Geomagnetic anomaly rapid troubleshooting method and system based on three-machine marshalling

Abstract

The invention discloses a geomagnetic anomaly rapid troubleshooting method and system based on three-machine marshalling, and relates to the technical field of aviation magnetic detection, and the method comprises the steps: designing a re-flight verification strategy and a geomagnetic anomaly search strategy based on the position of the three-machine marshalling, and comparing the efficiency and use conditions of a three-machine marshalling style with the time consumed for verification as an evaluation index; and according to task requirements, the three-machine marshalling meeting the task requirements is selected according to the efficiency and use conditions of the three-machine marshalling style, and geomagnetic anomaly rapid troubleshooting is carried out. According to the method, the reasonable three-machine marshalling style is established, the detection breadth and the re-flight verification efficiency are considered, and efficient detection of geomagnetic anomalies in the area is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of airborne magnetic exploration, and in particular, to a method and system for rapidly detecting geomagnetic anomalies based on a three-aircraft formation. Background Art

[0002] The geomagnetic field is a natural magnetic phenomenon widely existing inside and on the surface of the earth. Generally, the intensity of the geomagnetic field undergoes regular slow changes in the time dimension and the space dimension, and has an approximately stable signal characteristic. When there are magnetic substances underwater or under ground objects, it will cause significant abnormal changes in the geomagnetic field, manifested as a significant increase in the geomagnetic amplitude. This phenomenon is called geomagnetic anomaly. Detecting this geomagnetic anomaly phenomenon with modern measuring instruments such as magnetic detectors and confirming its position can effectively detect magnetic substances. At present, the main application fields of geomagnetic anomaly detection include natural resource exploration on land and underwater target detection in the ocean, which is of great significance for promoting economic development, improving resource utilization efficiency, and ensuring marine national security. Mounting a magnetic detector on an airborne target can detect large-scale geomagnetic anomalies in a specified area. Currently, using a magnetic exploration unmanned aerial vehicle (UAV) to detect geomagnetic anomalies is a common method. In order to reduce the false alarm rate of geomagnetic anomaly detection, usually, the UAV will fly again for verification. Only after verifying the geomagnetic anomaly twice or even three times will the position be marked as a geomagnetic anomaly point, which greatly reduces the efficiency. Summary of the Invention

[0003] In order to solve the above problems, the purpose of the present invention is to provide a technology for rapidly detecting geomagnetic anomalies based on a three-aircraft formation, aiming to efficiently detect geomagnetic anomalies in a region.

[0004] In order to achieve the above technical purpose, the present application provides a method for rapidly detecting geomagnetic anomalies based on a three-aircraft formation, including the following steps:

[0005] Based on the positions of the three-aircraft formation, design a re-flight verification strategy and a geomagnetic anomaly search strategy, and compare the efficiency and usage conditions of different three-aircraft formation patterns with the verification time consumption as the evaluation index;

[0006] According to the task requirements, select a three-aircraft formation that meets the task requirements based on the efficiency and usage conditions of the three-aircraft formation patterns, and conduct a rapid detection of geomagnetic anomalies.

[0007] Preferably, when obtaining the positions of the three-aircraft formation, the three-aircraft formation is formed in the way of 2 in the front and 1 in the back or 3 aircraft in parallel.

[0008] Preferably, when the position of the three-aircraft formation is 2 in the front and 1 in the back, when any one of the front UAVs detects a geomagnetic anomaly, the rear UAV will conduct a re-flight verification.

[0009] Preferably, when conducting the re-flight verification, the rapid re-flight verification time t is expressed as:

[0010]

[0011] In the formula, v represents the speed of the UAV in the level flight stage, L represents the distance between the rear aircraft and the front aircraft, d represents the horizontal spacing between the first two magnetic exploration UAVs, t1 represents the turning time of the rear aircraft from the current position to the alarm point, and t2 represents the turning time of the rear aircraft from the alarm point to the waypoint in the middle of the journey, where the alarm point represents the position where the front aircraft detects geomagnetic anomaly and gives an alarm.

