Single-axis magnetic gradient detection method and system based on change attitude

Abstract

The invention discloses a single-axis magnetic gradient detection method and system based on change attitudes, and relates to the technical field of magnetic gradient detection.The single-axis magnetic gradient detection method based on the change attitudes mainly comprises the steps that actually-measured attitude information serves as the vector direction of the magnetic gradient; calculating a response coefficient of the detection space model subdivision unit to the magnetic field component and gradient anomaly thereof; and constructing a uniaxial magnetic gradient detection data inversion equation based on the change attitude, and solving a large linear equation set to obtain a magnetization intensity (or magnetic susceptibility) model of the detection space. By implementing the single-axis magnetic gradient detection method and system based on the change attitude provided by the invention, accurate detection of the magnetic target under the change attitude can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of magnetic gradient detection, and more specifically, to a uniaxial magnetic gradient detection method and system based on a changing attitude. Background Art

[0002] Magnetic gradient measurement can be divided into full-axis (three-axis) magnetic gradient measurement and uniaxial magnetic gradient measurement. Among them, full-axis magnetic gradient measurement refers to simultaneously measuring the gradient components of the magnetic field along three orthogonal directions, while uniaxial magnetic gradient measurement refers to measuring the gradient of the magnetic field along a certain direction, such as horizontal transverse gradient, horizontal longitudinal gradient, and vertical gradient. Usually, the gradient value is obtained by taking the difference of the observed values of multiple magnetic sensors. With the mature application of technical equipment such as unmanned vehicles, unmanned aerial vehicles, unmanned ships, and unmanned submersibles, magnetic gradient detection based on mobile platforms has attracted more and more attention, and a series of mobile platform magnetic gradient detection equipment has been developed.

[0003] As an important factor affecting magnetic gradient detection on mobile platforms, the carrier attitude may change greatly under the influence of external forces such as wind and waves. This change causes the direction of the measured magnetic gradient to change accordingly. This change is random and difficult to predict, but it can be measured in real time by an attitude sensor. For three-axis magnetic gradient detection, people can use the measured attitude information to correct the measured magnetic gradient to the magnetic gradient in a fixed direction. However, for uniaxial magnetic gradient measurement, due to the limitation of less uniaxial information, it cannot be corrected to a fixed direction. Therefore, the current magnetic gradient detection technology based on a fixed attitude is not applicable. In the application of uniaxial magnetic gradient measurement, since the direction of the measured magnetic gradient changes with the change of the attitude, the main countermeasures adopted by predecessors are to keep the carrier stable and ignore the gradient difference caused by the attitude change; or to use a smaller magnetic probe spacing to reduce the influence of the attitude change on the magnetic gradient measurement. Generally speaking, for this kind of changing attitude uniaxial magnetic gradient detection affected by the attitude change of the mobile platform, no breakthrough progress has been made, and the relevant theories and technical measures are lacking in system.

[0004] In summary, magnetic gradient detection can effectively describe the distribution of geological bodies and highlight the characteristics of shallow geological bodies. It is a research hotspot in the field of exploration geophysics at home and abroad, and is widely used in dynamic load magnetic gradient measurement on land, in the air, and in the ocean. For uniaxial magnetic gradient measurement based on a mobile platform, the obtained magnetic gradient anomaly has a directionality, and its direction changes with the change of the mobile platform attitude, causing great difficulties for subsequent data interpretation. On the one hand, traditional magnetic gradient detection mainly uses attitude information for attitude compensation, but this attitude compensation is only applicable to three-axis magnetic gradient detection and cannot correct the uniaxial magnetic gradient to a fixed direction. On the other hand, traditional uniaxial magnetic gradient detection does not consider the change of the magnetic gradient direction caused by the carrier attitude change, and the existing inversion and interpretation methods are mainly based on the magnetic gradient in a fixed direction.

[0005] How to accurately detect magnetic targets under the condition that the carrier attitude changes greatly under the influence of external forces such as wind and waves is an urgent problem to be solved. Summary of the Invention

[0006] The purpose of the present invention is to provide a uniaxial magnetic gradient detection method and system based on a changing attitude, which can accurately detect magnetic targets under a changing attitude.

