Seabed three-dimensional magnetic gradient data processing method, device and equipment and storage medium

Abstract

The invention is applicable to the technical field of ocean geophysical exploration, and provides a seabed three-dimensional magnetic gradient data processing method, which comprises the following steps of: performing data acquisition through a seabed magnetic gradient acquisition array which is arranged at a seabed position in advance; obtaining a proton three-component and a fluxgate three-component of each magnetic gradient acquisition station in the seabed magnetic gradient acquisition array, and processing the proton three-component and the fluxgate three-component by adopting a preset data processing strategy; and calculating the magnetic field data of each magnetic gradient acquisition station according to the central proton three components and the processed fluxgate three components until the processed central proton three components of each magnetic gradient acquisition station and the processed fluxgate three components meet correlation requirements, and carrying out gradient calculation on the magnetic field data by adopting a preset gradient field calculation formula to obtain the gradient data of each magnetic gradient acquisition station. Therefore, the precision and the quality of the three-dimensional magnetic gradient field data are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of marine geophysical exploration, and particularly relates to a method, device, equipment and storage medium for processing three-dimensional seafloor magnetic gradient data. Background Art

[0002] At present, marine geological exploration mainly relies on seismic exploration. By observing and analyzing the propagation law of seismic waves generated by artificial earthquakes underground, the properties and forms of underground rock formations are inferred to prospect marine resources. Gravity and magnetic exploration was first applied in marine exploration, mainly used for seafloor geological mapping, searching for mineral resources, studying regional geological structures and oceanic plate tectonics, etc. In modern marine geophysical exploration, seafloor seismic and electromagnetic detection technologies are developing towards node acquisition stations. At the same time, the progress of Remotely Operated Vehicle (ROV) technology has laid a solid foundation for the development of marine geophysical exploration. In terms of marine magnetic exploration, there are various operation methods: one is navigation magnetic measurement, which uses a shipborne magnetometer to collect data in a navigation mode. According to the requirements of the sampling rate, the ship's traveling speed is reasonably set. However, the data collected by this method will be affected by ship magnetism, so correction processing is required; the second is towed magnetic measurement, that is, a magnetometer cabin is towed by a ship to collect data, and the distance between the ship and the magnetometer cabin is greater than the ship's length. This method is often used to obtain magnetic data over a large area; the third is to use a submersible or a remotely operated underwater vehicle to carry a magnetometer to conduct magnetic measurement in a local area on the seafloor, mainly used for deep-sea scientific research. These operation methods each have their own advantages and can be selected according to specific exploration requirements to obtain comprehensive and accurate marine magnetic data.

[0003] In addition, a relatively good method for marine magnetic exploration is magnetic gradient measurement. The magnetic gradient measurement device mainly consists of two three-axis magnetic sensors fixedly mounted on the same stable support beam at a close distance, a data acquisition circuit, a communication circuit, etc. Its measurement principle is: by means of two high-performance magnetic sensors with a fixed spacing, three-component horizontal gradient measurement is realized. By simultaneously measuring the magnetic force gradients in all three directions and further calculating the total gradient, this total gradient is not affected by the heading and direction. However, in the actual operation process, due to various conditions, it is usually difficult to synchronously obtain the gradient components in three directions during marine surveys. Currently, a marine proton magnetic gradient meter containing two sensors is generally used to obtain the magnetic field gradient value in a specific direction. Different from the marine proton magnetometer, the marine proton magnetic gradient meter is at least equipped with two magnetic field sensors. Its gradient measurement is basically not interfered by the change of the geomagnetic field over time (geomagnetic daily variation), and it has a high resolution, so it has received more and more attention.

[0004] Currently, superconducting quantum interference devices (SQIs) are an ideal choice for achieving good results in marine magnetic exploration or ocean gradient detection. SQI sensors, composed of niobium blocks and metal wire superconducting elements, must be cooled to below 4K in liquid nitrogen to ensure operation at extremely low temperatures. Their high sensitivity enables the detection of subtle magnetic field variations at long distances, making them particularly suitable for underwater target detection. However, this technology has yet to be put into practical use. In practical applications, the proton magnetic gradiometer is primarily used. It consists of two high-precision, synchronized proton precession magnetometers, a differential calculator, and a dual-pen recorder. It primarily measures total magnetic field intensity, reflecting diurnal variations and coastal effects. However, SQIs are susceptible to instrument vibration caused by external magnetic fields and seawater movement. If the external magnetic field strength exceeds its designed measurement range, measurement errors can occur. Furthermore, instrument vibration can affect measurement results, as SQIs typically require a stable state for accurate measurements. Therefore, when using SQIs, it is important to ensure that they are away from strong magnetic fields and vibration environments to obtain accurate data. It's worth noting that the presence of magnetic artifacts, polymetallic ore bodies, or igneous rocks on the seafloor will inevitably affect the measurements of the seafloor proton magnetometer. Furthermore, the vibrational environment generated by seafloor currents, waves, and internal waves will also affect the measurements.

[0005] Fluxgate magnetometers and proton magnetometers differ in their anti-interference capabilities. Fluxgate magnetometers are more adaptable to external magnetic field strength and are more sensitive to small magnetic field changes. They are also less sensitive to external vibrations and are less susceptible to their effects. Furthermore, fluxgate magnetometers have built-in temperature compensation and calibration, further enhancing their performance stability and anti-interference capabilities. Therefore, a new marine magnetic exploration method incorporating fluxgate magnetometers is urgently needed to address these issues and provide more reliable measurement data for marine magnetic exploration. Summary of the Invention

[0006] The purpose of the present invention is to provide a method, device, equipment and storage medium for processing seabed three-dimensional magnetic gradient data, aiming to solve the problems of weak anti-interference ability and low data acquisition accuracy of seabed magnetic exploration caused by existing technologies.

