Unmanned ship gravity and magnetism measurement method and system

Abstract

The invention discloses an unmanned ship gravity and magnetic measurement method and system, and belongs to the technical field of geophysical exploration, and the method comprises the steps: obtaining the real-time attitude data of an unmanned ship, and generating an inclination angle compensation parameter; adjusting data acquisition frequency according to the inclination angle compensation parameter, and generating a positioning enhancement signal; triggering collection operation data based on the positioning enhancement signal, and generating gravity original data and magnetic force original data; extracting magnetic field gradient abrupt change points in the magnetic force original data, and generating wave characteristic parameters; fusing the inclination angle compensation parameter, the wave characteristic parameter and the gravity original data to generate a wave noise compensation value; and correcting the wave noise compensation value to generate target gravity field data. According to the method, three core technology systems of dynamic inclination angle closed-loop compensation, magnetic gradient-wave feature mapping modeling and time accurate alignment triggering are adopted, the interference influence of wave noise on a gravity field can be effectively overcome, and time-space synchronization jump of gravity and magnetic measurement is achieved.

Description

Technical Field

[0001] The present invention relates to the field of geophysical exploration technology, and more particularly to a method and system for gravity and magnetic measurement using an unmanned ship. Background Art

[0002] Existing shipborne gravity and magnetic measurement technologies have systematic defects in a dynamic ocean environment. Conventional operation ships are prone to attitude deviation caused by wave action, resulting in insufficient effective measurement time for gravity sensors and seriously affecting the continuity of data acquisition.

[0003] Existing compensation technologies rely on independent attitude solutions of inertial navigation, and there are matching defects between their real-time performance and wave frequency dynamic characteristics, making it impossible to accurately eliminate high-frequency interference.

[0004] More critically, the asynchronous acquisition mode adopted by discrete sensors induces data time scale misalignment, resulting in non-negligible distortion of the spatial characteristics of geological bodies during subsequent three-dimensional inversion. Summary of the Invention

[0005] To solve the above problems, the present invention provides a method for gravity and magnetic measurement using an unmanned ship, which adopts three core technical systems: dynamic tilt closed-loop compensation, magnetic gradient-wave characteristic mapping modeling, and time-precise alignment triggering. It can effectively overcome the interference of wave noise on the gravity field and achieve a leap in the spatio-temporal synchronization of gravity and magnetic measurement, providing an innovative solution for fine geological exploration in complex ocean environments.

[0006] The above objectives can be achieved through the following solutions: A method for gravity and magnetic measurement using an unmanned ship, including obtaining real-time attitude data of the unmanned ship to generate tilt compensation parameters; adjusting the data acquisition frequency according to the tilt compensation parameters to generate a positioning enhancement signal; triggering the acquisition of operation data based on the positioning enhancement signal to generate raw gravity data and raw magnetic data, where the raw magnetic data includes magnetic field gradient mutation points; extracting the magnetic field gradient mutation points from the raw magnetic data to generate wave characteristic parameters; fusing the tilt compensation parameters, the wave characteristic parameters, and the raw gravity data to generate a wave noise compensation value; and generating target gravity field data based on the wave noise compensation value.

[0007] Optionally, the generation of the tilt compensation parameters includes: monitoring the waves acting on the hull to generate roll angle and pitch angle; calculating the theoretical horizontal calibration angle of the gravity probe base to generate a hydraulic compensation instruction; and executing the hydraulic compensation instruction to generate tilt compensation parameters.

[0008] Optionally, the generation of the positioning enhancement signal includes: calculating the angle change based on the tilt compensation parameters to generate a fluctuation amplitude; when the fluctuation amplitude exceeds a preset tilt threshold, increasing the sampling frequency to a preset high-frequency mode to generate a positioning enhancement signal.

[0009] Optionally, the generation of time-aligned gravity raw data and magnetic raw data includes: generating a timing pulse signal based on the positioning enhancement signal; generating an alignment trigger signal based on the transmission delay of the timing pulse signal; and based on the alignment trigger signal, splitting and transmitting the timing pulse signal to generate time-aligned gravity raw data and magnetic raw data.