[0007] The present invention provides a uniaxial magnetic gradient detection method based on a changing attitude, including the following steps: S1: Obtain the measured magnetic field components, their magnetic gradients, attitude and position information, and use the measured attitude information as the vector direction of the magnetic gradient; S2: Calculate the response coefficients of the detection space model subdivision unit to the magnetic field components and their gradient anomalies according to the vector direction of the magnetic gradient, the measured magnetic field components, their magnetic gradients, and position information; S3: Construct an inversion equation for the uniaxial magnetic gradient detection data based on the changing attitude according to the response coefficients of the detection space model subdivision unit to the magnetic field components and their gradient anomalies, and solve the inversion equation for the uniaxial magnetic gradient detection data based on the changing attitude to obtain a three-dimensional magnetization intensity model of the detection space.

[0008] The present invention also provides a uniaxial magnetic gradient detection system based on a changing attitude, including the following modules: Data acquisition module, configured to: obtain the measured magnetic field components, their magnetic gradients, attitude and position information, and use the measured attitude information as the vector direction of the magnetic gradient; Response coefficient calculation module for magnetic field components and their gradient anomalies, configured to: calculate the response coefficients of the detection space model subdivision unit to the magnetic field components and their gradient anomalies according to the vector direction of the magnetic gradient, the measured magnetic field components, their magnetic gradients, and position information; Detection space magnetization intensity model solving module, configured to: construct an inversion equation for the uniaxial magnetic gradient detection data based on the changing attitude according to the response coefficients of the detection space model subdivision unit to the magnetic field components and their gradient anomalies, and solve the inversion equation for the uniaxial magnetic gradient detection data based on the changing attitude to obtain a three-dimensional magnetization intensity model of the detection space.

[0009] Implementing the uniaxial magnetic gradient detection method and system based on a changing attitude provided by the present invention has the following beneficial effects: The present invention uses the measured attitude information as the vector direction of the magnetic gradient; according to the measured magnetic field components, their magnetic gradients, attitude, and position information, it calculates the response coefficients of the detection space model subdivision units to the magnetic field components and their gradient anomalies; constructs an inversion equation for the uniaxial magnetic gradient detection data based on the changing attitude, and solves the large linear equations to obtain the magnetization intensity model of the detection space. The present invention considers the influence of attitude changes on magnetic gradient detection, integrates the attitude change information into the inversion equation of the magnetic gradient anomaly, and mines the hidden target information hidden in the magnetic gradient anomaly with changing attitude through physical property inversion. It can obtain scientific detection results under the condition that the carrier attitude changes greatly due to external forces such as wind and waves, accurately detect magnetic targets, realize uniaxial magnetic gradient detection with changing attitude, and provide a solution for uniaxial magnetic gradient detection based on a moving load platform. Brief Description of the Drawings

[0010] The present invention will be further described below in conjunction with the drawings and embodiments. In the drawings: Figure 1 is a flowchart of the method for uniaxial magnetic gradient detection based on changing attitude provided by the present invention; Figure 2 is a schematic diagram of the theoretical simulation model of magnetic gradient detection provided by the present invention; Figure 3 is a schematic diagram of the detection result obtained by the traditional horizontal transverse magnetic gradient detection method that does not consider the attitude change of the magnetic gradiometer provided by the present invention; Figure 4 is a schematic diagram of the detection result obtained by using the uniaxial magnetic gradient detection method with changing attitude provided by the present invention. Detailed Embodiment

[0011] For a clearer understanding of the technical features, objectives, and effects of the present invention, the specific embodiments of the present invention will now be described in detail with reference to the drawings.

[0012] Figure 1 shows a schematic diagram of the method for uniaxial magnetic gradient detection based on changing attitude in this embodiment. In this embodiment, the method for uniaxial magnetic gradient detection based on changing attitude includes the following steps: S1: Obtain the measured magnetic field components, their magnetic gradients, attitude, and position information, and use the measured attitude information as the vector direction of the magnetic gradient; In an exemplary embodiment, the measured magnetic field component is the total magnetic field anomaly, magnetic triaxial components, or component modulus, and the magnetic gradient is the measured magnetic field gradient or calculated based on the difference of the measured magnetic field components; It should be noted that the magnetic field gradient anomaly can be obtained by actual measurement using a magnetic gradient sensor or calculated using the difference of the magnetic field components.