[0012] Preferably, when selecting the three-aircraft formation position as two in the front and one in the rear for rapid geomagnetic anomaly investigation, when the front aircraft detects geomagnetic anomaly and gives an alarm, the front aircraft pushes the alarm point position to the rear aircraft; the rear aircraft generates a waypoint in the middle of the journey based on the current calculation, and the front aircraft continues to perform the search task; after the rear aircraft reaches the waypoint in the middle of the journey, it continues to fly for 30 s; if the rear aircraft also gives an alarm, mark this point as the geomagnetic anomaly point and continue to perform the original search task; if the rear aircraft does not give an alarm, continue to perform the original search task.

[0013] Preferably, when selecting the three-aircraft formation position as three side by side, when any one UAV finds geomagnetic anomaly, the UAV itself or the adjacent UAV conducts a re-flight verification.

[0014] Preferably, when performing the re-flight verification by the UAV itself, control the UAV to continue flying for 30 s and then make a 360° turn, and then return to the starting alarm point to perform the re-flight verification.

[0015] Preferably, when performing the re-flight verification by the adjacent UAV, control the adjacent UAV to continue flying for 30 s to the turning point, make a 180° turn, and then keep flying straight for 30 s to reach the alarm point.

[0016] Preferably, when performing the re-flight verification, if the verification UAV generates a geomagnetic anomaly alarm again at the alarm point, confirm and record this point as the geomagnetic anomaly alarm point, and continue to perform the regional detection task;

[0017] If the verification UAV does not generate a geomagnetic anomaly alarm at this time, continue to perform the regional detection task.

[0018] The present invention also provides a system for rapid geomagnetic anomaly investigation based on a three-aircraft formation, which is used to implement the above-mentioned method for rapid geomagnetic anomaly investigation based on a three-aircraft formation. The system includes:

[0019] A formation module, which is used to design a re-flight verification strategy and a geomagnetic anomaly search strategy based on the three-aircraft formation position, and compare the efficiency and usage conditions of different three-aircraft formation patterns with the verification time consumption as the evaluation index;

[0020] A troubleshooting module, which is used to quickly troubleshoot geomagnetic anomalies by selecting a three-aircraft formation that meets the task requirements according to the efficiency and usage conditions of the three-aircraft formation style based on the task requirements.

[0021] The present invention discloses the following technical effects:

[0022] By establishing a reasonable three-aircraft formation style, the present invention takes into account the detection width and the reflight verification efficiency, and realizes the efficient detection of geomagnetic anomalies in the region. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 It is the formation of 2 in the front and 1 in the rear described in the present invention;

[0025] Figure 2 It is the design flow chart of the "2 in the front and 1 in the rear" reflight verification described in the present invention;

[0026] Figure 3 It is the first schematic diagram of "3 aircraft side by side" described in the present invention;

[0027] Figure 4 It is the design flow chart of the first "3 aircraft side by side" + "own aircraft reflight verification" described in the present invention;

[0028] Figure 5 It is the second schematic diagram of "3 aircraft side by side" described in the present invention;

[0029] Figure 6 It is the design flow chart of the second "3 aircraft side by side" + "adjacent aircraft reflight verification" described in the present invention;

[0030] Figure 7 It is the schematic diagram of the method flow described in the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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 some of the embodiments of this application, rather than all of them. The components of the embodiments of this application described and illustrated herein are usually arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents the selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative efforts fall within the scope of protection of this application.

[0032] As Figures 1 - 7 shown, the present invention provides a method for quickly detecting geomagnetic anomalies based on a three-aircraft formation, including the following steps:

[0033] Based on the positions of the three-aircraft formation, design a go-around verification strategy and a geomagnetic anomaly search strategy, and compare the efficiency and usage conditions of different three-aircraft formation patterns with the verification time consumption as the evaluation index;

[0034] According to the task requirements, select a three-aircraft formation that meets the task requirements based on the efficiency and usage conditions of the three-aircraft formation patterns for quickly detecting geomagnetic anomalies.