[0007] In one aspect, the present invention provides a method for processing seafloor three-dimensional magnetic gradient data, the method comprising the following steps:

[0008] Data is collected by a seabed magnetic gradient acquisition array pre-deployed at the seabed, thereby obtaining the proton three-component and fluxgate three-component data of each magnetic gradient acquisition station in the seabed magnetic gradient acquisition array;

[0009] Process the proton three - component and the fluxgate three - component using a preset data processing strategy until the central proton three - component of each magnetic gradient acquisition station after processing and the processed fluxgate three - component meet the correlation requirements;

[0010] Calculate the magnetic field data of each magnetic gradient acquisition station according to the central proton three - component and the processed fluxgate three - component;

[0011] Perform gradient calculation on the magnetic field data using a preset gradient - field calculation formula to obtain three - dimensional magnetic gradient field data.

[0012] Preferably, each magnetic gradient acquisition station includes a first proton magnetic sensor and a second proton magnetic sensor, and the proton three - component includes a first proton three - component and a second proton three - component. The step of processing the proton three - component and the fluxgate three - component using a preset data processing strategy includes:

[0013] Perform correlation analysis on the first and second proton three - components and the fluxgate three - component. When the correlation requirements are not met, determine the three - component with poor correlation;

[0014] Perform Fourier transform on the three - component with poor correlation to obtain the corresponding data spectrum;

[0015] Determine the main frequency of the interference source that causes poor data correlation according to the spectrum difference of the data spectrum;

[0016] According to the main frequency of the interference source, perform data correction on the first and second proton three - components and the fluxgate three - component. Based on the corrected first and second proton three - components and the fluxgate three - component, jump to the step of performing correlation analysis on the first and second proton three - components and the fluxgate three - component.

[0017] Preferably, the step of performing correlation analysis on the first and second proton three - components and the fluxgate three - component includes:

[0018] Calculate the central proton three - component according to the first proton three - component and the second proton three - component;

[0019] Calculate the first, second, third, and fourth correlation coefficients according to the central proton three - component, the first and second proton three - components, and the fluxgate three - component;

[0020] Determine the number of correlations in which the first, second, third, and fourth correlation coefficients reach the preset correlation threshold in the three coordinate axes directions of the space rectangular coordinate system;

[0021] Determine whether the relevant quantity reaches a preset quantity threshold. If so, determine that the central proton three-component and the fluxgate three-component meet the correlation requirement; otherwise, determine that the central proton three-component and the fluxgate three-component do not meet the correlation requirement.

[0022] Preferably, the step of calculating the correlation coefficient according to the central proton three-component, the first and second proton three-components, and the fluxgate three-component includes:

[0023] Adopt the first correlation coefficient formula Calculate the correlation coefficient of the first and second proton three-components to obtain the first correlation coefficient, where k represents the X, Y, and Z directions of the magnetic field, n represents the number of observation values, represents the k-direction component of the i-th first proton three-component, represents the k-direction component of the i-th second proton three-component, represents the average value of the k-direction components in all first proton three-components, represents the average value of the k-direction components in all second proton three-components, represents the correlation coefficient component of the first and second proton three-components in the k direction, and the first correlation coefficient is expressed as

[0024] Adopt the second correlation coefficient formula Calculate the correlation coefficient of the fluxgate three-component and the central proton three-component to obtain the second correlation coefficient, where represents the k-direction component of the i-th central proton three-component, B k,i represents the k-direction component of the i-th fluxgate three-component, represents the average value of the k-direction components in all central proton three-components, represents the average value of the k-direction components in all fluxgate three-components, represents the correlation coefficient component of the fluxgate three-component and the central proton three-component in the k direction;

[0025] Adopt the third correlation coefficient formula Calculate the correlation coefficient of the fluxgate three-component and the first proton three-component to obtain the third correlation coefficient, where represents the correlation coefficient component of the fluxgate three-component and the first proton three-component in the k direction;

[0026] Adopt the fourth correlation coefficient formula Calculate the correlation coefficient of the fluxgate three-component and the second proton three-component to obtain the fourth correlation coefficient, where Represents the correlation coefficient component of the magnetic flux gate three-component and the second proton three-component in the k direction.

[0027] Preferably, the step of performing data correction on the first and second proton three-components and the magnetic flux gate three-component according to the main frequency of the interference source includes:

[0028] Filter the first and second proton three-components according to the main frequency of the interference source;

[0029] Based on the filtered first and second proton three-components, perform adjustment processing on the central proton three-component and the magnetic flux gate three-component.

[0030] On the other hand, the present invention provides a subsea three-dimensional magnetic gradient data processing device, and the device includes:

[0031] An array data acquisition unit for performing data acquisition through a subsea magnetic gradient acquisition array pre-laid at a subsea location to obtain the proton three-component and the magnetic flux gate three-component of each magnetic gradient acquisition station in the subsea magnetic gradient acquisition array;

[0032] A component data processing unit for processing the proton three-component and the magnetic flux gate three-component by using a preset data processing strategy until the central proton three-component of each magnetic gradient acquisition station after processing and the processed magnetic flux gate three-component meet the correlation requirements;

[0033] A magnetic field data calculation unit for calculating the magnetic field data of each magnetic gradient acquisition station according to the central proton three-component and the processed magnetic flux gate three-component;

[0034] A gradient data calculation unit for performing gradient calculation on the magnetic field data by using a preset gradient field calculation formula to obtain three-dimensional magnetic gradient field data.

