Time domain aviation electromagnetic data filtering method and device and electronic equipment

Abstract

The invention discloses a time domain aviation electromagnetic data filtering method, a time domain aviation electromagnetic data filtering device and electronic equipment. According to the specific scheme, after an electromagnetic signal is sent to an underground medium of a target exploration area through preset electromagnetic sending equipment, response electromagnetic data fed back by the underground medium based on the electromagnetic signal are obtained according to preset sampling frequency and preset sampling duration, and the response electromagnetic data are used for representing electrical characteristics of the underground medium; determining a filter parameter corresponding to the response electromagnetic data according to the electromagnetic signal and a preset sampling frequency; and filtering the response electromagnetic data based on the filter parameters to obtain target electromagnetic data corresponding to the response electromagnetic data. According to the invention, effective filtering processing of the response electromagnetic data is realized through the filter parameters determined according to the characteristics of the emitted electromagnetic signals, the accuracy of the target electromagnetic data is ensured, and the signal-to-noise ratio of the data is improved.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a time-domain airborne electromagnetic data filtering method, device and electronic equipment. Background Art

[0002] Time-domain airborne electromagnetic surveys transmit periodic electromagnetic signals into the ground and receive electromagnetic waves in response to the secondary field reflected by the subsurface medium. The received electromagnetic waves are then processed and analyzed to determine the electrical characteristics of the subsurface medium. However, the received electromagnetic wave data may be affected by various noise sources, such as aircraft noise, instrument noise, and human interference, which can affect the reliability of the subsequent inversion results.

[0003] Prior art filtering of time-domain airborne electromagnetic data often takes noise characteristics as its starting point. Specifically, different filtering methods are employed for different types of noise. For example, notch comb filtering can be used to remove power frequency interference, polynomial fitting or high-pass filtering can be used to remove motion noise, and low-pass filtering can be used to remove high-frequency noise. However, when there are multiple types of noise with varying characteristics, these filtering methods are not only complex but also utilize multiple filtering methods simultaneously to perform denoising, which can adversely affect the valid signal and hinder subsequent inversion processing. Summary of the Invention

[0004] The present invention provides a time-domain airborne electromagnetic data filtering method, device, and electronic equipment. By determining filter parameters based on the characteristics of the transmitted electromagnetic signal, effective filtering processing of the response electromagnetic data is achieved, thereby ensuring the accuracy of the target electromagnetic data and improving the data signal-to-noise ratio.

[0005] According to one aspect of the present invention, a time-domain airborne electromagnetic data filtering method is provided, the method comprising:

[0006] After transmitting an electromagnetic signal to the underground medium in the target exploration area through a preset electromagnetic transmitting device, response electromagnetic data fed back by the underground medium based on the electromagnetic signal is obtained according to a preset sampling frequency and a preset sampling duration, wherein the response electromagnetic data is used to characterize the electrical characteristics of the underground medium;

[0007] determining filter parameters corresponding to the response electromagnetic data based on the electromagnetic signal and a preset sampling frequency;

[0008] The response electromagnetic data is filtered based on the filter parameters to obtain target electromagnetic data corresponding to the response electromagnetic data.

[0009] According to another aspect of the present invention, a time-domain airborne electromagnetic data filtering device is provided, the device comprising:

[0010] An electromagnetic data acquisition module is configured to, after transmitting an electromagnetic signal to the underground medium in the target exploration area via a preset electromagnetic transmitting device, acquire, based on a preset sampling frequency and a preset sampling duration, response electromagnetic data fed back by the underground medium based on the electromagnetic signal, wherein the response electromagnetic data is used to characterize the electrical characteristics of the underground medium;

[0011] A filter parameter determination module, configured to determine filter parameters corresponding to the response electromagnetic data based on the electromagnetic signal and a preset sampling frequency;

[0012] The electromagnetic data filtering module is used to filter the response electromagnetic data based on the filter parameters to obtain target electromagnetic data corresponding to the response electromagnetic data.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] at least one processor; and

[0015] a memory communicatively connected to at least one processor; wherein,

[0016] The memory stores a computer program executable by at least one processor. The computer program is executed by the at least one processor so that the at least one processor can perform the time-domain airborne electromagnetic data filtering method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium stores computer instructions, which are used to enable a processor to implement the time-domain airborne electromagnetic data filtering method according to any embodiment of the present invention when executed.