[0010] Optionally, the generation of wave feature parameters includes: obtaining the gradient change amount of adjacent sampling points based on the magnetic raw data; marking the time points when the gradient change amount exceeds a preset gradient threshold to generate a wave peak sequence; and fitting the time distribution of the wave peak sequence to generate wave feature parameters.

[0011] Optionally, the generation of wave noise compensation values includes: obtaining the acquisition time sequence of the gravity raw data; generating real-time inclination compensation parameters by matching the wave peak sequence with the acquisition time sequence based on the wave feature parameters; and calculating the acceleration error component and the wave periodic residual component based on the real-time inclination compensation parameters to generate wave noise compensation values.

[0012] Optionally, the generation of target gravity field data based on the wave noise compensation values includes: constructing a dynamic filter based on the wave feature parameters; generating a gravity compensation residual amount through the dynamic filter based on the wave noise compensation values; and superimposing the gravity compensation residual amount on the gravity raw data to generate target gravity field data.

[0013] Optionally, the method further includes: fusing the magnetic field values at corresponding spatial positions in the target gravity field data and the magnetic raw data to generate a standardized fusion data set; and generating a three-dimensional physical property distribution map based on the standardized fusion data set.

[0014] Optionally, the generation of the three-dimensional physical property distribution map includes: performing an operation of separating the regional field and the local field based on the standardized fusion data set to generate a local gravity and magnetic anomaly data volume; constructing a gravity and magnetic anomaly matrix based on the local gravity and magnetic anomaly data volume; and generating a three-dimensional physical property distribution map based on the gravity and magnetic anomaly matrix.

[0015] Based on the same inventive concept, the present invention also provides an unmanned ship gravity and magnetic measurement system, which includes: a data acquisition module for obtaining real-time attitude data of the unmanned ship and generating inclination compensation parameters; a high-precision positioning module for adjusting the data acquisition frequency according to the inclination compensation parameters and generating a positioning enhanced signal; a gravity and magnetic data synchronization module for triggering the acquisition of operation data based on the positioning enhanced signal and generating raw gravity data and raw magnetic data, wherein the raw magnetic data includes magnetic field gradient mutation points; a magnetic field gradient analysis module for extracting the magnetic field gradient mutation points in the raw magnetic data and generating wave characteristic parameters; a wave noise compensation module for fusing the inclination compensation parameters, wave characteristic parameters and raw gravity data to generate a wave noise compensation value; a gravity field construction module for generating target gravity field data based on the wave noise compensation value.

[0016] Compared with the prior art, the present invention has the following advantages: The present invention reduces the gravity measurement deviation caused by wave disturbance through a two-way feedback mechanism of inclination dynamic compensation and positioning enhancement, and obtains more stable data quality compared with traditional shipborne measurement; uses the magnetic gradient mutation characteristics to invert wave dynamic parameters, breaks through the spatio-temporal resolution limitations of existing wave sensing technologies, and provides a higher-precision environmental noise characterization ability; designs a multi-source data fusion compensation model to achieve a full-dimensional analysis of wave noise and effectively improve the signal-to-noise ratio level of gravity data; the construction of a time synchronization trigger architecture breaks through the limitations of traditional discrete clocks and ensures the spatio-temporal consistency of gravity and magnetic data, laying a foundation for subsequent fusion modeling.

[0017] Other features and advantages of the present invention will be described in the following specification, and, in part, will become apparent from the specification or will be understood by implementing the present invention. The objectives and other advantages of the present invention can be achieved and obtained by the structures pointed out in the specification, claims and drawings. Description of the Drawings

[0018] 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 the description of the embodiments or the prior art. Obviously, the drawings in the following description are 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.

[0019] Figure 1 It is a schematic flow chart of the unmanned ship gravity and magnetic measurement method according to the embodiment of the present invention.

[0020] Figure 2 It is a schematic diagram of wave compensation according to the embodiment of the present invention.