[0035] Preferably, each magnetic gradient acquisition station includes a first proton magnetic sensor and a second proton magnetic sensor, the proton three-component includes a first proton three-component and a second proton three-component, and the component data processing unit includes:

[0036] A correlation analysis unit for performing correlation analysis on the first and second proton three-components and the magnetic flux gate three-component, and determining the three-components with poor correlation when the correlation requirements are not met;

[0037] A Fourier transform unit for performing Fourier transform on the three-components with poor correlation to obtain corresponding data spectra;

[0038] A frequency determination unit for determining the main frequency of the interference source causing poor data correlation according to the spectral difference of the data spectra;

[0039] A data correction unit is configured to perform data correction on the first and second proton three-component and the fluxgate three-component according to the main frequency of the interference source, and trigger the correlation analysis unit to perform correlation analysis on the first and second proton three-component and the fluxgate three-component based on the corrected first and second proton three-component and the fluxgate three-component.

[0040] Preferably, the correlation analysis unit includes:

[0041] A central proton calculation unit is configured to calculate the central proton three-component according to the first proton three-component and the second proton three-component;

[0042] A correlation coefficient calculation unit is configured to calculate correlation coefficients according to the central proton three-component, the first and second proton three-component and the fluxgate three-component, so as to obtain first, second, third and fourth correlation coefficients;

[0043] A correlation quantity determination unit is configured to determine the correlation quantity of the first, second, third and fourth correlation coefficients reaching a preset correlation threshold in three coordinate axis directions of a spatial rectangular coordinate system;

[0044] A correlation condition judgment unit is configured to judge whether the correlation quantity reaches a preset quantity threshold. If so, it is determined that the central proton three-component and the fluxgate three-component meet the correlation requirement; otherwise, it is determined that the central proton three-component and the fluxgate three-component do not meet the correlation requirement.

[0045] On the other hand, the present invention also provides an ocean exploration device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above-mentioned undersea three-dimensional magnetic gradient data processing method are implemented.

[0046] On the other hand, the present invention also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned undersea three-dimensional magnetic gradient data processing method are implemented.

[0047] The present invention collects data through a seafloor magnetic gradient acquisition array pre-laid at a seafloor location, obtains the proton three-component and fluxgate three-component of each magnetic gradient acquisition station in the seafloor magnetic gradient acquisition array, and processes the proton three-component and fluxgate three-component using a preset data processing strategy until the central proton three-component of each magnetic gradient acquisition station after processing and the processed fluxgate three-component meet the correlation requirements. According to the central proton three-component and the processed fluxgate three-component, the magnetic field data of each magnetic gradient acquisition station is calculated, and the gradient field calculation formula is used to perform gradient calculation on the magnetic field data to obtain three-dimensional magnetic gradient field data, thereby improving the accuracy and quality of the three-dimensional magnetic gradient field data. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 is a flowchart of the implementation of the seafloor three-dimensional magnetic gradient data processing method provided in Embodiment 1 of the present invention;

[0049] Figure 2 is a schematic diagram of the array layout in the seafloor three-dimensional magnetic gradient data processing method provided in Embodiment 1 of the present invention;

[0050] Figure 3 is a schematic diagram of the structure of the acquisition station in the seafloor three-dimensional magnetic gradient data processing method provided in Embodiment 1 of the present invention;

[0051] Figure 4 is a schematic diagram of the coordinate direction of the acquisition station in the seafloor three-dimensional magnetic gradient data processing method provided in Embodiment 1 of the present invention;

[0052] Figure 5 is a schematic diagram of the structure of the seafloor three-dimensional magnetic gradient data processing device provided in Embodiment 2 of the present invention;

[0053] Figure 6 is a schematic diagram of the structure of the marine exploration equipment provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0054] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0055] It should be understood that the term "a plurality of" in the embodiments of the present disclosure refers to two or more, and other quantifiers are similar thereto, unless otherwise specified.

[0056] In the embodiments of the present disclosure, terms such as "first", "second", "third", etc. are used to distinguish similar or like objects or entities, and do not necessarily mean to limit a specific order or sequence, unless otherwise noted. It should be understood that such terms can be interchanged under appropriate circumstances, for example, it is possible to implement according to an order other than those given in the illustration or description of the embodiments of the present disclosure.

[0057] The following describes in detail the specific implementation of the present invention in combination with specific embodiments:

[0058] Example 1:

[0059] Figure 1 The implementation process of the three-dimensional seafloor magnetic gradient data processing method provided in Embodiment 1 of the present invention is shown. For the sake of convenience of description, only the parts related to the embodiments of the present invention are shown and are described in detail as follows:

[0060] In step S101, data is collected through a seafloor magnetic gradient acquisition array pre-deployed at a seafloor location, and the proton three-component and fluxgate three-component of each magnetic gradient acquisition station in the seafloor magnetic gradient acquisition array are obtained.

[0061] In the embodiments of the present invention, as Figure 2 shown, a number of magnetic gradient acquisition stations (abbreviation: acquisition stations) are arranged according to a specified row spacing and column width to form a seafloor magnetic gradient acquisition array, and the seafloor magnetic gradient acquisition array is deployed to a preset seafloor location for data acquisition. Here, data is collected through the seafloor magnetic gradient acquisition array pre-deployed at the seafloor location, and the proton three-component and fluxgate three-component of each magnetic gradient acquisition station in the seafloor magnetic gradient acquisition array are obtained. Among them, the collected data has the same sampling rate. The proton three-component is the magnetic field intensity measured by the proton magnetic sensor in the acquisition station, and the fluxgate three-component is the magnetic induction intensity measured by the fluxgate sensor in the acquisition station. Moreover, both the proton three-component and the fluxgate three-component are data series with time as the abscissa and magnetic field as the ordinate.