[0035] Further preferably, in the method for quickly detecting geomagnetic anomalies based on a three-aircraft formation provided by the present invention, when obtaining the positions of the three-aircraft formation, a three-aircraft formation is formed according to the way of 2 in the front and 1 in the rear or 3 aircraft side by side.

[0036] Further preferably, in the method for quickly detecting geomagnetic anomalies based on a three-aircraft formation provided by the present invention, when the position of the three-aircraft formation is selected as 2 in the front and 1 in the rear, after any 1 of the front drones detects a geomagnetic anomaly, the 1 drone in the rear performs a go-around verification.

[0037] Further preferably, in the method for quickly detecting geomagnetic anomalies based on a three-aircraft formation provided by the present invention, when performing a go-around verification, the quick go-around verification time t is expressed as:

[0038]

[0039] In the formula, v represents the speed of the drone during the level flight stage, L represents the distance between the rear aircraft and the front aircraft, d represents the horizontal spacing between the 2 front magnetic exploration drones, t1 represents the turning time of the rear aircraft from its current position to the alarm point position, and t2 represents the turning time of the rear aircraft from the alarm point position to the waypoint in the air, where the alarm point position represents the position where the front aircraft detects a geomagnetic anomaly and alarms.

[0040] Further preferably, for a method for rapid detection of geomagnetic anomalies based on a three-aircraft formation provided by the present invention, when selecting the three-aircraft formation position as 2 in the front and 1 in the rear for rapid detection of geomagnetic anomalies, when the current aircraft detects a geomagnetic anomaly and alarms; the front aircraft pushes the position of the alarm point to the rear aircraft; the rear aircraft generates waypoints on the way based on current calculations, and the front aircraft continues to perform the search task; after the rear aircraft reaches the waypoint on the way, it continues to fly for 30 s; if the rear aircraft also alarms, it marks this point as a geomagnetic anomaly point and continues to perform the original search task; if the rear aircraft does not alarm, it continues to perform the original search task.

[0041] Further preferably, for a method for rapid detection of geomagnetic anomalies based on a three-aircraft formation provided by the present invention, when selecting the three-aircraft formation position as 3 aircraft in parallel, when any one of the UAVs detects a geomagnetic anomaly, the UAV itself or the adjacent UAV conducts a re-flight verification.

[0042] Further preferably, for a method for rapid detection of geomagnetic anomalies based on a three-aircraft formation provided by the present invention, when conducting the re-flight verification of the UAV itself, control the UAV to continue flying for 30 s and then make a 360° turn, and then return to the starting alarm point to conduct the re-flight verification.

[0043] Further preferably, for a method for rapid detection of geomagnetic anomalies based on a three-aircraft formation provided by the present invention, when conducting the re-flight verification of the adjacent UAV, control the adjacent UAV to continue flying for 30 s to the turning point, make a 180° turn, and then maintain a straight flight for 30 s to reach the alarm point.

[0044] Further preferably, for a method for rapid detection of geomagnetic anomalies based on a three-aircraft formation provided by the present invention, when conducting the re-flight verification, if the verification aircraft generates a geomagnetic anomaly alarm again at the alarm point, confirm and record this point as the geomagnetic anomaly alarm point, and continue to perform the regional detection task;

[0045] If the verification aircraft does not generate a geomagnetic anomaly alarm at this time, continue to perform the regional detection task.

[0046] The present invention also provides a system for rapid detection of geomagnetic anomalies based on a three-aircraft formation, which is used to implement the method for rapid detection of geomagnetic anomalies based on a three-aircraft formation mentioned above. The system includes:

[0047] A formation module, which is used to design a re-flight verification strategy and a geomagnetic anomaly search strategy based on the three-aircraft formation position, and compare the efficiency and usage conditions of the three-aircraft formation styles with the verification time consumption as the evaluation index;

[0048] A detection module, which is used to select a three-aircraft formation that meets the task requirements according to the efficiency and usage conditions of the three-aircraft formation styles according to the task requirements, and conduct rapid detection of geomagnetic anomalies.