[0021] Figure 3It is a schematic diagram of the three-dimensional physical property distribution of an embodiment of the present invention.

[0022] Figure 4 It is a schematic diagram of the system structure of the unmanned ship gravity and magnetic measurement method of an embodiment of the present invention. Detailed implementation manners

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0024] Refer to Figure 1 , an embodiment of the present invention proposes an unmanned ship gravity and magnetic measurement method. Through three core technical systems of dynamic inclination closed-loop compensation, magnetic force gradient-wave feature mapping modeling, and time-precise alignment triggering, it can effectively overcome the interference of wave noise on the gravity field and achieve a leap in the spatio-temporal synchronization of gravity and magnetic measurements, providing an innovative solution for fine geological exploration in complex marine environments.

[0025] The method of this embodiment specifically includes: Obtain the real-time attitude data of the unmanned ship and generate inclination compensation parameters; Adjust the data acquisition frequency according to the inclination compensation parameters and generate a positioning enhancement signal; Trigger the acquisition of operation data based on the positioning enhancement signal to generate raw gravity data and raw magnetic force data, where the raw magnetic force data includes magnetic field gradient mutation points; Extract the magnetic field gradient mutation points in the raw magnetic force data and generate wave feature parameters; Fuse the inclination compensation parameters, wave feature parameters, and the raw gravity data to generate a wave noise compensation value; Correct the wave noise compensation value to generate target gravity field data.

[0026] Specifically, the hull roll and pitch angles are monitored in real time through an inertial measurement unit, the hydraulic compensation system is driven to dynamically correct the attitude of the gravity probe base, the acceleration error caused by waves is suppressed, and at the same time, the wave spectrum period and amplitude characteristics are inverted based on the magnetic sensor gradient mutation points. Then, combined with the time sequence delay correction strategy, the gravity and magnetic dual-channel synchronous acquisition is triggered, and high-precision gravity field data is output through the wave noise compensation model. Finally, a three-dimensional physical property distribution map is generated, effectively solving the industry pain points of insufficient wave interference suppression and data spatio-temporal misalignment in traditional shipborne measurements.

[0027] Optionally, generating the inclination compensation parameters includes: Monitor the waves acting on the hull to generate roll angle and pitch angle; calculate the theoretical horizontal calibration angle of the gravity probe base to generate a hydraulic compensation command; execute the hydraulic compensation command to generate tilt compensation parameters.

[0028] Specifically, through an inertial measurement sensor, the wave forces acting on the hull in the transverse and longitudinal directions are monitored in real time, and the original data of the roll angle and pitch angle are collected. The roll angle is obtained from the angle of the hull rotating around the longitudinal axis, and the pitch angle is obtained from the angle of the hull rotating around the transverse axis; according to the installation position of the gravity probe, the azimuth relationship between the base coordinate system and the hull coordinate system is constructed. Through the spatial rotation relationship between the base coordinate system and the hull coordinate system, the theoretical horizontal calibration angle of the gravity probe base is obtained based on the vector synthesis angle of the roll angle and pitch angle, and the hydraulic compensation command is calculated by the PID control algorithm. For the theoretical horizontal calibration angle , there is: , where n is the actual normal vector of the base and k is the unit vector in the vertical direction of the earth's gravity field; the height of the base installation platform is adjusted through a hydraulic servo mechanism to compensate for the tilt of the base caused by the change in the hull attitude, so that the actual horizontal angle of the base approaches the theoretical horizontal calibration angle, and tilt compensation parameters are generated based on the real-time compensation amount in the hydraulic displacement. As Figure 2 shown, it is a schematic diagram of wave compensation.

[0029] Optionally, generating a positioning enhancement signal includes: calculating the angle change based on the tilt compensation parameter to generate a fluctuation amplitude; when the fluctuation amplitude exceeds a preset tilt threshold, increasing the sampling frequency to a preset high-frequency mode to generate a positioning enhancement signal.