[0018] According to another aspect of the present invention, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the time-domain airborne electromagnetic data filtering method according to any embodiment of the present invention.

[0019] The technical solution of the embodiment of the present invention is to transmit an electromagnetic signal to the underground medium in the target exploration area through a preset electromagnetic transmitting device, and then obtain the response electromagnetic data fed back by the underground medium according to a preset sampling frequency and a preset sampling duration. Because the fed-back response electromagnetic data is easily affected by various noises, the filter parameters corresponding to the response electromagnetic data can be determined based on the transmitted electromagnetic signal and the preset sampling frequency, so that the response electromagnetic data can be filtered using the filter parameters to obtain the target electromagnetic data corresponding to the response electromagnetic data. By determining the filter parameters based on the characteristics of the transmitted electromagnetic signal, the filtering process is simplified, effective filtering of the response electromagnetic data is achieved, amplification of the useful signal and suppression of the noise signal are achieved, the accuracy of the target electromagnetic data is guaranteed, the data signal-to-noise ratio is improved, and the reliability and accuracy of the subsequent inversion processing based on the target electromagnetic data are guaranteed.

[0020] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 This is a flow chart of a time-domain airborne electromagnetic data filtering method provided by an embodiment of the present invention;

[0023] Figure 2 This is a flow chart of a time-domain airborne electromagnetic data filtering method provided by an embodiment of the present invention;

[0024] Figure 3 1 is a schematic structural diagram of a time-domain airborne electromagnetic data filtering device provided by an embodiment of the present invention;

[0025] Figure 4 The figure is a schematic structural diagram of an electronic device for implementing the time-domain airborne electromagnetic data filtering method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] Example 1

[0029] Figure 1 This is a flow chart of a time-domain airborne electromagnetic data filtering method provided by the first embodiment of the present invention. This embodiment is applicable to the case where filter parameters are determined by the characteristics of the transmitted electromagnetic signal to filter the response electromagnetic data. The method can be executed by a time-domain airborne electromagnetic data filtering device. The time-domain airborne electromagnetic data filtering device can be implemented in the form of hardware and / or software. The time-domain airborne electromagnetic data filtering device can be configured in electronic devices such as mobile phones, computers or servers. Figure 1 As shown, the method includes:

[0030] S110 , after sending an electromagnetic signal to the underground medium in the target exploration area through a preset electromagnetic sending device, obtain response electromagnetic data fed back by the underground medium based on the electromagnetic signal according to a preset sampling frequency and a preset sampling duration.

[0031] The response electromagnetic data is used to characterize the electrical characteristics of the underground medium. The preset electromagnetic transmitting device may be a pre-configured device for transmitting electromagnetic signals. Since the embodiments of the present invention are applied in the context of time-domain airborne electromagnetic exploration, the preset electromagnetic transmitting device may be an electromagnetic transmitting coil pre-deployed on an aircraft. The response electromagnetic data is time-domain airborne electromagnetic data. The target exploration area may be an area currently requiring exploration and processing. The underground medium may be understood as the underground medium body in the target exploration area. The electromagnetic signal may be understood as a signal for geological exploration in the target exploration area, i.e., a signal for detecting the electrical characteristics of the underground medium.

[0032] Since an induced electromagnetic field is generated in the underground medium after an electromagnetic signal is transmitted to the underground medium, response electromagnetic data corresponding to the induced electromagnetic field can be acquired according to a preset sampling frequency and a preset sampling duration. Specifically, the preset sampling frequency can be understood as a pre-set frequency for acquiring the response electromagnetic data. The preset sampling duration can be understood as the length of time over which the response electromagnetic data is acquired. The response electromagnetic data can be understood as an induced signal corresponding to the induced electromagnetic field generated by the underground medium based on the electromagnetic signal. The response electromagnetic data is used to characterize the electrical characteristics of the underground medium. The electrical characteristics may include at least one of electrical conductivity, magnetic permeability, and polarizability corresponding to the underground medium.