[0049] Embodiment: The present invention provides a fast geomagnetic anomaly detection technology based on a three-aircraft formation. Since the effective detection distance of the magnetometer is in the range of hundreds of meters to kilometers, the turning diameter of the magnetometer-equipped unmanned aerial vehicle (UAV) is about 1.5 - 2 km. To achieve a large-area coverage within the maximum flight endurance as much as possible and improve the efficiency of geomagnetic anomaly detection, a multi-aircraft formation method is usually adopted. By flying multiple magnetometer-equipped UAVs in parallel, the detection width is expanded, and the coverage area of the region is increased. Therefore, the present invention constructs three three-aircraft formation patterns and designs a fast geomagnetic anomaly detection method process according to the constructed formation patterns, including the position design and calculation method of the three-aircraft formation, the re-flight verification strategy, the geomagnetic anomaly search strategy, etc. Finally, the efficiency and application conditions of the three three-aircraft formation patterns are compared with the verification time consumption as the evaluation index.

[0050] I. "2 in front and 1 behind" + "Rear aircraft re-flight confirmation":

[0051] The formation pattern of three magnetometer-equipped UAVs is as Figure 1 shown. Adopting the "2 in front and 1 behind" method, the 2 UAVs in the front maintain a distance of d to perform the geomagnetic anomaly detection task, and the 1 UAV behind quickly verifies the geomagnetic anomalies discovered by the front UAVs. The formation of the three-aircraft formation is as Figure 1 shown.

[0052] The horizontal distance between the 2 front magnetometer-equipped UAVs is d. Assuming the effective detection width of the UAV is R, then 1.5R < d < 2R can be set. The 1 UAV behind performs the re-flight confirmation verification. When any of the front UAVs discovers a geomagnetic anomaly, the 1 UAV behind quickly re-flies for verification. The sampling frequency of a typical magnetometer is 10 Hz. The waveform of a complete geomagnetic anomaly needs to last for at least 30 s and the heading remains unchanged. Therefore, when designing the formation of the three-aircraft formation, the distance L between the rear aircraft and the front aircraft should be considered. The above figure shows the formation of the three-aircraft formation. Assuming the speed of the UAV in the level flight phase is v and the complete turning time is Δt, the calculation formula for the time required from the front aircraft's alarm to the rear aircraft's re-flight verification is:

[0053]

[0054] Among them, t1 is the turning time of the rear aircraft from its current position to point A, and t2 is the turning time of the rear aircraft from point A to point B. According to the assumed complete turning time, the total turning time of the UAV during re-flight verification is calculated as:

[0055] t1 + t2 = Δt / 4

[0056] The design flow chart of "2 in front and 1 behind" is as Figure 2 shown, and the specific implementation steps are as follows:

[0057] (1) The three UAVs adopt Figure 1 the formation form for regional search;

[0058] (2) The current aircraft detects geomagnetic anomaly and gives an alarm;

[0059] (3) The front aircraft automatically pushes the alarm point position (Point B) to the rear aircraft;

[0060] (4) The rear aircraft calculates the position of Point A based on the current situation and sets it as the waypoint during the flight, and the front aircraft continues to perform the search task;

[0061] (5) After the rear aircraft reaches Point A, it continues to fly for 30 s;

[0062] (6) If the rear aircraft also gives an alarm, it marks this point as the geomagnetic anomaly point and continues to perform the original search task;

[0063] (7) If the rear aircraft does not give an alarm, it continues to perform the original search task.

[0064] II. The first type of "three aircraft in parallel" + "the aircraft itself performs go-around verification":

[0065] The formation pattern of three magnetic exploration unmanned aircraft is as Figure 2 shown. Adopting the first type of "three aircraft in parallel" method, the horizontal interval between the three aircraft is d (1.5R < d < 2R). The formation of the three-aircraft group is as Figure 3 shown.