[0013] S2: Calculate the response coefficients of the magnetic field component and its gradient anomaly for the subdivision units of the detection space model according to the vector direction of the magnetic gradient, the measured magnetic field components and their magnetic gradients, and the position information. In an exemplary embodiment, step S2 specifically includes: calculating the response coefficients of the magnetic field component and its magnetic gradient anomaly for the subdivision units of the detection space model according to the vector direction of the magnetic gradient, the measured magnetic field components and their magnetic gradients, and the position information, as shown in the formula: , where, is the response coefficient of the subdivision unit of the detection space model to the vector magnetic gradient; , , are the direction cosines of the gradient direction in three-dimensional space respectively; , , are the response coefficients of the magnetic anomaly along the three fixed directions of x, y, and z of the rd model unit at the th observation point respectively; It should be noted that the calculation process of the response coefficient of the magnetic field component anomaly is , , similar, and can be obtained by sampling the traditional calculation method.

[0014] S3: Construct an inversion equation for the uniaxial magnetic gradient detection data based on the changing attitude according to the response coefficients of the magnetic field component and its gradient anomaly for the subdivision units of the detection space model, and solve the inversion equation for the uniaxial magnetic gradient detection data based on the changing attitude to obtain the three-dimensional magnetization intensity model of the detection space. In an exemplary embodiment, constructing the inversion equation for the uniaxial magnetic gradient detection data based on the changing attitude according to the response coefficients of the magnetic field component and its gradient anomaly for the subdivision units of the detection space model is shown in the formula: , where, , respectively represent the magnetic gradient anomaly and the magnetic anomaly component with the gradient direction of at the th observation point; represents the magnetization intensity or magnetic susceptibility corresponding to the th model unit; is the response coefficient of the subdivision unit of the detection space model to the vector magnetic gradient, that is, it represents the response coefficient corresponding to the i th model unit corresponding to ; respectively represent thei The response coefficient corresponding to one model unit ; represents the number of observation points, and represents the number of model units.

[0015] In an exemplary embodiment, the above-mentioned uniaxial magnetic gradient detection method based on a changing posture further includes: obtaining a three-dimensional magnetic susceptibility model of the detection space according to the three-dimensional magnetization intensity model of the detection space.

[0016] This embodiment provides a uniaxial magnetic gradient detection system based on a changing posture, including the following modules: A data acquisition module, configured to: acquire the measured magnetic field components, their magnetic gradients, posture, and position information, and use the measured posture information as the vector direction of the magnetic gradient; A response coefficient calculation module for magnetic field components and their gradient anomalies, configured to: calculate the response coefficients of the model subdivision units of the detection space to the magnetic field components and their gradient anomalies according to the vector direction of the magnetic gradient, the measured magnetic field components, their magnetic gradients, and the position information; A detection space magnetization intensity model solving module, configured to: construct an inversion equation for uniaxial magnetic gradient detection data based on a changing posture according to the response coefficients of the model subdivision units of the detection space to the magnetic field components and their gradient anomalies, and solve the inversion equation for uniaxial magnetic gradient detection data based on a changing posture to obtain a three-dimensional magnetization intensity model of the detection space.

[0017] In an exemplary embodiment, the measured magnetic field component is the total magnetic field anomaly, magnetic triaxial components, or component modulus, and the magnetic gradient is the measured magnetic field gradient or calculated from the difference of the measured magnetic field components.

[0018] In an exemplary embodiment, the response coefficient calculation module for magnetic field components and their gradient anomalies is specifically configured to: calculate the response coefficients of the model subdivision units of the detection space to the magnetic field components and their magnetic gradient anomalies according to the vector direction of the magnetic gradient, the measured magnetic field components, their magnetic gradients, and the position information, as shown in the formula: , where, is the response coefficient of the model subdivision unit of the detection space to the vector magnetic gradient; , , are the direction cosines of the gradient direction in three-dimensional space respectively; , , are respectively the response coefficients of the magnetic anomaly of the th model unit along the derivatives in the three fixed directions of x, y, and z at the th observation point.

[0019] It should be noted that the response coefficient of the magnetic field component anomaly in the calculation process and 、 、 are similar, and can be obtained by sampling traditional calculation methods.

[0020] In an exemplary embodiment, the above response coefficients of the magnetic field component and its gradient anomaly according to the detection space model subdivision unit are used to construct an inversion equation for uniaxial magnetic gradient detection data based on the changing attitude, as shown in the formula: , wherein, 、 respectively represent the magnetic gradient anomaly and magnetic anomaly component with the gradient direction of at the th observation point; represents the magnetization intensity or magnetic susceptibility corresponding to the th model unit; is the response coefficient of the detection space model subdivision unit to the vector magnetic gradient, that is, it represents the response coefficient corresponding to the i th model unit corresponding to ; respectively represent the response coefficients corresponding to the i th model unit corresponding to ; represents the number of observation points, represents the number of model units.