[0062] In a feasible embodiment, as Figure 3 shown, each acquisition station of the seafloor magnetic gradient acquisition array includes:

[0063] An acquisition station frame for fixing various components of the acquisition station so that the acquisition station can be placed stably on the seafloor;

[0064] Two proton magnetic sensors respectively installed at the two top ends of the central frame of the acquisition station frame for measuring the magnetic field intensity at their respective positions. And these two proton magnetic sensors are both three-component proton magnetic sensors, and the distance between their centers is greater than 1 m. For the sake of convenience of description and distinction, one of the proton magnetic sensors is called the first proton magnetic sensor, and the other proton magnetic sensor is called the second proton magnetic sensor;

[0065] A fluxgate sensor installed within the central frame of the acquisition station frame and between two proton magnetic sensors, for measuring the magnetic induction intensity at its location. Among them, the fluxgate sensor is a three-component fluxgate sensor, and the distance from its center to the centers of the two proton magnetic sensors is equal;

[0066] The main control cabin (including GPS and attitude sensing), temperature-salinity-sound sensor, connecting wires of all sensors to the main control cabin, and battery are hung in the acquisition station frame. The battery is installed separately from the main control cabin. All sensors are connected to the acquisition main control box in a detachable manner. All sensors can communicate with the main control cabin through serial ports to achieve data reading and storage. The data acquisition of all sensors is synchronized and the sampling rate is consistent, all controlled by the main control cabin.

[0067] In step S102, a preset data processing strategy is adopted to process the proton three-component and the fluxgate three-component until the central proton three-component of each magnetic gradient acquisition station after processing and the processed fluxgate three-component meet the correlation requirements.

[0068] In the embodiment of the present invention, although both the proton three-component and the fluxgate three-component are physical quantities used to describe the magnetic field-related characteristics, due to the different working principles of the proton magnetic sensor and the fluxgate sensor, there may be differences in their sensitivity to the magnetic field, measurement accuracy, etc. Under ideal conditions, if the measurement is accurate and there are no interference factors in the environment, they should be able to corroborate and complement each other to a certain extent and jointly reflect the true situation of the magnetic field. In actual data acquisition, it may be affected by various interference factors, resulting in data deviation or abnormality. Here, by setting the correlation requirements, quality control is carried out on the results of data processing, so that the data measured by these two different sensors are consistent when reflecting the magnetic field characteristics, that is, the magnetic field information they measure is physically consistent.

[0069] In a feasible embodiment, the processing of the proton three-component and the fluxgate three-component is achieved through the following steps:

[0070] (1) Perform a correlation analysis on the first and second proton three-components and the fluxgate three-component. When the correlation requirements are not met, determine the three-component with poor correlation;

[0071] In an embodiment of the present invention, the proton three-component includes a first proton three-component measured by a first proton magnetic sensor and a second proton three-component measured by a second proton magnetic sensor. Correlation analysis is performed on the first and second proton three-components and the fluxgate three-component. When the correlation requirements are not met, the three-components with poor correlation are determined. Here, the three-components with poor correlation refer to the three-components that lack consistency or have weak relevance in terms of data change trends, numerical relationships, etc. The three-components with poor correlation can be one group or multiple groups, and they are determined according to the correlation analysis results. In addition, each group includes at least 2 different data.

[0072] In a feasible embodiment, the correlation analysis is implemented through the following steps:

[0073] (1.1) Calculate the central proton three-component according to the first proton three-component and the second proton three-component;

[0074] In an embodiment of the present invention, the central proton three-component is the magnetic field intensity at the center point of the frame of two proton magnetic sensors of the acquisition station. Here, based on the principle of electromagnetic field superposition, the H collected by the two proton magnetic sensors at the topmost and bottommost of the acquisition station frame 1 、H 2 are superposed by components to obtain the central proton three-component H 0 , that is, H 0 = (H 1 + H 2 ) / 2. Among them, H 1 represents the first proton three-component, which is composed of magnetic field intensity components in three mutually perpendicular directions in space (i.e., the X, Y, and Z axis directions). Correspondingly, these three magnetic field intensity components are respectively denoted as That is H 2 represents the second proton three-component. Similarly, Specifically,

[0075] (1.2) Calculate the correlation coefficients according to the central proton three-component, the first and second proton three-components, and the fluxgate three-component to obtain the first, second, third, and fourth correlation coefficients;

[0076] In an embodiment of the present invention, in an ideal situation, the superposed central proton three-component H 0 should be exactly equal to the fluxgate three-component B. If there is interference, there will be an error. To determine whether there is interference, the correlation coefficients are calculated according to the central proton three-component, the first and second proton three-components, and the fluxgate three-component to obtain the first, second, third, and fourth correlation coefficients.

[0077] In a feasible embodiment, the calculation of the correlation coefficients is implemented through the following steps:

[0078] (1.2.1) Adopt the first correlation coefficient formula Calculate the correlation coefficients of the first and second proton three - components to obtain the first correlation coefficient, where k represents the X, Y, and Z directions of the magnetic field, and n represents the number of observation values. represents the k - direction component of the i - th first proton three - component. represents the k - direction component of the i - th second proton three - component. represents the average value of the k - direction components in all first proton three - components. represents the average value of the k - direction components in all second proton three - components. represents the correlation coefficient component of the first and second proton three - components in the k - direction, the first correlation coefficient

[0079] (1.2.2) Adopt the second correlation coefficient formula Calculate the correlation coefficients of the fluxgate three - components and the central proton three - components to obtain the second correlation coefficient, where represents the k - direction component of the i - th central proton three - component, B k,i represents the k - direction component of the i - th fluxgate three - component. represents the average value of the k - direction components in all central proton three - components. represents the average value of the k - direction components in all fluxgate three - components. represents the correlation coefficient component of the fluxgate three - components and the central proton three - components in the k - direction, the second correlation coefficient

