshold can be, for example, half of the standard deviation of the power spectral density of the second denoised electromagnetic data.

[0054] In the case where it is determined that the standard deviation of the power spectral density within the bandwidth of the processed second denoised electromagnetic data is less than the corresponding preset standard deviation threshold, it can be determined that the colored noise in the second denoised electromagnetic data is effectively removed. Therefore, the processed second denoised electromagnetic data can be determined as the third denoised electromagnetic data after the colored noise is filtered out.

[0055] In the case where it is determined that the standard deviation of the power spectral density within the bandwidth of the processed second denoised electromagnetic data is not less than the corresponding preset standard deviation threshold, based on the current first order of the Wiener filter, a second order can be obtained by using a preset algorithm, and the order of the Wiener filter can be readjusted to the second order, so that the Wiener filter continues to perform whitening processing on the processed second denoised electromagnetic data according to the second order to filter out the colored noise therein. In one example, the second order can be, for example, half of the first order, that is, the preset algorithm is second order = first order / 2, that is, the order after each adjustment takes half of the previous order. The first order in this embodiment can be the initial order of the Wiener filter , or the order of the Wiener filter after a certain iterative adjustment. Correspondingly, the second order is the order obtained by adjusting based on the first order, and the second order is not equal to the first order. Based on this, by judging the magnitude relationship between the standard deviation of the power spectral density within the bandwidth of the processed second denoised electromagnetic data and the corresponding preset standard deviation threshold, and when it is judged that the standard deviation of the power spectral density within the bandwidth of the processed second denoised electromagnetic data is not less than the corresponding preset standard deviation threshold, continuously adjust the order of the Wiener filter until the standard deviation of the power spectral density within the bandwidth of the processed second denoised electromagnetic data is less than the corresponding preset standard deviation threshold, so as to obtain the third denoised electromagnetic data after colored noise filtering.

[0056] By performing colored noise filtering on the second denoised electromagnetic data, the obtained third denoised electromagnetic data can refer to Figure 6 the schematic diagram of the transient electromagnetic secondary field signal waveform after colored noise filtering shown in

[0057] S110. According to the acquisition position information corresponding to each group of electromagnetic data, divide and spatially superimpose multiple groups of third denoised electromagnetic data to obtain multiple groups of target denoised electromagnetic data.

[0058] In the embodiment of the present application, after obtaining multiple groups of third denoised electromagnetic data, multiple groups of third denoised electromagnetic data can be divided and spatially superimposed according to each group of electromagnetic data, that is, the acquisition position information of each group of transient electromagnetic secondary field signals, to obtain multiple groups of target denoised electromagnetic data.

[0059] In one embodiment, dividing and spatially superimposing multiple groups of third denoised electromagnetic data according to the acquisition position information corresponding to each group of electromagnetic data to obtain multiple groups of target denoised electromagnetic data includes: According to the acquisition position information corresponding to each group of electromagnetic data, divide multiple groups of third denoised electromagnetic data according to a preset spatial step size to obtain multiple denoised electromagnetic data sets; wherein, each denoised electromagnetic data set contains at least one group of third denoised electromagnetic data; For each denoised electromagnetic data set, perform spatial superposition processing on at least one group of third denoised electromagnetic data in the denoised electromagnetic data set to obtain target denoised electromagnetic data.

[0060] In one implementation, the value range of the preset spatial step size can be , where L is the total length of the acquisition distance of the transient electromagnetic secondary field signal. When dividing and processing multiple groups of third denoised electromagnetic data, the preset spatial step can also be adaptively adjusted based on the moving speed of the detection device. The preset spatial step r satisfies r = v×Δt, where v is the moving speed of the detection device and Δt is the sampling interval. In one example, the preset spatial step is 0.2 meters, that is, 5 groups of third denoised electromagnetic data are divided into a denoised electromagnetic data set.

[0061] After dividing and processing multiple groups of third denoised electromagnetic data to obtain multiple denoised electromagnetic data sets, for each denoised electromagnetic data set, perform spatial superposition processing on the 5 groups of third denoised electromagnetic data in the denoised electromagnetic data set to obtain the final target denoised electromagnetic data. The target denoised electromagnetic data can refer to Figure 7 the schematic diagram of the waveform of the transient electromagnetic secondary field signal after synthesis processing shown.