[0021] In an exemplary embodiment, the above uniaxial magnetic gradient detection system based on the changing attitude is further configured to: obtain a three-dimensional magnetic susceptibility model of the detection space according to the three-dimensional magnetization intensity model of the detection space.

[0022] In some embodiments, the above uniaxial magnetic gradient detection method based on the changing attitude can also be implemented in the following manner.

[0023] In the uniaxial magnetic gradient detection of a mobile platform, the measured magnetic gradient anomaly does not maintain a fixed direction, but changes with the change of the carrier attitude. Ignoring the change of the magnetic gradient vector information caused by the attitude change makes it difficult to ensure the scientific nature of the magnetic gradient detection. In order to improve the magnetic gradient detection method in the case of changing attitude, this embodiment proposes a uniaxial magnetic gradient detection method based on the changing attitude, including: Measuring magnetic field components (ΔT component, or magnetic triaxial components or component modulus), their magnetic gradients, and information such as attitude and position; Considering the attitude change to construct an inversion equation for magnetic gradient anomaly, the characteristics of which are as shown in the following formula:

[0024] Among them d D ( j ), ΔT( j ) represent the magnetic gradient anomaly and magnetic anomaly component (such as ΔT anomaly, three-component or component modulus anomaly, etc.) with the gradient direction of j at the D th observation point respectively; M i represents the magnetization intensity or magnetic susceptibility corresponding to the i th model unit; 、 represent the response coefficients of i th model unit corresponding to d D ( j ), ΔT( j ) respectively. Among them, the change of the carrier attitude (pitch, roll, yaw) leads to different gradient directions , so the response coefficient of the gradient anomaly is not only affected by the model unit position ( i ) and the measurement point position ( j ), but also affected by the carrier attitude. Represent the gradient direction as the direction cosine in three-dimensional space ( L 1 , M 1 , N 1), let 、 、 be the response coefficients of the magnetic anomaly along the three fixed directions of x, y, and z of the th model unit at the th observation point respectively, then the response coefficient of the th model unit corresponding to can be expressed as:

[0025] The calculation process of the response coefficient of the magnetic field component anomaly is similar to that of 、 、 , and can be obtained by sampling the traditional calculation method.

[0026] Specifically, while measuring the magnetic field component, its magnetic gradient and attitude, the single-axis magnetic gradient detection method based on a mobile platform is divided into the following steps: Step 1: Measure three types of information including the measured magnetic field components (ΔT, or three magnetic field components or component modulus), their magnetic gradients, and the attitude. Use the information of the measured attitude as the vector direction of the magnetic gradient. Step 2: Calculate the response coefficients of the partition units of the detection space model to the magnetic field gradient and the response coefficients to the magnetic field components ; Step 3: Construct an inversion equation for the single-axis magnetic gradient detection data based on a mobile platform, and solve the large-scale linear equations to obtain the magnetization intensity (or magnetic susceptibility) model of the detection space.

[0027] To intuitively reflect the exploration effect of this embodiment, a theoretical simulation experiment is designed as Figure 2 shown for the traditional horizontal transverse magnetic gradient detection and the single-axis magnetic gradient detection with variable attitude proposed in this patent.

[0028] The theoretical model includes two types of abnormal bodies. The models B1 - B5 are smaller in scale with a central burial depth of 100 meters, and the models A1 and A2 are larger in scale with a central burial depth of 230 meters. The spatial distribution characteristics of the abnormal bodies are as Figure 2 shown. The magnetization intensity is set to 20 A / m. The inclination and declination of the geomagnetic field are 45° and 0° respectively. Based on the horizontal transverse magnetic gradient detection, considering that the azimuth of the horizontal transverse magnetic gradient is affected by external forces such as wind and waves and changes, the ΔT magnetic anomaly (red line) and its gradient anomaly (blue line) generated are as Figure 2 shown in the horizontal section diagram (the right side represents positive values, and the left side represents negative values). There are a total of three survey lines P1 - P3, and the measuring point positions are shown as colored dots in the figure. Different colors represent the changes in the azimuth of the gradiometer, which are used to simulate the changes in the direction of the gradiometer caused by external forces such as wind and waves, as shown in the color scale in the figure.