[0033] Specifically, after an electromagnetic signal is sent to the underground medium in the target exploration area by a preset electromagnetic sending device, response electromagnetic data corresponding to the electromagnetic signal fed back by the underground medium can be obtained according to a preset sampling frequency and a preset sampling duration.

[0034] For example, in the case of time-domain airborne electromagnetic surveys, the pre-set electromagnetic transmitting device can be an electromagnetic transmitting coil deployed on an aircraft. Specifically, the pre-deployed electromagnetic transmitting coil on the aircraft transmits electromagnetic signals to the target exploration area, causing the subsurface medium in the target exploration area to generate a corresponding induced electromagnetic field. Based on a pre-set sampling frequency and duration, an induced electromagnetic signal corresponding to the induced electromagnetic field of the subsurface medium is acquired, i.e., the response electromagnetic data.

[0035] S120 : Determine filter parameters corresponding to the response electromagnetic data according to the electromagnetic signal and the preset sampling frequency.

[0036] Among them, the filter parameters can be parameters of a peak comb filter. Optionally, the filter parameters include: at least one of: filter order, filter bandwidth, superposition filter coefficient and feedback filter coefficient. The filter order, that is, the peak comb filter order, represents the order of the highest-order term in the transfer function of the peak comb filter. The higher the filter order, the steeper the transition band of the filter (passband to stopband). That is, a lower filter order is suitable for denoising filtering requirements, and a higher filter order is suitable for scenarios such as frequency band separation. The filter bandwidth can be used to characterize the frequency domain range that the response electromagnetic data is allowed to pass. In an embodiment of the present invention, the filter bandwidth is the 3dB bandwidth of the peak comb filter. The superposition filter coefficient is a filter coefficient used to perform denoising, smoothing, edge enhancement and other operations on the response electromagnetic data. The feedback filter coefficient is used to adjust the zero position and pole position of the response electromagnetic data and optimize the baseband noise.

[0037] Specifically, the polarity information and fundamental frequency information of the transmitted electromagnetic signal are determined. Based on the polarity information and fundamental frequency information of the transmitted electromagnetic signal and a constraint condition or coefficient determination function corresponding to the polarity information, at least one filter parameter selected from among a filter order, a filter bandwidth, a superposition filter coefficient, and a feedback filter coefficient corresponding to the response electromagnetic data is determined, so as to filter the response electromagnetic data according to the filter parameters.

[0038] S130 , performing filtering processing on the response electromagnetic data based on the filter parameters to obtain target electromagnetic data corresponding to the response electromagnetic data.

[0039] The target electromagnetic data may be understood as the response electromagnetic data after filtering.

[0040] Specifically, the response electromagnetic data is filtered according to the filter parameters to determine the target electromagnetic data corresponding to the response electromagnetic data, so as to determine the electrical characteristics corresponding to the underground medium in the target exploration area based on the target electromagnetic data, thereby providing data support for subsequent exploration and development of the target exploration area.

[0041] In an embodiment of the present invention, the response electromagnetic data is filtered to obtain the target electromagnetic data in the following manner: determining at least one time slice within a preset sampling duration and partial electromagnetic data corresponding to each time slice based on waveform period information of the response electromagnetic data; for at least one time slice, filtering the partial electromagnetic data corresponding to the target time slice based on filter parameters and a preset filtering function to obtain first output data; taking the next adjacent time slice of the target time slice as the target time slice, and filtering the partial electromagnetic data corresponding to the target time slice based on the first output data, the filter parameters and the preset filtering function to obtain second output data; repeating the process of determining the target time slice, and repeating the process of filtering the partial electromagnetic data corresponding to the target time slice based on the second output data, the filter parameters and the preset filtering function, until the filtering of the response electromagnetic data within the preset sampling duration is completed to obtain the target electromagnetic data.