[0062] As can be seen from the technical solutions provided by the embodiments of the present application above, in the embodiments of the present application, first, obtain multiple groups of pre-collected electromagnetic data and the acquisition position information of each group of electromagnetic data; then, for each group of electromagnetic data, filter out the high-frequency noise therein to obtain the first denoised electromagnetic data; next, perform power frequency noise denoising processing on each group of the first denoised electromagnetic data to obtain multiple groups of second denoised electromagnetic data; then, perform colored noise filtering processing on each group of the second denoised electromagnetic data to obtain multiple groups of third denoised electromagnetic data; finally, according to the acquisition position information corresponding to each group of electromagnetic data, perform division and spatial superposition processing on multiple groups of third denoised electromagnetic data to obtain multiple groups of target denoised electromagnetic data. It can be seen that through the embodiments of the present application, specific denoising methods can be used to denoise different types of noise, and the multiple groups of collected electromagnetic data can be globally denoised according to different noise types and their mutual relationships, significantly improving the purity and accuracy of the electromagnetic data, and greatly reducing the interference of various types of noise on the electromagnetic data. At the same time, by specifically designing and integrating different denoising means to globally denoise multiple different types of noise, the efficiency of the electromagnetic data denoising process is improved, making the data processing faster and more efficient. In this way, not only a more reliable data basis is provided for subsequent information extraction and analysis, but also the accuracy and efficiency of the electromagnetic data processing process are further improved.

[0063] Figure 8 is a flowchart of an electromagnetic data denoising method provided by an embodiment of the present application. As Figure 8 shown, the electromagnetic data denoising method specifically includes the following steps: S801: Obtain multiple groups of electromagnetic data and the acquisition position information of the multiple groups of electromagnetic data; S802: Use a low-pass filter to filter out the high-frequency noise in each group of electromagnetic data respectively, obtaining multiple groups of first denoised electromagnetic data; S803: For each group of first denoised electromagnetic data, calculate the interference coefficient between the first denoised electromagnetic data and the power frequency signal; S804: For each group of first denoised electromagnetic data, determine whether the interference coefficient is greater than a preset interference coefficient threshold; if so, execute S805, otherwise, execute S807; S805: Perform Fourier transform processing on the first denoised electromagnetic data, and determine the target frequency point in the processed first denoised electromagnetic data; S806: Use the least squares method to fit the power frequency noise based on the target frequency point, and remove the power frequency noise from the first denoised electromagnetic data, obtaining second denoised electromagnetic data; S807: For each group of second denoised electromagnetic data, perform colored noise filtering processing using a Wiener filter, obtaining processed second denoised electromagnetic data; S808: Perform power spectral density analysis on the processed second denoised electromagnetic data, and calculate the standard deviation of the power spectral density within the bandwidth of the processed second denoised electromagnetic data; S809: Determine whether the standard deviation of the power spectral density within the bandwidth of the processed second denoised electromagnetic data is less than the corresponding preset standard deviation threshold; if so, execute S811, otherwise, execute S810, and then execute S808; S810: Adjust the order of the Wiener filter; S811: Determine the processed second denoised electromagnetic data as the third denoised electromagnetic data after colored noise filtering; S812: According to the acquisition position information corresponding to each group of electromagnetic data, perform division and spatial superposition processing on multiple groups of third denoised electromagnetic data, obtaining multiple groups of target denoised electromagnetic data.

[0064] Figure 9 It is a flow chart of a colored noise filtering method provided by an embodiment of the present application. As Figure 9 shown, the colored noise filtering method specifically includes the following steps: S901: Obtain denoised electromagnetic data, where the denoised electromagnetic data is the electromagnetic data after filtering out high-frequency noise and power frequency noise; S902: Determine whether the data volume of the denoised electromagnetic data is less than a preset data volume threshold; if so, execute S904; otherwise, execute S903, and then execute S902; S903: Perform downsampling processing on the denoised electromagnetic data; S904: Determine the initial order of the Wiener filter according to the data volume of the denoised electromagnetic data, and perform whitening processing on the denoised electromagnetic data, obtaining whitened filter data; S905: Perform power spectral density analysis on the whitened filter data, and calculate the standard deviation of the power spectral density within the bandwidth of the whitened filter data; S906: Determine whether the standard deviation of the power spectral density within the bandwidth of the whitened filter data is less than a preset standard deviation threshold; if so, execute S908, otherwise, execute S907, and then execute S904; S907: Adjust the order of the Wiener filter; S908: Output the whitened filter data.