[0029] Analyze the magnetic anomalies in the figure. Among them, the ΔT magnetic anomalies caused by A1 and A2 are relatively simple, showing an abnormal feature of south positive and north negative; however, the models B1 - B5 are not easily identified due to the influence of abnormal superposition, but generally also show a macroscopic feature of south positive and north negative. In this project, magnetic anomaly three-dimensional inversion is used to convert the observed magnetic anomalies into a magnetization intensity model. Figure 3 is the magnetization intensity distribution obtained by combining the ΔT magnetic anomaly joint inversion without considering the change in the attitude of the horizontal transverse gradiometer, that is, assuming the observed gradient anomaly as the horizontal transverse gradient. Figure 4 is the magnetization intensity distribution obtained by using this embodiment considering the change in the attitude of the horizontal transverse gradiometer and combining the ΔT magnetic anomaly joint inversion. As Figure 3 shown, ignoring the change in the attitude of the gradiometer causes the horizontal position of the detection result to deviate from the true position of the geological body, and the spatial distribution and magnetic properties of the obtained geological body are significantly affected by the non-uniqueness and deviate from the true values.

[0030] In this embodiment, considering the change in magnetic field gradient caused by the attitude change of the magnetic gradiometer, the results obtained by using the single-axis magnetic gradient detection method with changing attitude show the horizontal position of the geological body relatively more clearly. Among them, for the two geological bodies A1 and A2, due to their distance from the side line, there are certain errors in the obtained horizontal positions, but they can still roughly reflect information such as the horizontal position, depth, and occurrence of the geological body. For the five smaller-scale geological bodies B1 - B5, the single-axis magnetic gradient detection with changing attitude can accurately obtain information such as the horizontal position, depth, and size of the target body.

[0031] Figure 2 It is a theoretical simulation model for horizontal transverse magnetic gradient detection. Figure 2 The colored dots in it represent the magnetic field measurement trajectories, and different colors represent the azimuth angles of the gradiometer. The red and blue lines respectively represent the ΔT magnetic anomaly and its gradient anomaly. Figure 3 It is the detection result obtained without considering the attitude change of the magnetic gradiometer. Figure 3 In (a), it is the average value of the horizontal slice at a depth of 100 - 200 meters of the three-dimensional magnetization intensity model obtained by inversion; Figure 3 In (b) and (c), they respectively represent the depth slices of the three-dimensional magnetization intensity model along the east-west profile Y = 500m and the north-south profile X = 490m. Figure 4 It is the detection result obtained by using the single-axis magnetic gradient detection method with changing attitude. Figure 4 In (a), it is the average value of the horizontal slice at a depth of 100 - 200 meters of the three-dimensional magnetization intensity model obtained by inversion; Figure 4 In (b) and (c), they respectively represent the depth slices of the three-dimensional magnetization intensity model along the east-west profile Y = 500m and the north-south profile X = 490m.

[0032] The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above specific embodiments. The above specific embodiments are merely illustrative and not restrictive. Under the inspiration of the present invention, those of ordinary skill in the art can also make many forms without departing from the spirit and scope protected by the claims of the present invention. All of these fall within the protection scope of the present invention.

Claims

1. A single-axis magnetic gradient detection method based on changing posture, characterized in that: The following steps are involved: S1: Obtain the measured magnetic field components and their magnetic gradients, attitude and position information, and use the measured attitude information as the vector direction of the magnetic gradient; S2: Calculate the response coefficient of the detection space model subdivision unit to the magnetic field component and its gradient anomaly according to the vector direction of the magnetic gradient, the measured magnetic field component and its magnetic gradient, and the position information; S3: According to the response coefficients of the detection space model subdivision units to the magnetic field components and their gradient anomalies, an inversion equation for single-axis magnetic gradient detection data based on changing posture is constructed, and the inversion equation for single-axis magnetic gradient detection data based on changing posture is solved to obtain a three-dimensional magnetization intensity model of the detection space.

2. The single-axis magnetic gradient detection method based on changing posture as claimed in claim 1, characterized in that: The single-axis magnetic gradient detection method based on changing posture also includes: obtaining a three-dimensional magnetic susceptibility model of the detection space according to the three-dimensional magnetization intensity model of the detection space.