[0030] Specifically, based on the tilt compensation parameter and the continuously collected roll angle and pitch angle data, for the fluctuation amplitude A, there is: , where, is the change amount of the current roll angle and the roll angle in the previous sampling period, is the change amount of the current pitch angle and the pitch angle in the previous sampling period, and the fluctuation amplitude A is the vector synthesis amplitude of the angle change within two adjacent sampling periods; when A exceeds the preset tilt threshold set based on historical statistical data, the sampling frequency is increased to the preset high-frequency mode, and the correction interval is synchronously shortened to generate a positioning enhancement signal.

[0031] Exemplarily, under the working condition of a wave period of 6 seconds and a wave height of 1.5 meters, the inertial measurement unit measures that the change in the roll angle within two adjacent seconds is 12 degrees, and the change in the pitch angle is 9 degrees. At this time, the fluctuation amplitude is equal to 15 degrees, exceeding the preset threshold and triggering the protection mechanism. The system increases the sampling rate to 50 Hz in advance, and the number of sample points within the same time period increases from 30 times to 150 times. Comparing with the measurement data when the preset threshold is not triggered, the high-frequency mode reduces the data missing rate of the wave peak stage from 17% to 3%. The beneficial effect of this verification example is to improve the integrity of the measurement data in the stage of violent wave disturbance by dynamically adjusting the acquisition frequency strategy, avoid data loss caused by violent hull swaying, and ensure that the capture rate of abnormal points of the magnetic gradient change meets the design requirements.

[0032] Optionally, generating time-aligned gravity raw data and magnetic raw data includes: generating a timing pulse signal based on the positioning enhancement signal; compensating for the transmission delay of the timing pulse signal to generate an alignment trigger signal; based on the alignment trigger signal, transmitting the timing pulse signal in a branched manner to generate time-aligned gravity raw data and magnetic raw data.

[0033] Specifically, by parsing the positioning enhancement signal, dynamically compensating the propagation delay to obtain a synchronous clock reference, generating a timing pulse signal with stable frequency based on the synchronous clock reference; measuring the response time difference between the gravity sensor and the magnetic sensor from receiving the trigger signal to actual sampling, setting a delay correction amount for the gravity sensor and the magnetic sensor, and generating an alignment trigger signal after timing adjustment. For the alignment trigger signal T, there is: , where At the initial moment of the timing pulse, ensure that the two sensors respond synchronously, , are the delay correction amounts set for the gravity sensor and the magnetic sensor respectively; use a star topology for branched transmission, and based on the alignment trigger signal, transmit the timing pulse signal to the trigger interfaces of the gravimeter and the magnetometer through equal-length differential cables at the same time to generate time-aligned gravity raw data and magnetic raw data.

[0034] Optionally, generating wave characteristic parameters includes: obtaining the gradient change amount between adjacent sampling points based on the magnetic raw data; marking the time points when the gradient change amount exceeds the preset gradient threshold to generate a wave peak sequence; fitting the time distribution of the wave peak sequence to generate wave characteristic parameters.

[0035] Specifically, by calculating the absolute difference between the magnetic force value of the latter sampling point and the magnetic force value of the previous sampling point, the gradient between two adjacent points of the original magnetic data is calculated to obtain the gradient change amount; when the gradient change amount exceeds the preset gradient threshold, the time point is recorded as a magnetic field anomaly point, and the occurrence times of the anomaly points are combined to generate a wave peak sequence; the time intervals in the wave peak sequence are estimated by kernel density to construct a probability density function: , where is the wave period value, is the measured time interval between the i-th wave peak and peak, is the total number of wave periods observed, is the smoothness of the distribution curve, is the contribution weight of each data point to the neighborhood probability. Based on the probability density function, wave characteristic parameters are generated.