[0042] The waveform period information can be understood as the signal period of the response electromagnetic wave data. The time slice can be a time period obtained by time-slicing the preset sampling time period according to the waveform period information. The partial electromagnetic data can be understood as the response electromagnetic data corresponding to the time slice. Optionally, the partial electromagnetic data within each time slice can be expressed as:

[0043] X i ={x[iN],x[i-N+1],…,x[i+N-1]}

[0044] Among them, X i represents partial electromagnetic data within a time slice, x[iN] represents the response electromagnetic data corresponding to the i-th sampling point within the time slice, x[i-N+1] represents the response electromagnetic data corresponding to the i-N+1-th sampling point within the time slice, and x[i+N-1] represents the response electromagnetic data corresponding to the i+N-1-th sampling point within the time slice, where N represents the filter order. The preset filter function may be a function used to filter the response electromagnetic data. The target time slice may be the currently selected time slice corresponding to the first partial electromagnetic data to be filtered. The first output data may be the electromagnetic data after filtering the partial electromagnetic data of the target time slice. The second output data may be the electromagnetic data after filtering the partial electromagnetic data of the next adjacent time slice.

[0045] For part of the electromagnetic data within the current time slice, filtering processing can be performed using the following preset filtering function.

[0046] y[j]=b0x[j]+b1x[jN]-a N y[jN], where j=i,i+1,...,i+N-1;

[0047] Where, when j=i, y[j] represents the output data corresponding to the electromagnetic data of the i-th sampling point in the current time slice after filtering. x[j] represents the electromagnetic data of the i-th sampling point in the current time slice. x[jN] represents the electromagnetic data corresponding to the iN-th sampling point. y[jN] represents the output data after filtering the electromagnetic data corresponding to the iN-th sampling point. b0 and b1 represent the superposition filter coefficients. a N Represents the feedback filter coefficient.

[0048] It should be noted that, since the above-mentioned preset filtering function can filter the electromagnetic data of N sampling points at a time, if x[jN] does not exist in the current time slice, it can be obtained based on the partial electromagnetic data in the previous time slice adjacent to the current time slice. Similarly, if y[jN] does not exist in the output data of the partial electromagnetic data corresponding to the current time slice, it can be obtained based on the output data corresponding to the partial electromagnetic data in the previous time slice adjacent to the current time slice. For example, if the electromagnetic data of the Nth sampling point before the current sampling point does not exist in the second time slice, the corresponding electromagnetic data can be obtained from the first time slice. Correspondingly, if the output data corresponding to the electromagnetic data of the Nth sampling point before the current sampling point does not exist in the second time slice, the corresponding first output data can be obtained from the first time slice.

[0049] Specifically, based on the waveform period information of the response electromagnetic data, at least one time slice corresponding to a preset sampling duration and the partial electromagnetic data corresponding to each time slice are determined. Based on the at least one time slice, the starting time slice is used as the target time slice, and the partial electromagnetic data within the target time slice is filtered based on the filter parameters and the preset filter function to determine the first output data. The next adjacent time slice of the target time slice is used as the target time slice, and the partial electromagnetic data within the target time slice is filtered based on the first output data, the filter parameters, and the preset filter function to obtain the second output data. The above process of determining the target time slice is repeated, and the filtering process of determining the partial electromagnetic data is repeated based on the second output data, the filter parameters, and the preset filter function until the filtering process of the partial electromagnetic data of all time slices within the preset sampling duration is completed, and the target electromagnetic data is determined based on the output data corresponding to all the partial electromagnetic data.

[0050] Optionally, after obtaining the target electromagnetic data corresponding to the response electromagnetic data, the method further includes: performing inversion processing based on the target electromagnetic data within a preset sampling time length to determine the electrical characteristics of the underground medium in the target exploration area.

[0051] Specifically, the target electromagnetic data within a preset sampling time is divided into several "channels" according to specific rules (such as time windows or frequency intervals). The target electromagnetic data in the same channel are stacked and averaged to reduce random noise, thereby achieving stacked and channel-extracted processing of the target electromagnetic data. The stacked and channel-extracted target electromagnetic data are then inverted to determine the electrical characteristics of the subsurface medium in the target exploration area.