[0065] Corresponding to the electromagnetic data processing method provided in the above embodiment, based on the same technical concept, the embodiment of the present application also provides an electromagnetic data processing device. Figure 10 It is a schematic diagram of the module composition of an electromagnetic data processing device provided by the embodiment of the present application. As Figure 10 shown, the electromagnetic data processing device includes: An acquisition module 1001, configured to acquire multiple groups of pre-collected electromagnetic data and the acquisition position information of each group of the electromagnetic data; A first denoising module 1002, configured to filter out high-frequency noise from each group of the electromagnetic data to obtain first-denoised electromagnetic data; A second denoising module 1003, configured to perform power frequency noise denoising processing on each group of the first-denoised electromagnetic data to obtain multiple groups of second-denoised electromagnetic data; A third denoising module 1004, configured to perform colored noise filtering processing on each group of the second-denoised electromagnetic data to obtain multiple groups of third-denoised electromagnetic data; A fourth denoising module 1005, configured to divide and perform spatial superposition processing on multiple groups of the third-denoised electromagnetic data according to the acquisition position information corresponding to each group of the electromagnetic data to obtain multiple groups of target-denoised electromagnetic data.

[0066] In a possible implementation manner, the above first denoising module 1002 is specifically configured to perform power spectral density analysis processing on each group of the electromagnetic data to determine the high-frequency noise in the electromagnetic data; Use a first filter to filter out the high-frequency noise in the electromagnetic data to obtain the first-denoised electromagnetic data.

[0067] In a possible implementation manner, the above second denoising module 1003 is specifically configured to determine whether there is power frequency signal interference in each group of the first-denoised electromagnetic data; For each group of the first denoised electromagnetic data, when it is determined that the first denoised electromagnetic data is interfered by the power frequency signal, based on the target frequency points in the first denoised electromagnetic data, the power frequency noise corresponding to the power frequency signal is determined and filtered out in the first denoised electromagnetic data to obtain the second denoised electromagnetic data; the target frequency points include the frequency points corresponding to at least one multiple frequency of the power frequency signal.

[0068] In a possible implementation manner, the above-mentioned second denoising module 1003 is further specifically configured to determine an interference coefficient between the first denoised electromagnetic data and the power frequency signal based on a first vector corresponding to the first denoised electromagnetic data and a second vector corresponding to the power frequency signal; Based on the interference coefficient and a preset interference coefficient threshold, it is determined whether the first denoised electromagnetic data is interfered by the power frequency signal.

[0069] In a possible implementation manner, the above-mentioned second denoising module 1003 is further specifically configured to perform Fourier transform processing on the first denoised electromagnetic data, and determine target frequency points in the processed first denoised electromagnetic data; Using the least squares method, perform phase and amplitude estimation processing on the signals of the target frequency points, fit to obtain the power frequency noise, and remove the power frequency noise in the first denoised electromagnetic data to obtain the second denoised electromagnetic data.

[0070] In a possible implementation manner, the above-mentioned third denoising module 1004 is configured to, for each group of the second denoised electromagnetic data, use a second filter to perform whitening processing on the second denoised electromagnetic data to obtain the processed second denoised electromagnetic data; the order of the second filter is the first order, and the first order is determined according to the data volume of the second denoised electromagnetic data when it is determined that the data volume of the second denoised electromagnetic data is less than a preset data volume threshold; For each group of the processed second denoised electromagnetic data, determine whether the standard deviation of the power spectral density of the processed second denoised electromagnetic data is less than a corresponding preset standard deviation threshold; the preset standard deviation threshold is determined according to the standard deviation of the power spectral density of the corresponding second denoised electromagnetic data; For each group of the processed second denoised electromagnetic data, when it is determined that the standard deviation of the power spectral density of the processed second denoised electromagnetic data is less than the corresponding preset standard deviation threshold, the processed second denoised electromagnetic data is determined as the third denoised electromagnetic data after colored noise filtering.