[0036] Exemplarily, when the magnetic force sensor measures 3600 sampling points in a continuous 3 minutes, it is calculated point by point that the gradient change amounts at the 125th second, 135th second, and 145th second are 1.2 nT, 1.1 nT, and 1.3 nT respectively, exceeding the preset gradient threshold of 0.8 nT. These three time points are marked and a wave peak sequence is generated. The adjacent peak intervals are calculated to be 10 seconds and 10 seconds respectively, and the average value is 10 seconds. The ratio of the duration of 20 seconds to the total duration of 180 seconds is equal to 0.11, and wave characteristic parameters including the arithmetic mean of two consecutive peak intervals and the ratio of the peak sequence duration to the total observation duration are generated. The beneficial effect of this verification example is that through the intelligent identification of gradient mutation points and cycle fitting operations, the periodic characteristics of wave impacts can be accurately captured, providing reliable environmental dynamic characteristic parameters for subsequent compensation of gravity and magnetic data, thereby improving the pertinence and effectiveness of wave noise filtering.

[0037] Optionally, generating the wave noise compensation value includes: obtaining the acquisition time sequence of the original gravity data; based on the wave characteristic parameters, matching the wave peak sequence through the acquisition time sequence to generate real-time tilt compensation parameters; based on the real-time tilt compensation parameters, calculating the acceleration error component and the wave periodic residual component to generate the wave noise compensation value.

[0038] Specifically, obtaining the time marks corresponding to the original gravity data to form an acquisition time sequence array; matching and positioning the acquisition time sequence array with the wave characteristic parameters through a key time point comparison algorithm, and generating real-time tilt compensation parameters by synthesizing the roll angle and pitch angle through trigonometric functions. For the real-time tilt compensation parameters; for the acceleration error component, there is: ; where the real-time tilt compensation parameter , α is the roll angle, is the pitch angle, g is the local acceleration due to gravity; for the wave periodic residual component , there is: , where, is determined according to the reciprocal of the wave characteristic parameter T, are the phase angles of each frequency component; the dynamic coupling coefficient is obtained based on the wave characteristic parameters, and the wave noise compensation value is obtained by multiplying the acceleration error component, the wave periodic residual component, and the dynamic coupling coefficient.

[0039] Exemplarily, when the wave peak sequence shows that the characteristic parameter is equal to 10 and the wave characteristic parameter is equal to 0.2, the real-time tilt compensation parameter measured at 0.3 after the corresponding peak synchronized to the gravity data acquisition moment is equal to 8. At this time, the acceleration error component is equal to 1.37. The wave frequency is equal to 0.1, and the phase angle of the frequency component is taken from the initial phase angle 38 of the magnetic force gradient peak. At this time, the wave periodic residual component is equal to 0.48. When the dynamic coupling coefficient is taken as 0.7, the wave noise compensation value is equal to 0.46. The beneficial effect of this verification example is that through multi-dimensional physical quantity coupling modeling, it compensates both the static error caused by attitude tilt and the dynamic disturbance caused by wave impact, effectively eliminating the marine environmental noise mixed in the gravity measurement data.

[0040] Optionally, correcting the wave noise compensation value in the original gravity data to generate the target gravity field data includes: constructing a dynamic filter based on the wave characteristic parameters; generating a gravity compensation residual quantity through the dynamic filter based on the wave noise compensation value; superimposing the gravity compensation residual quantity onto the original gravity data to generate the target gravity field data.

[0041] Specifically, based on the wave average period and amplitude coefficient of the wave characteristic parameters, calculate the upper and lower cut-off frequencies of the band-pass filter and set the order to construct a dynamic filter; input the wave noise compensation value into the dynamic filter for time-domain convolution to obtain the gravity compensation residual quantity. For the gravity compensation residual quantity , there is: , where, are the filter coefficients generated by the normalized Hann window function according to the cut-off frequency, is the wave noise compensation value; align the gravity compensation residual quantity and the original gravity data according to the time stamp and then perform scalar superposition to generate the target gravity field data.

[0042] Optionally, the method further includes: fusing the magnetic field values at the corresponding spatial positions in the target gravity field data and the original magnetic data to generate a standardized fusion data set; generating a three-dimensional physical property distribution map based on the standardized fusion data set.