[0066] Adopting the method of three aircraft in parallel, when any one of the magnetic exploration unmanned aircraft detects a geomagnetic anomaly, the aviation target will perform go-around verification and confirmation. At this time, the unmanned aircraft needs to continue flying for 30 s, then make a 360° turn, and then return to the starting alarm point. According to the previous assumption, the time spent is:

[0067] t = Δt + 60

[0068] In the case of this formation pattern and go-around verification strategy, the go-around verification flow chart is designed as Figure 4 shown, and the specific implementation steps are as follows:

[0069] (1) The three unmanned aircraft use Figure 3 the formation form to conduct area search;

[0070] (2) When one of them detects a geomagnetic anomaly and gives an alarm, record the alarm point (Point O);

[0071] (3) The other two aircraft continue to perform the area search task;

[0072] (4) The alarm aircraft continues to fly for 30 s to reach Point A (Point A corresponds to the situation that the unmanned aircraft needs to continue flying for 30 s after reaching the geomagnetic anomaly point as marked above to ensure that a complete geomagnetic anomaly waveform is collected. Therefore, Point A can be used as the termination point of one-time geomagnetic anomaly collection);

[0073] (5) The alarm machine completes a turn at point A;

[0074] (6) The alarm machine reaches point O again from point A;

[0075] (7) If the alarm machine generates a geomagnetic anomaly alarm again at this time, confirm and record this point as the geomagnetic anomaly alarm point, and continue to execute the area detection task;

[0076] (8) If the alarm machine does not generate a geomagnetic anomaly alarm at this time, continue to execute the area detection task.

[0077] III. The second type: "Three machines in a row" + "The side machine makes a re-flight for verification":

[0078] The formation pattern of three magnetic exploration UAVs is as Figure 5 shown. Adopt the second way of "three machines in a row". The horizontal interval between the three machines is d (1.5R < d < 2R). The formation of the three-machine group is as Figure 5 shown.

[0079] Adopt the second way of three machines in a row. When one of the magnetic exploration UAVs detects a geomagnetic anomaly, the side machine of this aviation target will execute a re-flight for verification and confirmation (if the middle magnetic exploration UAV generates a geomagnetic anomaly alarm, the left side machine of this aviation target along the flight course will execute a re-flight for verification and confirmation). In the Figure 5 example, assume that UAV No. 3 generates a geomagnetic anomaly alarm point, then UAV No. 1 will execute a re-flight for verification. At this time, UAV No. 1 needs to continue flying for 30 s, reach point A, then make a 180° turn, reach point B, and keep flying in a straight line for 30 s to reach the alarm point O. According to the previous assumption, the time spent is:

[0080] t = Δt / 2 + 60

[0081] Under this formation pattern and re-flight verification strategy, design the re-flight verification flow chart as Figure 6 shown in the figure.

[0082] (1) The three UAVs use Figure 5 the formation form to conduct area search;

[0083] (2) When one of the machines detects a geomagnetic anomaly and gives an alarm, record the alarm point (point O);

[0084] (3) Push the alarm point to the side machine (verification machine), and the other two machines except the verification machine continue to execute the area detection task;

[0085] (4) The verification machine continues to fly for 30 s to reach point A;

[0086] (5) The verification machine starts to turn at point A;

[0087] (6) The verification aircraft reaches point B to complete the turn (point B is the point after the turn is completely completed. When reaching point B, the aircraft has just completed a 180° turn. According to the previous description, straight flight is required during the geomagnetic anomaly investigation. Therefore, point B is equivalent to the starting point of the geomagnetic anomaly verification);

[0088] (7) The verification aircraft continues to fly for 30 s to reach point O;

[0089] (8) If the verification aircraft generates a geomagnetic anomaly alarm again at this time, confirm and record this point as the geomagnetic anomaly alarm point, and continue to execute the area detection task;

[0090] (9) If the verification aircraft does not generate a geomagnetic anomaly alarm at this time, continue to execute the area detection task.

[0091] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. 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 means for implementing the functions specified in one Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0092] In the description of the present invention, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0093] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A method for rapidly detecting geomagnetic anomalies based on a three-machine formation, characterized in that, It includes the following steps: Based on the positions of the three-aircraft formation, design a go-around verification strategy and a geomagnetic anomaly search strategy, and compare the efficiency and usage conditions of different three-aircraft formation patterns with the verification time consumption as the evaluation index; According to the task requirements, select a three-aircraft formation that meets the task requirements based on the efficiency and usage conditions of the three-aircraft formation patterns, and conduct a rapid investigation of geomagnetic anomalies.