[0071] In a possible implementation, the above-mentioned third denoising module 1004 is further configured to, for each group of the processed second-denoised electromagnetic data, when determining that the standard deviation of the power spectral density of the processed second-denoised electromagnetic data is greater than or equal to the corresponding preset standard deviation threshold, based on the first order of the second filter, use a preset algorithm to determine the second order of the second filter, and assign the order of the second filter to the second order, so that the second filter performs whitening processing on the processed second-denoised electromagnetic data according to the second order.

[0072] In a possible implementation, the above-mentioned fourth denoising module 1005 is specifically configured to divide multiple groups of the third-denoised electromagnetic data according to the acquisition position information corresponding to each group of the electromagnetic data and at a preset spatial step size, to obtain a plurality of denoised electromagnetic data sets; wherein, each of the denoised electromagnetic data sets contains at least one group of the third-denoised electromagnetic data; For each of the denoised electromagnetic data sets, perform spatial superposition processing on the at least one group of the third-denoised electromagnetic data in the denoised electromagnetic data set to obtain target denoised electromagnetic data.

[0073] As can be seen from the technical solutions provided by the embodiments of the present application above, in the embodiments of the present application, first, a plurality of groups of pre-acquired electromagnetic data and the acquisition position information of each group of electromagnetic data are obtained; then, for each group of electromagnetic data, high-frequency noise is filtered out to obtain first-denoised electromagnetic data; next, power-frequency noise denoising processing is performed on each group of the first-denoised electromagnetic data respectively to obtain a plurality of groups of second-denoised electromagnetic data; then, colored noise filtering processing is performed on each group of the second-denoised electromagnetic data respectively to obtain a plurality of groups of third-denoised electromagnetic data; finally, according to the acquisition position information corresponding to each group of electromagnetic data, the plurality of groups of third-denoised electromagnetic data are divided and spatially superposed to obtain a plurality of groups of target denoised electromagnetic data. It can be seen that through the embodiments of the present application, specific denoising methods can be used to denoise different types of noise, and the plurality of groups of acquired electromagnetic data can be overall denoised according to different noise types and their mutual relationships, significantly improving the purity and accuracy of the electromagnetic data, and greatly reducing the interference of various types of noise on the electromagnetic data. At the same time, by designing and integrating different denoising means in a targeted manner to overall denoise a variety of different types of noise, the efficiency of the electromagnetic data denoising process is improved, making the data processing faster and more efficient. In this way, not only a more reliable data basis is provided for subsequent information extraction and analysis, but also the accuracy and efficiency of the electromagnetic data processing process are further improved.

[0074] The electromagnetic data processing device provided by the embodiments of the present application can implement each process in the corresponding embodiments of the above-mentioned electromagnetic data processing method. To avoid repetition, it will not be elaborated here.

[0075] It should be noted that the electromagnetic data processing device provided in the embodiments of the present application and the electromagnetic data processing method provided in the embodiments of the present application are based on the same inventive concept. Therefore, for the specific implementation of this embodiment, reference may be made to the implementation of the foregoing electromagnetic data processing method, and repeated parts will not be elaborated here.

[0076] Corresponding to the electromagnetic data processing method provided in the above embodiments, based on the same technical concept, the embodiments of the present application also provide an electronic device, which is used to execute the above electromagnetic data processing method. Figure 11 A schematic structural diagram of an electronic device for implementing various embodiments of the present application is shown in Figure 11 As shown, the electronic device may vary greatly due to configuration or performance differences, and may include one or more processors 1101 and a memory 1102. One or more application programs or data may be stored in the memory 1102. Among them, the memory 1102 may be a transient storage or a persistent storage. The application programs stored in the memory 1102 may include one or more modules (not shown in the figure), and each module may include a series of computer-executable instructions in the electronic device. Further, the processor 1101 may be configured to communicate with the memory 1102 and execute a series of computer-executable instructions in the memory 1102 on the electronic device. The electronic device may also include one or more power supplies 1103, one or more wired or wireless network interfaces 1104, one or more input / output interfaces 1105, and one or more keyboards 1106.