[0043] Optionally, generating a three-dimensional physical property distribution map includes: performing a regional field and local field separation operation based on a standardized fusion data set to generate a local gravity and magnetic anomaly data volume; constructing a gravity and magnetic anomaly matrix based on the local gravity and magnetic anomaly data volume; and generating a three-dimensional physical property distribution map based on the gravity and magnetic anomaly matrix.

[0044] Specifically, converting the target gravity field data into gridded data in the standard earth coordinate system, synchronously mapping the original magnetic data to the same coordinate grid after magnetic declination correction, and obtaining the ratio of the reciprocal of the gravity field standard deviation to the magnetic induction intensity range through normalization to form a standardized fusion data set; performing wavelet decomposition on the standardized fusion data set to eliminate high-frequency noise and generate a local gravity and magnetic anomaly data volume; performing Kirchhoff integral migration processing on the local gravity and magnetic anomaly data volume to establish a three-dimensional space node anomaly value matrix. For the three-dimensional space node anomaly value matrix Q, there is: , where is the gravity Poisson ratio weight term, is the magnetization intensity scaling factor, is the unit volume gravity sensitivity coefficient, is the unit volume magnetization response coefficient, is the magnetic susceptibility difference; using the constrained least squares method to solve the physical property parameter equations. The inversion objective function is equal to the square of the F norm of the difference between the observed anomaly matrix and the theoretical model plus a regularization term, where the regularization coefficient is adaptively adjusted according to the model roughness to generate a three-dimensional physical property distribution map, as Figure 3 shown in the three-dimensional physical property distribution schematic diagram.

[0045] Based on the same inventive concept, as Figure 4 shown, the present invention also provides an unmanned ship gravity and magnetic measurement system, which includes: A data acquisition module: used to obtain the real-time attitude data of the unmanned ship and generate tilt compensation parameters; A high-precision positioning module: used to adjust the data acquisition frequency according to the tilt compensation parameters and generate a positioning enhancement signal; A gravity and magnetic data synchronization module: used to trigger the acquisition of operation data based on the positioning enhancement signal to generate raw gravity data and raw magnetic data, where the raw magnetic data includes magnetic field gradient mutation points; A magnetic field gradient analysis module: used to extract the magnetic field gradient mutation points in the raw magnetic data and generate wave characteristic parameters; A wave noise compensation module: used to fuse the tilt compensation parameters, wave characteristic parameters, and raw gravity data to generate a wave noise compensation value; A gravity field construction module: used to correct the wave noise compensation value and generate target gravity field data.

[0046] It should be noted that the electrical connections between the above-mentioned units do not necessarily represent direct connections of the circuits. Indirect connection methods, as long as they can achieve the purpose of the present invention, are applicable to the embodiments of the present invention. The above are only exemplary embodiments of the present invention and should not be used to limit the scope of the present invention.

[0047] That is, all equivalent changes and modifications made in accordance with the teachings of the present invention still fall within the scope covered by the present invention. After considering the specification and the disclosure of the practical truth, those skilled in the art will easily think of other implementation schemes of the present invention. This application aims to cover any variations, uses or adaptive changes of the present invention, and these variations, uses or adaptive changes follow the general principles of the present invention and include the common general knowledge or conventional technical means in the technical field not recorded in the present invention.

Claims

1. An unmanned ship gravity and magnetic measurement method, characterized in that, The method includes: Obtaining real-time attitude data of the unmanned ship and generating inclination compensation parameters; Adjusting the data acquisition frequency according to the inclination compensation parameters to generate a positioning enhancement signal; Triggering the acquisition of operation data based on the positioning enhancement signal to generate raw gravity data and raw magnetic force data, where the raw magnetic force data includes magnetic field gradient mutation points; Extracting the magnetic field gradient mutation points in the raw magnetic force data to generate wave feature parameters; Fusing the inclination compensation parameters, the wave feature parameters, and the raw gravity data to generate a wave noise compensation value; Generating target gravity field data based on the wave noise compensation value.