[0052] The technical solution of this embodiment is to transmit an electromagnetic signal to the underground medium in the target exploration area through a preset electromagnetic transmitting device, and then obtain the response electromagnetic data fed back by the underground medium according to a preset sampling frequency and a preset sampling duration. Because the fed-back response electromagnetic data is easily affected by various noises, the filter parameters corresponding to the response electromagnetic data can be determined based on the transmitted electromagnetic signal and the preset sampling frequency, so that the response electromagnetic data can be filtered using the filter parameters to obtain the target electromagnetic data corresponding to the response electromagnetic data. By determining the filter parameters based on the characteristics of the transmitted electromagnetic signal, the filtering process is simplified, effective filtering of the response electromagnetic data is achieved, amplification of the useful signal and suppression of the noise signal are achieved, the accuracy of the target electromagnetic data is guaranteed, the data signal-to-noise ratio is improved, and the reliability and accuracy of the subsequent inversion processing based on the target electromagnetic data are guaranteed.

[0053] Example 2

[0054] Figure 2 This is a flow chart of a time domain airborne electromagnetic data filtering method provided by the second embodiment of the present invention. This embodiment of the present invention is based on the above embodiment and further refines the step of "determining the filter parameters corresponding to the response electromagnetic data based on the electromagnetic signal and the preset sampling frequency". Its specific implementation method can be found in the technical solution of this embodiment. Among them, the technical terms that are the same as or corresponding to the above embodiment are not repeated here. Figure 2 As shown, the method includes:

[0055] S210 , after sending an electromagnetic signal to the underground medium in the target exploration area through a preset electromagnetic sending device, obtain response electromagnetic data fed back by the underground medium based on the electromagnetic signal according to a preset sampling frequency and a preset sampling time.

[0056] Among them, the response electromagnetic data is used to characterize the electrical characteristics of the underground medium.

[0057] S220: Determine target fundamental frequency information and polarity information corresponding to the electromagnetic signal.

[0058] The target fundamental frequency information may be the fundamental frequency information corresponding to the transmitted electromagnetic signal. The polarity information may be used to characterize the directional characteristics of the transmitted electromagnetic signal. Optionally, the transmitted electromagnetic signal may be a unipolar wave or a bipolar wave, i.e., the polarity information may be unipolar or bipolar.

[0059] Specifically, target fundamental frequency information and polarity information of the transmitted electromagnetic signal are determined, so as to determine filter parameters adapted to the response electromagnetic data according to the target fundamental frequency information and polarity information.

[0060] In an embodiment of the present invention, the method for determining the target fundamental frequency information can be: performing frequency domain analysis on the response electromagnetic data to determine the offset data of the frequency information of the response electromagnetic data relative to the fundamental frequency information of the electromagnetic signal; adjusting the fundamental frequency information based on the offset data to determine the target fundamental frequency information.

[0061] The fundamental frequency information of the electromagnetic signal may be the frequency information of the electromagnetic signal transmitted by a preset electromagnetic transmitting device. The offset data may be understood as the deviation between the frequency information of the response electromagnetic data and the fundamental frequency information of the electromagnetic signal. The target fundamental frequency information may be the adjusted fundamental frequency information corresponding to the electromagnetic signal.

[0062] Specifically, because the transmission frequency of the electromagnetic signal sent by the preset electromagnetic transmitting device may drift, frequency domain analysis can be performed on the received response electromagnetic data to determine the offset of the frequency information of the response electromagnetic data relative to the fundamental frequency information of the electromagnetic signal. The fundamental frequency information of the electromagnetic signal can then be adjusted based on the offset data to determine the target fundamental frequency information. Optionally, the fundamental frequency information of the electromagnetic signal can be adjusted based on the offset information to obtain a target fundamental frequency range.

[0063] Optionally, adaptively adjusting the peak comb filter passband width (set to ±5% of the electromagnetic signal's fundamental frequency) can address frequency drift (<±2%) during electromagnetic signal transmission. This allows for a better signal-to-noise ratio in complex electromagnetic interference scenarios and improves the adaptability of the present invention.