[0077] In a specific embodiment, the electronic device includes a processor, a communication interface, a memory, and a communication bus; wherein, the processor, the communication interface, and the memory complete communication with each other through the bus; the memory is used to store a computer program; the processor is used to execute the program stored on the memory to implement the following method steps: Obtain multiple groups of pre-collected electromagnetic data and the acquisition position information of each group of the electromagnetic data; For each group of the electromagnetic data, filter out the high-frequency noise therein to obtain first denoised electromagnetic data; Perform power frequency noise denoising processing on each group of the first denoised electromagnetic data to obtain multiple groups of second denoised electromagnetic data; Perform colored noise filtering processing on each group of the second denoised electromagnetic data to obtain multiple groups of third denoised electromagnetic data; According to the acquisition position information corresponding to each group of the electromagnetic data, perform partitioning and spatial superposition processing on the multiple groups of the third denoised electromagnetic data to obtain multiple groups of target denoised electromagnetic data.

[0078] As can be seen from the technical solutions provided by the embodiments of the present application above, in the embodiments of the present application, first, a plurality of groups of electromagnetic data and the acquisition position information of each group of electromagnetic data collected in advance are obtained; then, for each group of electromagnetic data, high-frequency noise therein is filtered to obtain first denoised electromagnetic data; next, power frequency noise denoising processing is performed on each group of the first denoised electromagnetic data to obtain a plurality of groups of second denoised electromagnetic data; then, colored noise filtering processing is performed on each group of the second denoised electromagnetic data to obtain a plurality of groups of third denoised electromagnetic data; finally, according to the acquisition position information corresponding to each group of electromagnetic data, the plurality of groups of third denoised electromagnetic data are divided and spatially superimposed to obtain a plurality of groups of target denoised electromagnetic data. It can be seen that through the embodiments of the present application, specific denoising methods can be used to denoise different types of noise, and the plurality of groups of electromagnetic data collected can be globally denoised according to different noise types and their mutual relationships, significantly improving the purity and accuracy of the electromagnetic data and greatly reducing the interference of various types of noise on the electromagnetic data. At the same time, by specifically designing and integrating different denoising means to globally denoise a variety of different types of noise, the efficiency of the electromagnetic data denoising process is improved, making the data processing faster and more efficient. In this way, not only a more reliable data basis is provided for subsequent information extraction and analysis, but also the accuracy and efficiency of the electromagnetic data processing flow are further improved.

[0079] The embodiments of the present application also provide a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the following method steps are implemented: Obtain a plurality of groups of electromagnetic data collected in advance and the acquisition position information of each group of the electromagnetic data; For each group of the electromagnetic data, filter high-frequency noise therein to obtain first denoised electromagnetic data; Perform power frequency noise denoising processing on each group of the first denoised electromagnetic data to obtain a plurality of groups of second denoised electromagnetic data; Perform colored noise filtering processing on each group of the second denoised electromagnetic data to obtain a plurality of groups of third denoised electromagnetic data; According to the acquisition position information corresponding to each group of the electromagnetic data, divide and spatially superimpose the plurality of groups of the third denoised electromagnetic data to obtain a plurality of groups of target denoised electromagnetic data.