[0080] (1.2.3) Adopt the third correlation coefficient formula Calculate the correlation coefficients of the fluxgate three - components and the first proton three - components to obtain the third correlation coefficient, where represents the correlation coefficient component of the fluxgate three - components and the first proton three - components in the k - direction, the third correlation coefficient

[0081] (1.2.4) Adopt the fourth correlation coefficient formula Calculate the correlation coefficients of the fluxgate three - components and the second proton three - components to obtain the fourth correlation coefficient, where represents the correlation coefficient component of the fluxgate three - components and the second proton three - components in the k - direction, the fourth correlation coefficient

[0082] Through the above steps (1.2.1) to (1.2.4), H 1 and H 2 , B and H 0 , B and H1 、B and H 2 Calculation of the correlation coefficients of these four groups of data.

[0083] (1.3) Determine the relevant quantities where the first, second, third, and fourth correlation coefficients reach the preset correlation threshold in the three coordinate axis directions of the spatial rectangular coordinate system;

[0084] In the invention embodiment, the correlation coefficient R→1 indicates strong correlation, showing that the measurements of the proton magnetic sensor and the fluxgate sensor are not affected by (vibrations and underwater ferromagnetic objects, etc.). Compare the correlation coefficient components of R 12 、R 03 、R 13 、R 23 in the X, Y, and Z directions with the preset correlation threshold (for example, the correlation threshold is 0.95) respectively to determine whether each correlation coefficient component reaches the correlation threshold. If so, it indicates that the two groups of data corresponding to this correlation coefficient component have strong correlation. For example, then it indicates and the two groups of data have strong correlation. Otherwise, it indicates that the two groups of data corresponding to this correlation coefficient component have weak correlation. Then, count the number of correlation coefficient components that reach the correlation threshold, and call the total number obtained from the statistics the relevant quantity.

[0085] (1.4) Judge whether the relevant quantity reaches the preset quantity threshold. If so, determine that the central proton three-component and the fluxgate three-component meet the correlation requirements. Otherwise, determine that the central proton three-component and the fluxgate three-component do not meet the correlation requirements.

[0086] In the invention embodiment, judge whether the relevant quantity reaches the preset quantity threshold (for example, if there are 12 correlation coefficient components in total, the quantity threshold can be set to 9). If so, determine that the central proton three-component and the fluxgate three-component meet the correlation requirements. Otherwise, determine that the central proton three-component and the fluxgate three-component do not meet the correlation requirements, which also means that one type of sensor among them is significantly interfered. And take the two groups of data corresponding to each correlation coefficient component that does not reach the correlation threshold as the three components with poor correlation. For example, if none of them reach the correlation threshold, then the three components with poor correlation include the two groups of data corresponding to (that is and B x ) and the two groups of data corresponding to (that is and B y ).

[0087] (2) Perform Fourier transform on the three components with poor correlation to obtain the corresponding data spectra;

[0088] In the embodiments of the present invention, Fourier transform is performed on the three components with poor correlation to convert the magnetic field data varying with time or space into spectral information with frequency as a variable, which is convenient for analyzing the characteristics of the data at different frequencies. After Fourier transform, the data spectrum of the magnetic field data corresponding to the three components is obtained, including the amplitude spectrum and the phase spectrum. The amplitude spectrum represents the signal intensity of different frequency components and can intuitively display the energy magnitude of each frequency component. The phase spectrum reflects the phase information of each frequency component and is of great significance for analyzing the waveform and relative position of the signal, etc.

[0089] (3) Determine the main frequency of the interference source causing poor data correlation according to the spectral differences of the data spectrum;

[0090] In the embodiments of the present invention, the three components with poor correlation may include the proton three components or the fluxgate three components. Here, the data spectra of the three components with poor correlation are compared to find out where they are significantly different in frequency, and the spectral differences are obtained. Then, according to the spectral differences, the main frequency components that cause poor data correlation are found. These frequencies are very likely the frequencies where the interference source is located. For example, if at a certain specific frequency, the spectral differences between the data of the two sensors are very large and this frequency shows strong energy in the data, then it can be speculated that this frequency may be the main frequency of the interference source.

[0091] (4) Perform data correction on the first and second proton three components and the fluxgate three components according to the main frequency of the interference source, and based on the corrected first and second proton three components and the fluxgate three components, jump to the step of performing correlation analysis on the first and second proton three components and the fluxgate three components.

[0092] In the embodiments of the present invention, perform data correction on the first and second proton three components and the fluxgate three components according to the main frequency of the interference source to improve the data quality and data consistency. Then, continue to execute the above steps (1) to (4) for the corrected three components until the corrected three components meet the correlation requirements.

[0093] In a feasible embodiment, data correction is achieved through the following steps:

[0094] (4.1) Perform filtering processing on the first and second proton three components according to the main frequency of the interference source;

[0095] In the embodiments of the present invention, perform filtering processing on the first and second proton three components according to the main frequency of the interference source to suppress the signals at the frequencies where the interference source is located and reduce the errors and uncertainties brought by the interference factors.

[0096] (4.2) Perform adjustment processing on the central proton three components and the fluxgate three components based on the filtered first and second proton three components.