2. The rapid geomagnetic anomaly investigation method based on a three-aircraft formation according to claim 1, characterized in that: When obtaining the positions of the three-aircraft formation, a three-aircraft formation is formed in the way of 2 in the front and 1 in the rear or 3 aircraft side by side.

3. The rapid geomagnetic anomaly investigation method based on a three-aircraft formation according to claim 2, characterized in that: When selecting the position of the three-aircraft formation as 2 in the front and 1 in the rear, after any one of the front drones detects a geomagnetic anomaly, the rear drone conducts a go-around verification.

4. The rapid geomagnetic anomaly investigation method based on a three-aircraft formation according to claim 3, characterized in that: When conducting a go-around verification, the rapid go-around verification time t is expressed as: ， In the formula, v represents the speed of the drone in the level flight stage, L represents the distance between the rear aircraft and the front aircraft, d represents the horizontal spacing between the two front magnetic exploration drones, t1 represents the turning time of the rear aircraft from the current position to the alarm point position, t2 represents the turning time of the rear aircraft from the alarm point position to the waypoint in the air, and the alarm point position represents the position where the front aircraft detects a geomagnetic anomaly and alarms.

5. The rapid geomagnetic anomaly investigation method based on a three-aircraft formation according to claim 4, characterized in that: When selecting the position of the three-aircraft formation as 2 in the front and 1 in the rear for rapid investigation of geomagnetic anomalies, when the front aircraft detects a geomagnetic anomaly and alarms; the front aircraft pushes the alarm point position to the rear aircraft; the rear aircraft generates a waypoint in the air based on the current calculation, and the front aircraft continues to execute the search task; after the rear aircraft reaches the waypoint in the air, it continues to fly for 30s; if the rear aircraft also alarms, mark this point as a geomagnetic anomaly point and continue to execute the original search task; if the rear aircraft does not alarm, continue to execute the original search task.

6. The rapid geomagnetic anomaly investigation method based on a three-aircraft formation according to claim 2, characterized in that: When selecting the position of the three-aircraft formation as 3 aircraft side by side, after any one of the drones detects a geomagnetic anomaly, the aircraft itself or the adjacent aircraft conducts a go-around verification.

7. The rapid geomagnetic anomaly investigation method based on a three-aircraft formation according to claim 6, characterized in that: When executing the go-around verification by the aircraft itself, control the aircraft to continue flying for 30s and then make a 360° turn, and then return to the starting alarm point to execute the go-around verification.

8. The rapid geomagnetic anomaly investigation method based on a three-aircraft formation according to claim 7, characterized in that: When executing the go-around verification by the adjacent aircraft, control the adjacent aircraft to continue flying for 30s to the turning point, make a 180° turn, and then fly straight for 30s to reach the alarm point.

9. The rapid geomagnetic anomaly investigation method based on a three-aircraft formation according to claim 8, characterized in that: When executing the go-around verification, if the verification aircraft generates a geomagnetic anomaly alarm again at the alarm point, confirm and record this point as the geomagnetic anomaly alarm point, and continue to execute the regional detection task; If the verification machine does not generate a geomagnetic anomaly alarm at this time, continue to execute the area detection task.

10. A fast magnetic anomaly detection system based on a three-vehicle formation, characterized in that, This system is used to implement a fast geomagnetic anomaly detection method based on three-aircraft formation as described in any one of claims 1-9. The system includes: A formation module, configured to design a go-around verification strategy and a geomagnetic anomaly search strategy based on the positions of the three-aircraft formation, and compare the efficiency and usage conditions of the three-aircraft formation styles with the verification time consumption as the evaluation index; A detection module, configured to select a three-aircraft formation that meets the task requirements according to the efficiency and usage conditions of the three-aircraft formation styles according to the task requirements, and perform fast geomagnetic anomaly detection.

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