[0080] As can be seen from the technical solutions provided by the embodiments of the present application above, in the embodiments of the present application, first, a plurality of groups of electromagnetic data and the acquisition position information of each group of electromagnetic data collected in advance are obtained; then, for each group of electromagnetic data, high-frequency noise therein is filtered to obtain first denoised electromagnetic data; next, each group of first denoised electromagnetic data is respectively subjected to power-frequency noise denoising processing to obtain a plurality of groups of second denoised electromagnetic data; then, each group of second denoised electromagnetic data is respectively subjected to colored noise filtering processing to obtain a plurality of groups of third denoised electromagnetic data; finally, according to the acquisition position information corresponding to each group of electromagnetic data, the plurality of groups of third denoised electromagnetic data are subjected to partitioning and spatial superposition processing to obtain a plurality of groups of target denoised electromagnetic data. It can be seen that through the embodiments of the present application, specific denoising methods can be adopted for different types of noise, and the overall denoising of the collected plurality of groups of electromagnetic data can be performed according to different noise types and their mutual relationships, significantly improving the purity and accuracy of the electromagnetic data and greatly reducing the interference of various types of noise on the electromagnetic data. At the same time, by specifically designing and integrating different denoising means to perform overall denoising on various different types of noise, the efficiency of the electromagnetic data denoising process is improved, making the data processing faster and more efficient. In this way, not only a more reliable data basis is provided for subsequent information extraction and analysis, but also the accuracy and efficiency of the electromagnetic data processing process are further improved.

[0081] The embodiments of the present application also provide a computer program product. When the computer program is executed by a processor, it implements each process of the above-mentioned embodiment of the electromagnetic data processing method and can achieve the same technical effect. To avoid repetition, it will not be elaborated here.

[0082] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a device, or a computer program product. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0083] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, and the combination of processes and / or blocks in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate for implementing in the process Figure 1One or more processes and / or blocks Figure 1 Apparatus for the functions specified in one or more blocks

[0084] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions in the process Figure 1 One or more processes and / or blocks Figure 1 The functions specified in one or more blocks

[0085] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions in the process Figure 1 One or more processes and / or blocks Figure 1 The steps for the functions specified in one or more blocks

[0086] In a typical configuration, an electronic device includes one or more processors (CPUs), an input / output interface, a network interface, and memory

[0087] Memory may include non-permanent memory in computer-readable media, random access memory (RAM) and / or non-volatile memory in the form of, for example, read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media

[0088] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology for information storage. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves

[0089] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0090] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, devices or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0091] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for processing electromagnetic data, characterized in that: The method comprises: Acquire multiple sets of pre-collected electromagnetic data and collection location information of each set of electromagnetic data; For each group of electromagnetic data, high-frequency noise is filtered out to obtain first denoised electromagnetic data; Performing power frequency noise denoising processing on each group of the first denoised electromagnetic data to obtain multiple groups of second denoised electromagnetic data; Performing colored noise filtering processing on each group of the second denoised electromagnetic data to obtain multiple groups of third denoised electromagnetic data; According to the collection position information corresponding to each group of electromagnetic data, the multiple groups of third denoised electromagnetic data are divided and spatially superimposed to obtain multiple groups of target denoised electromagnetic data.

2. The method according to claim 1, characterized in that The step of filtering out high-frequency noise from each set of electromagnetic data to obtain first denoised electromagnetic data includes: For each set of electromagnetic data, a power spectrum density analysis is performed to determine the high-frequency noise in the electromagnetic data; A first filter is used to filter out high-frequency noise in the electromagnetic data to obtain the first denoised electromagnetic data.

3. The method according to claim 1, characterized in that The performing power frequency noise denoising processing on each group of the first denoised electromagnetic data to obtain multiple groups of second denoised electromagnetic data comprises: For each group of the first denoised electromagnetic data, determining whether the first denoised electromagnetic data has power frequency signal interference; For each group of the first de-noised electromagnetic data, when it is determined that the first de-noised electromagnetic data is interfered by the industrial frequency signal, based on the target frequency point in the first de-noised electromagnetic data, the industrial frequency noise corresponding to the industrial frequency signal is determined in the first de-noised electromagnetic data and filtered out to obtain second de-noised electromagnetic data; the target frequency point includes a frequency point corresponding to at least one multiple of the industrial frequency signal.

4. The method according to claim 3, characterized in that The determining whether the first de-noised electromagnetic data has power frequency signal interference includes: Determine an interference coefficient between the first denoised electromagnetic data and the power frequency signal based on a first vector corresponding to the first denoised electromagnetic data and a second vector corresponding to the power frequency signal; Based on the interference coefficient and a preset interference coefficient threshold, it is determined whether the first de-noised electromagnetic data is interfered by the power frequency signal.