[0097] In the embodiment of the present invention, after filtering processing, new first and second proton three-component quantities with specific frequency interference removed or weakened are obtained. Then, based on the new first and second proton three-component quantities, adjustment processing is performed on the central proton three-component quantity and the fluxgate three-component quantity. Specifically, first, the corresponding central proton three-component quantity is calculated according to the new first and second proton three-component quantities. Then, the differences between the corresponding components of the central proton three-component quantity and the fluxgate three-component quantity are calculated. The calculated differences contain the difference information between the two sets of data. The differences are used as correction factors to be applied to one of the sets of data for adjustment, so that this set of data is more consistent with the other set of data. In this way, the differences between the two sets of data can be reduced, making them closer in value and more in line with the actual physical relationship. As an example, the component difference between the central proton three-component quantity and the fluxgate three-component quantity in the Y direction is D y , then D y is applied to the y component of the central proton three-component quantity or the y component B of the fluxgate three-component quantity y , so that the adjusted and B y are more consistent with each other.

[0098] In step S103, according to the central proton three-component quantity and the processed fluxgate three-component quantity, the magnetic field data of each magnetic gradient acquisition station is calculated.

[0099] In the embodiment of the present invention, according to the central proton three-component quantity and the processed fluxgate three-component quantity (B x , B y , B z ), the formula H = H 0 + B is used to calculate the magnetic field data (H x , H y , H z ) of each magnetic gradient acquisition station. Specifically,

[0100] In step S104, a preset gradient field calculation formula is used to perform gradient calculation on the magnetic field data to obtain three-dimensional magnetic gradient field data.

[0101] In the embodiment of the present invention, a preset gradient field calculation formula is used to perform gradient calculation on the magnetic field data to obtain three-dimensional magnetic gradient field data, which is represented as (ΔH x , ΔH y , ΔH z ). Specifically, in the undersea magnetic gradient acquisition coordinate system, Figure 4The coordinate direction of the acquisition station in the array is shown. The acquisition station O in the acquisition station coordinate direction is taken as the origin, and the horizontal gradient field calculation formula (ΔH x )=(H W -H E ) / (x1+x2) and (ΔH y )=(H N -H S ) / (y1+y2) calculates the horizontal difference between two adjacent collection stations and obtains the magnetic gradient value ΔH in the horizontal direction X x and the magnetic gradient value ΔH in the horizontal direction Y y , according to the vertical gradient field calculation formula Calculate the vertical magnetic gradient ΔH z , where x1 and x2 represent the distance components of two adjacent acquisition stations in the X direction, y1 and y2 represent the distance components of two adjacent acquisition stations in the Y direction, and H W represents the magnetic field data of the collection station W, which is adjacent to the collection station O and located to its west. E represents the magnetic field data of the collection station E, which is adjacent to the collection station O and located to its east (East), H N represents the magnetic field data of the collection station N adjacent to the collection station O and located to its north (North), H S represents the magnetic field data of the collection station S, which is adjacent to the collection station O and located to its south (South), is the magnetic field intensity component of the first proton three components in the Z-axis direction at the acquisition station O, is the magnetic field strength component of the second proton three-component in the Z-axis direction at the acquisition station O, 1m represents and The vertical distance between these two measurement positions is 1 meter.

[0102] In an embodiment of the present invention, data is collected by a seabed magnetic gradient acquisition array pre-deployed at a seabed location to obtain the proton three-component and fluxgate three-component of each magnetic gradient acquisition station in the seabed magnetic gradient acquisition array. The proton three-component and fluxgate three-component are processed using a preset data processing strategy until the central proton three-component and the processed fluxgate three-component of each magnetic gradient acquisition station meet correlation requirements. The magnetic field data of each magnetic gradient acquisition station is calculated based on the central proton three-component and the processed fluxgate three-component. The gradient of the magnetic field data is calculated using a preset gradient field calculation formula to obtain three-dimensional magnetic gradient field data. Thus, by introducing a special combination of fluxgate sensors with different characteristics from the proton magnetic sensors for data measurement, the stability and anti-interference capability of the measurement performance are improved. The effects of external magnetic objects and shaking on the proton magnetic sensors are corrected using the preset data processing strategy, thereby improving the accuracy and quality of the three-dimensional magnetic gradient field data.

[0103] Embodiment 2:

[0104] Figure 5 The structure of the three-dimensional seafloor magnetic gradient data processing device provided in Embodiment 2 of the present invention is shown. For ease of illustration, only the parts related to the embodiments of the present invention are shown, including:

[0105] An array data acquisition unit 51, configured to perform data acquisition through a seafloor magnetic gradient acquisition array pre-laid at a seafloor position, and obtain the proton three-component and fluxgate three-component of each magnetic gradient acquisition station in the seafloor magnetic gradient acquisition array;

[0106] A component data processing unit 52, configured to process the proton three-component and the fluxgate three-component by using a preset data processing strategy until the central proton three-component of each magnetic gradient acquisition station after processing and the processed fluxgate three-component meet the correlation requirements;

[0107] A magnetic field data calculation unit 53, configured to calculate the magnetic field data of each magnetic gradient acquisition station according to the central proton three-component and the processed fluxgate three-component;

[0108] A gradient data calculation unit 54, configured to perform gradient calculation on the magnetic field data by using a preset gradient field calculation formula to obtain three-dimensional magnetic gradient field data.

[0109] Preferably, each of the magnetic gradient acquisition stations includes a first proton magnetic sensor and a second proton magnetic sensor, and the proton three-component includes a first proton three-component and a second proton three-component.