3. The single-axis magnetic gradient detection method based on changing posture as claimed in claim 1, characterized in that: The measured magnetic field component is the total magnetic field anomaly, three magnetic components or component norm, and the magnetic gradient is the measured magnetic field gradient or is calculated based on the difference of the measured magnetic field components.

4. The single-axis magnetic gradient detection method based on changing posture as claimed in claim 1, characterized in that: Step S2 specifically includes: calculating the response coefficient of the detection space model subdivision unit to the magnetic field component and its magnetic gradient anomaly according to the vector direction of the magnetic gradient, the measured magnetic field component and its magnetic gradient, and the position information, such as the formula: ， in, To detect the response coefficient of the space model subdivision unit to the vector magnetic gradient; , , They are the direction cosines of the gradient direction in three-dimensional space; , , They are The model unit is The response coefficient of the derivative of the magnetic anomaly along the three fixed directions of x, y and z at each observation point.

5. The single-axis magnetic gradient detection method based on changing posture according to claim 1, characterized in that: According to the response coefficient of the detection space model subdivision unit to the magnetic field component and its gradient anomaly, a single-axis magnetic gradient detection data inversion equation based on the changing posture is constructed, such as the formula: ， in, , Respectively represent The gradient direction at each observation point is Magnetic gradient anomaly and magnetic anomaly components; Indicates The magnetization intensity or magnetic susceptibility corresponding to each model unit; is the response coefficient of the detection space model subdivision unit to the vector magnetic gradient, that is, i Model units correspond to The response coefficient of Respectively represent i Model units correspond to The response coefficient of represents the number of observation points, Indicates the number of model units.

6. A single-axis magnetic gradient detection system based on changing posture, characterized in that: Includes the following modules: The data acquisition module is configured to: acquire the measured magnetic field components and their magnetic gradients, attitude and position information, and use the measured attitude information as the vector direction of the magnetic gradient; A response coefficient calculation module for magnetic field components and their gradient anomalies, configured to: calculate the response coefficient of the detection space model subdivision unit to the magnetic field components and their gradient anomalies according to the vector direction of the magnetic gradient, the measured magnetic field components and their gradients, and the position information; The detection space magnetization intensity model solving module is configured as follows: according to the response coefficient of the detection space model segmentation unit to the magnetic field component and its gradient anomaly, a single-axis magnetic gradient detection data inversion equation based on the changing posture is constructed, and the single-axis magnetic gradient detection data inversion equation based on the changing posture is solved to obtain a three-dimensional magnetization intensity model of the detection space.

7. The single-axis magnetic gradient detection system based on changing attitude according to claim 6, characterized in that: The single-axis magnetic gradient detection system based on changing posture is also configured to obtain a three-dimensional magnetic susceptibility model of the detection space according to the three-dimensional magnetization intensity model of the detection space.

8. The single-axis magnetic gradient detection system based on changing attitude according to claim 6, characterized in that: The measured magnetic field component is the total magnetic field anomaly, three magnetic components or component norm, and the magnetic gradient is the measured magnetic field gradient or is calculated based on the difference of the measured magnetic field components.

9. The single-axis magnetic gradient detection system based on changing attitude according to claim 6, characterized in that: The response coefficient calculation module of the magnetic field component and its gradient anomaly is specifically configured as follows: according to the vector direction of the magnetic gradient, the measured magnetic field component and its magnetic gradient, and the position information, the response coefficient of the detection space model subdivision unit to the magnetic field component and its magnetic gradient anomaly is calculated, as shown in the formula: ， in, To detect the response coefficient of the space model subdivision unit to the vector magnetic gradient; , , They are the direction cosines of the gradient direction in three-dimensional space; , , They are The model unit is The response coefficient of the derivative of the magnetic anomaly along the three fixed directions of x, y and z at each observation point.

10. The single-axis magnetic gradient detection system based on changing attitude according to claim 6, characterized in that: According to the response coefficient of the detection space model subdivision unit to the magnetic field component and its gradient anomaly, a single-axis magnetic gradient detection data inversion equation based on the changing posture is constructed, such as the formula: ， in, , Respectively represent The gradient direction at each observation point is Magnetic gradient anomaly and magnetic anomaly components; Indicates The magnetization intensity or magnetic susceptibility corresponding to each model unit; is the response coefficient of the detection space model subdivision unit to the vector magnetic gradient, that is, i Model units correspond to The response coefficient of Respectively represent i Model units correspond to The response coefficient of represents the number of observation points, Indicates the number of model units.

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