2. The method for unmanned ship gravity and magnetic measurement according to claim 1, characterized in that The generating of the inclination compensation parameters includes: Monitoring the waves acting on the hull to generate a roll angle and a pitch angle; Calculating the theoretical horizontal calibration angle of the gravity probe base to generate a hydraulic compensation instruction; Executing the hydraulic compensation instruction to generate inclination compensation parameters.

3. A method for gravity and magnetic measurement of an unmanned ship according to claim 1, characterized in that, The generating of the positioning enhancement signal includes: Calculating the angle change based on the inclination compensation parameters to generate a fluctuation amplitude; When the fluctuation amplitude exceeds a preset inclination threshold, increasing the sampling frequency to a preset high-frequency mode to generate a positioning enhancement signal.

4. The unmanned ship gravity and magnetic measurement method according to claim 1, wherein The raw gravity data and the raw magnetic force data include: Generating a timing pulse signal based on the positioning enhancement signal; Generating an alignment trigger signal based on the transmission delay of the timing pulse signal; Based on the alignment trigger signal, transmitting the timing pulse signal in a branched manner to generate time-aligned raw gravity data and raw magnetic force data.

5. A method for gravity and magnetic measurement of an unmanned ship according to claim 1, characterized in that, The generating of the wave feature parameters includes: Obtaining the gradient change amount of adjacent sampling points based on the raw magnetic force data; Marking the time points when the gradient change amount exceeds a preset gradient threshold to generate a wave peak sequence; Fitting the time distribution of the wave peak sequence to generate wave feature parameters.

6. The method for gravity and magnetic measurement of an unmanned ship according to claim 5, characterized in that, The generating of the wave noise compensation value includes: Obtaining the acquisition time sequence of the raw gravity data; Matching the wave peak sequence through the acquisition time sequence based on the wave feature parameters to generate real-time inclination compensation parameters; Calculating the acceleration error component and the wave periodic residual component based on the real-time inclination compensation parameters to generate a wave noise compensation value.

7. A method for gravity and magnetic measurement of an unmanned ship according to claim 1, characterized in that The generating of the target gravity field data based on the wave noise compensation value includes: Constructing a dynamic filter based on the wave feature parameters; Generating a gravity compensation residual amount through the dynamic filter based on the wave noise compensation value; Superimposing the gravity compensation residual amount on the raw gravity data to generate target gravity field data.

8. A method for gravity and magnetic measurement of an unmanned ship according to claim 1, characterized in that, It further includes: Fusing the magnetic field values at the corresponding spatial positions in the target gravity field data and the raw magnetic force data to generate a standardized fusion data set; Generating a three-dimensional physical property distribution map based on the standardized fusion data set.

9. A method for gravity and magnetic measurement of an unmanned ship according to claim 8, characterized in that, The generating of the three-dimensional physical property distribution map includes: Performing an operation of separating the regional field and the local field based on the standardized fusion data set to generate a local gravity and magnetic anomaly data volume; Constructing a gravity and magnetic anomaly matrix based on the local gravity and magnetic anomaly data volume; Generating a three-dimensional physical property distribution map based on the gravity and magnetic anomaly matrix.

10. A gravity and magnetic measurement system applied to the gravity and magnetic measurement method for unmanned ships described in any one of claims 1-9, characterized in that, The system includes: A data acquisition module: used for obtaining real-time attitude data of the unmanned ship and generating inclination compensation parameters; High-precision positioning module: used to adjust the data acquisition frequency according to the inclination compensation parameter and generate a positioning enhancement signal; Gravity and magnetic data synchronization module: used to trigger the acquisition of operation data based on the positioning enhancement signal and generate raw gravity data and raw magnetic data, where the raw magnetic data contains magnetic field gradient mutation points; Magnetic field gradient analysis module: used to extract the magnetic field gradient mutation points in the raw magnetic data and generate wave feature parameters; Wave noise compensation module: used to fuse the inclination compensation parameter, wave feature parameters and raw gravity data to generate a wave noise compensation value; Gravity field construction module: used to generate target gravity field data based on the wave noise compensation value.

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