[0064] S230 : Determine filter parameters corresponding to the polarity information according to the preset sampling frequency, the target fundamental frequency information, and the polarity information.

[0065] The filter parameters include at least one of a filter order, a filter bandwidth, a superposition filter coefficient, and a feedback filter coefficient.

[0066] Specifically, the filter bandwidth can be determined based on the target fundamental frequency information. The filter order can be determined based on the preset sampling frequency, the target fundamental frequency information, and the polarity information. The superposition filter coefficient and the feedback filter coefficient can be determined based on the filter bandwidth, the filter order, and the preset sampling frequency. Based on this, the filter order, the filter bandwidth, the superposition filter coefficient, and the feedback filter coefficient can be obtained, and the filter order, the filter bandwidth, the superposition filter coefficient, and the feedback filter coefficient can be used as filter parameters for filtering the response electromagnetic data.

[0067] In an embodiment of the present invention, the method for determining the filter parameters can be: determining the filter bandwidth based on the target baseband information and preset constraints; determining the filter order corresponding to the polarity information based on the preset sampling frequency and the target baseband information; determining the superposition filter coefficient and the feedback filter coefficient corresponding to the polarity information based on the filter order, the filter bandwidth and the preset sampling frequency; and determining the filter bandwidth, the filter order, the superposition filter coefficient and the feedback filter coefficient as the filter parameters of the response electromagnetic data.

[0068] The preset constraint condition may be a preset constraint condition corresponding to the filter bandwidth. Optionally, the preset constraint condition may be as follows:

[0069] Δf<f0 / 2

[0070] Where Δf represents the filter bandwidth and f0 represents the target fundamental frequency information.

[0071] Specifically, the 3dB bandwidth of the peak comb filter, i.e., the filter bandwidth, is determined based on the target baseband information and preset constraints. A filter order determination function corresponding to the polarity information is determined based on the polarity information of the electromagnetic signal. The filter order is determined based on the filter order determination function, the preset sampling frequency, and the target baseband information. Based on the polarity information of the electromagnetic signal, a preset superposition filter coefficient determination function and a preset feedback filter coefficient determination function corresponding to the polarity information are determined. The superposition filter coefficient is determined based on the preset superposition filter coefficient determination function, the filter order, the filter bandwidth, and the preset sampling frequency. The feedback filter coefficient is determined based on the preset feedback filter coefficient determination function, the filter order, the filter bandwidth, and the preset sampling frequency. The filter bandwidth, the filter order, the superposition filter coefficient, and the feedback filter coefficient are determined as filter parameters for filtering the response electromagnetic data.

[0072] Optionally, the method for determining the filter order based on the preset sampling frequency and the target baseband information can be: when the polarity information is bipolar, determining a first ratio of the preset sampling frequency to the target baseband information of a preset multiple, and using the first ratio as the filter order corresponding to the bipolarity; when the polarity information is unipolar, determining a second ratio of the preset sampling frequency to the target baseband information, and using the second ratio as the filter order corresponding to the unipolarity.

[0073] Bipolarity is used to characterize an electromagnetic signal whose amplitude exhibits alternating positive and negative variations. The preset multiple may be a pre-set value multiplied by the target baseband information. Optionally, the preset multiple may be 2. The first ratio may be the ratio of a preset sampling frequency to the target baseband information at the preset multiple. Unipolarity is used to characterize an electromagnetic signal whose amplitude exhibits only a single directional variation. The second ratio may be the ratio of the preset sampling frequency to the target baseband information.

[0074] Specifically, when it is determined that the polarity information of the transmitted electromagnetic signal is bipolar, that is, when the waveform of the electromagnetic signal is a bipolar wave, a first ratio of a preset sampling frequency to a preset multiple of the target fundamental frequency information is determined, and the first ratio is used as the filter order corresponding to the bipolarity. Optionally, the filter order corresponding to the bipolarity can be determined using the following filter order determination function.