[0110] Preferably, the component data processing unit 52 includes:

[0111] A correlation analysis unit, configured to perform correlation analysis on the first and second proton three-components and the fluxgate three-component, and determine the three-components with poor correlation when the correlation requirements are not met;

[0112] A Fourier transform unit, configured to perform Fourier transform on the three-components with poor correlation to obtain corresponding data spectra;

[0113] A frequency determination unit, configured to determine the main frequency of the interference source that causes poor data correlation according to the spectral differences of the data spectra;

[0114] A data correction unit, configured to perform data correction on the first and second proton three-components and the fluxgate three-component according to the main frequency of the interference source, and trigger the correlation analysis unit to perform correlation analysis on the first and second proton three-components and the fluxgate three-component based on the corrected first and second proton three-components and the fluxgate three-component;

[0115] Preferably, the correlation analysis unit includes:

[0116] A central proton calculation unit for calculating a central proton three-component according to a first proton three-component and a second proton three-component;

[0117] A correlation coefficient calculation unit for calculating correlation coefficients according to the central proton three-component, the first and second proton three-components, and the fluxgate three-component to obtain first, second, third, and fourth correlation coefficients;

[0118] A correlation quantity determination unit for determining the number of correlations where the first, second, third, and fourth correlation coefficients reach a preset correlation threshold in the three coordinate axis directions of a space rectangular coordinate system;

[0119] A correlation condition judgment unit for judging whether the number of correlations reaches a preset quantity threshold. If so, it is determined that the central proton three-component and the fluxgate three-component meet the correlation requirement; otherwise, it is determined that the central proton three-component and the fluxgate three-component do not meet the correlation requirement.

[0120] In the embodiments of the present invention, each unit of the seabed three-dimensional magnetic gradient data processing device can be implemented by corresponding hardware or software units. Each unit can be an independent software or hardware unit, or can be integrated into a software or hardware unit, which is not used to limit the present invention here. Specifically, the implementation manners of each unit can refer to the description of the foregoing Embodiment 1 and will not be elaborated here.

[0121] Embodiment 3:

[0122] Figure 6 The structure of the marine exploration equipment provided in Embodiment 3 of the present invention is shown. For the sake of convenience of description, only the parts related to the embodiments of the present invention are shown.

[0123] The marine exploration equipment 6 in the embodiments of the present invention includes a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and operable on the processor 60. When the processor 60 executes the computer program 62, the steps in the foregoing embodiments of the seabed three-dimensional magnetic gradient data processing method are implemented, such as Figure 1 The steps S101 to S104 shown. Or, when the processor 60 executes the computer program 62, the functions of each unit in the foregoing device embodiments are implemented, such as Figure 5 The functions of the units 51 to 54 shown.

[0124] In an embodiment of the present invention, data is collected by a seabed magnetic gradient acquisition array pre-deployed at a seabed location to obtain the proton three-component and fluxgate three-component of each magnetic gradient acquisition station in the seabed magnetic gradient acquisition array. A preset data processing strategy is used to process the proton three-component and fluxgate three-component until the central proton three-component of each magnetic gradient acquisition station after processing and the processed fluxgate three-component meet the correlation requirements. According to the central proton three-component and the processed fluxgate three-component, the magnetic field data of each magnetic gradient acquisition station is calculated, and a preset gradient field calculation formula is used to perform gradient calculation on the magnetic field data to obtain three-dimensional magnetic gradient field data, thereby improving the accuracy and quality of the three-dimensional magnetic gradient field data.

[0125] For the steps implemented when the processor 60 in the marine exploration device 6 of the embodiment of the present invention executes the computer program 62 to implement the seabed three-dimensional magnetic gradient data processing method, reference may be made to the description of the foregoing method embodiment, which will not be elaborated herein.

[0126] Example 4:

[0127] In an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the foregoing embodiment of the seabed three-dimensional magnetic gradient data processing method are implemented. For example, Figure 1 the steps S101 to S104 shown. Alternatively, when the computer program is executed by a processor, the functions of each unit in the foregoing device embodiments are implemented. For example Figure 5 the functions of the units 51 to 54 shown.

[0128] In an embodiment of the present invention, data is collected by a seabed magnetic gradient acquisition array pre-deployed at a seabed location to obtain the proton three-component and fluxgate three-component of each magnetic gradient acquisition station in the seabed magnetic gradient acquisition array. A preset data processing strategy is used to process the proton three-component and fluxgate three-component until the central proton three-component of each magnetic gradient acquisition station after processing and the processed fluxgate three-component meet the correlation requirements. According to the central proton three-component and the processed fluxgate three-component, the magnetic field data of each magnetic gradient acquisition station is calculated, and a preset gradient field calculation formula is used to perform gradient calculation on the magnetic field data to obtain three-dimensional magnetic gradient field data, thereby improving the accuracy and quality of the three-dimensional magnetic gradient field data.

[0129] The computer-readable storage medium of the embodiment of the present invention may include any entity or device, recording medium capable of carrying computer program code, such as memories such as ROM / RAM, magnetic disks, optical disks, flash memories, etc.

[0130] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for processing three-dimensional seafloor magnetic gradient data, characterized in that The method includes the following steps: Data acquisition is performed through a seafloor magnetic gradient acquisition array pre-deployed at a seafloor location to obtain the proton three-component and fluxgate three-component of each magnetic gradient acquisition station in the seafloor magnetic gradient acquisition array; A preset data processing strategy is used to process the proton three-component and the fluxgate three-component until the central proton three-component of each magnetic gradient acquisition station after processing and the processed fluxgate three-component meet the correlation requirements; According to the central proton three-component and the processed fluxgate three-component, the magnetic field data of each magnetic gradient acquisition station is calculated; A preset gradient field calculation formula is used to perform gradient calculation on the magnetic field data to obtain three-dimensional magnetic gradient field data.

2. The method according to claim 1, wherein Each magnetic gradient acquisition station includes a first proton magnetic sensor and a second proton magnetic sensor, and the proton three-component includes a first proton three-component and a second proton three-component. The step of using a preset data processing strategy to process the proton three-component and the fluxgate three-component includes: Perform correlation analysis on the first and second proton three-components and the fluxgate three-component. When the correlation requirements are not met, determine the three-components with poor correlation; Perform Fourier transform on the three-components with poor correlation to obtain the corresponding data spectrum; According to the spectrum difference of the data spectrum, determine the main frequency of the interference source that causes poor data correlation; According to the main frequency of the interference source, perform data correction on the first and second proton three-components and the fluxgate three-component. Based on the corrected first and second proton three-components and the fluxgate three-component, jump to the step of performing correlation analysis on the first and second proton three-components and the fluxgate three-component.