5. The method according to claim 3, characterized in that: The step of determining the power frequency noise corresponding to the power frequency signal in the first de-noised electromagnetic data and filtering it out based on the target frequency point in the first de-noised electromagnetic data to obtain the second de-noised electromagnetic data includes: Performing Fourier transform processing on the first de-noised electromagnetic data, and determining a target frequency point in the processed first de-noised electromagnetic data; The signal at the target frequency is subjected to phase and amplitude estimation processing by using the least square method to obtain the power frequency noise by fitting, and the power frequency noise is removed from the first denoised electromagnetic data to obtain the second denoised electromagnetic data.

6. The method according to claim 1, characterized in that The colored noise filtering process is performed on each group of the second denoised electromagnetic data to obtain multiple groups of third denoised electromagnetic data, including: For each group of the second de-noised electromagnetic data, a second filter is used to perform whitening processing on the second de-noised electromagnetic data to obtain processed second de-noised electromagnetic data; the order of the second filter is a first order, and the first order is determined according to the data amount of the second de-noised electromagnetic data when it is determined that the data amount of the second de-noised electromagnetic data is less than a preset data amount threshold; For each group of the processed second denoised electromagnetic data, determining whether a standard deviation of a power spectrum density of the processed second denoised electromagnetic data is less than a corresponding preset standard deviation threshold; the preset standard deviation threshold is determined according to a standard deviation of a power spectrum density of the corresponding second denoised electromagnetic data; For each group of the processed second denoised electromagnetic data, when it is determined that the standard deviation of the power spectrum density of the processed second denoised electromagnetic data is less than the corresponding preset standard deviation threshold, the processed second denoised electromagnetic data is determined as the third denoised electromagnetic data after colored noise is filtered out.

7. The method according to claim 6, characterized in that The method further comprises: For each group of the processed second denoised electromagnetic data, when it is determined that the standard deviation of the power spectral density of the processed second denoised electromagnetic data is greater than or equal to the corresponding preset standard deviation threshold, based on the first order of the second filter, a preset algorithm is used to determine the second order of the second filter, and the order of the second filter is assigned to the second order, so that the second filter whitens the processed second denoised electromagnetic data according to the second order.

8. The method according to claim 1, characterized in that The method further comprises dividing and spatially superimposing the plurality of groups of the third denoised electromagnetic data according to the acquisition position information corresponding to each group of the electromagnetic data to obtain a plurality of groups of target denoised electromagnetic data, including: According to the acquisition position information corresponding to each group of electromagnetic data, and according to the preset spatial step size, the multiple groups of the third denoised electromagnetic data are divided and processed to obtain multiple denoised electromagnetic data sets; wherein each of the denoised electromagnetic data sets contains at least one group of the third denoised electromagnetic data; For each of the de-noised electromagnetic data sets, spatial superposition processing is performed on the at least one set of third de-noised electromagnetic data in the de-noised electromagnetic data set to obtain target de-noised electromagnetic data.

9. An electromagnetic data processing device, characterized in that: include: An acquisition module, used to acquire a plurality of sets of pre-collected electromagnetic data and acquisition position information of each set of electromagnetic data; A first denoising module, configured to filter out high-frequency noise from each set of electromagnetic data to obtain first denoised electromagnetic data; A second denoising module, configured to perform power frequency noise denoising on each group of the first denoised electromagnetic data to obtain multiple groups of second denoised electromagnetic data; A third denoising module, configured to perform colored noise filtering processing on each group of the second denoised electromagnetic data to obtain multiple groups of third denoised electromagnetic data; The fourth denoising module is used to divide and spatially superimpose the multiple groups of the third denoised electromagnetic data according to the collection position information corresponding to each group of the electromagnetic data, so as to obtain multiple groups of target denoised electromagnetic data.

10. An electronic device, characterized in that: It comprises a processor, a communication interface, a memory and a communication bus; wherein the processor, the communication interface and the memory communicate with each other via the bus; the memory is used to store computer programs; the processor is used to execute the programs stored in the memory to implement the steps of the electromagnetic data processing method as described in any one of claims 1 to 8.

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