3. The method according to claim 2, characterized in that, The step of performing correlation analysis on the first and second proton three-components and the fluxgate three-component includes: Calculate the central proton three-component according to the first proton three-component and the second proton three-component; Calculate correlation coefficients according to the central proton three-component, the first and second proton three-components, and the fluxgate three-component to obtain the first, second, third, and fourth correlation coefficients; Determine the number of correlations of the first, second, third, and fourth correlation coefficients that reach the preset correlation threshold in the three coordinate axes directions of the space rectangular coordinate system; Judge whether the number of correlations reaches the preset number threshold. If so, determine that the central proton three-component and the fluxgate three-component meet the correlation requirements; otherwise, determine that the central proton three-component and the fluxgate three-component do not meet the correlation requirements.

4. The method according to claim 3, wherein The step of calculating correlation coefficients according to the central proton three-component, the first and second proton three-components, and the fluxgate three-component includes: Adopt the first correlation coefficient formula Calculate the correlation coefficients of the first and second proton three-component quantities to obtain the first correlation coefficient, where k represents the X, Y, and Z directions of the magnetic field, and n represents the number of observation values represents the k-direction component of the i-th first proton three-component quantity represents the k-direction component of the i-th second proton three-component quantity represents the average value of the k-direction components in all first proton three-component quantities represents the average value of the k-direction components in all second proton three-component quantities represents the correlation coefficient component of the first and second proton three-component quantities in the k direction, and the first correlation coefficient is expressed as Adopt the second correlation coefficient formula Calculate the correlation coefficient of the three-component fluxgate and the three-component central proton to obtain the second correlation coefficient, where represents the k-direction component of the i-th three-component central proton, B k,i represents the k-direction component of the i-th three-component fluxgate, represents the average value of the k-direction components of all three-component central protons, represents the average value of the k-direction components of all three-component fluxgates, represents the correlation coefficient component of the three-component fluxgate and the three-component central proton in the k direction; Adopt the third correlation coefficient formula Calculate the correlation coefficient between the three-component fluxgate and the three-component first proton to obtain the third correlation coefficient, where represents the correlation coefficient component of the three-component fluxgate and the three-component first proton in the k direction; Adopt the fourth correlation coefficient formula Calculate the correlation coefficient between the three-component fluxgate and the three-component second proton to obtain the fourth correlation coefficient, where represents the correlation coefficient component between the three-component fluxgate and the three-component second proton in the k direction.

5. The method according to claim 2, wherein The step of performing data correction on the first and second proton three-components and the fluxgate three-component according to the main frequency of the interference source includes: Perform filtering processing on the first and second proton three-components according to the main frequency of the interference source; Based on the filtered first and second proton three-components, perform adjustment processing on the central proton three-component and the fluxgate three-component.

6. A three-dimensional seafloor magnetic gradient data processing device, characterized in that, The device includes: An array data acquisition unit for performing data acquisition through a seafloor magnetic gradient acquisition array pre-deployed at a seafloor location to obtain the proton three-component and fluxgate three-component of each magnetic gradient acquisition station in the seafloor magnetic gradient acquisition array; A component data processing unit for processing the proton three-component and the fluxgate three-component by using a preset data processing strategy until the central proton three-component of each magnetic gradient acquisition station after processing and the processed fluxgate three-component meet the correlation requirements; A magnetic field data calculation unit for calculating the magnetic field data of each magnetic gradient acquisition station according to the central proton three-component and the processed fluxgate three-component; A gradient data calculation unit for performing gradient calculation on the magnetic field data by using a preset gradient field calculation formula to obtain three-dimensional magnetic gradient field data.

7. The device according to claim 6, characterized in that, Each magnetic gradient acquisition station includes a first proton magnetic sensor and a second proton magnetic sensor, the proton three-component includes a first proton three-component and a second proton three-component, and the component data processing unit includes: A correlation analysis unit for performing correlation analysis on the first and second proton three-components and the fluxgate three-component, and determining the three-components with poor correlation when the correlation requirements are not met; A Fourier transform unit for performing Fourier transform on the three-components with poor correlation to obtain corresponding data spectra; A frequency determination unit for determining the main frequency of the interference source causing poor data correlation according to the spectral differences of the data spectra; A data correction unit for correcting the first and second proton three-components and the fluxgate three-component according to the main frequency of the interference source, and triggering the correlation analysis unit to perform correlation analysis on the first and second proton three-components and the fluxgate three-component based on the corrected first and second proton three-components and the fluxgate three-component.

8. The device according to claim 7, characterized in that, The correlation analysis unit includes: A central proton calculation unit for calculating the central proton three-component according to the first proton three-component and the second proton three-component; A correlation coefficient calculation unit for calculating correlation coefficients according to the central proton three-component, the first and second proton three-components, and the fluxgate three-component to obtain the first, second, third, and fourth correlation coefficients; A relevant quantity determination unit for determining the number of relevant quantities of the first, second, third, and fourth correlation coefficients that reach a preset correlation threshold in the three coordinate axes directions of a spatial rectangular coordinate system; A relevant condition judgment unit for judging whether the number of relevant quantities reaches a preset quantity threshold. If so, it is determined that the central proton three-component and the fluxgate three-component meet the correlation requirements; otherwise, it is determined that the central proton three-component and the fluxgate three-component do not meet the correlation requirements.

9. An ocean exploration device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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