[0075] N=f s / (2f0)

[0076] Where N represents the filter order, f s Indicates the preset sampling frequency, f0 indicates the target fundamental frequency information, and the preset multiple is 2.

[0077] When it is determined that the polarity information of the electromagnetic signal is unipolar, that is, the waveform of the electromagnetic signal is a unipolar wave, a second ratio of the preset sampling frequency to the target base frequency information is determined, and the second ratio is used as the filter order corresponding to the unipolarity.

[0078] Optionally, the filter order corresponding to the single polarity may be determined by the following filter order determination function.

[0079] N=f s / f0

[0080] Where N represents the filter order, f s represents the preset sampling frequency, and f0 represents the target fundamental frequency information.

[0081] Optionally, the method for determining the superposition filter coefficient and the feedback filter coefficient based on the filter order, the filter bandwidth and the preset sampling frequency can be: when the polarity information is bipolar, determining the first parameter based on the filter order, the filter bandwidth, the preset sampling frequency and the preset tangent function corresponding to the bipolarity; determining the superposition filter coefficient and the feedback filter coefficient corresponding to the bipolarity based on the first parameter and the preset superposition filter coefficient determination function and the preset feedback filter coefficient determination function corresponding to the bipolarity; when the polarity information is unipolar, determining the second parameter based on the filter order, the filter bandwidth, the preset sampling frequency and the preset tangent function corresponding to the unipolarity; determining the superposition filter coefficient and the feedback filter coefficient corresponding to the unipolarity based on the second parameter and the preset superposition filter coefficient determination function and the preset feedback filter coefficient determination function corresponding to the unipolarity.

[0082] The preset tangent function may be a pre-set tangent function for processing the filter order, filter bandwidth, and preset sampling frequency. Optionally, the preset tangent function may be expressed as:

[0083] A=tan(2NπΔf / fs)

[0084] Wherein, N represents the filter order, Δf represents the filter bandwidth, and fs represents the preset sampling frequency. It should be noted that when N represents the filter order corresponding to bipolarity, A represents the first parameter. When N represents the filter order corresponding to unipolarity, A represents the second parameter. That is, the first parameter can be the result obtained by substituting the filter order, filter bandwidth, and preset sampling frequency corresponding to bipolarity into the preset tangent function. The second parameter can be the result obtained by substituting the filter order, filter bandwidth, and preset sampling frequency corresponding to unipolarity into the preset tangent function.

[0085] The preset superposition filter coefficient determination function corresponding to bipolarity can be used to determine the superposition filter coefficient corresponding to bipolarity. Based on this, when the polarity information of the transmitted electromagnetic signal is bipolar, the response electromagnetic data corresponding to the electromagnetic signal can be filtered using the superposition filter coefficient corresponding to bipolarity. Optionally, the preset superposition filter coefficient determination function corresponding to bipolarity can be expressed as:

[0086]

[0087] Wherein, b0 and b1 represent the superposition filter coefficients corresponding to bipolarity, N represents the filter order, Δf represents the filter bandwidth, and fs represents the preset sampling frequency.

[0088] The preset superposition filter coefficient determination function corresponding to unipolarity can be used to determine the superposition filter coefficient corresponding to unipolarity. Based on this, when the polarity information of the transmitted electromagnetic signal is unipolarity, the response electromagnetic data corresponding to the electromagnetic signal can be filtered using the superposition filter coefficient corresponding to the unipolarity. Optionally, the preset superposition filter coefficient determination function corresponding to unipolarity can be expressed as:

[0089]

[0090] Wherein, b0' and b1' represent superposition filter coefficients corresponding to unipolarity, N represents the filter order, Δf represents the filter bandwidth, and fs represents the preset sampling frequency.

[0091] The feedback filter coefficient corresponding to bipolarity can be used to determine the feedback filter coefficient corresponding to bipolarity. Based on this, when the polarity information of the transmitted electromagnetic signal is bipolar, the response electromagnetic data corresponding to the electromagnetic signal can be filtered using the feedback filter coefficient corresponding to bipolarity. Optionally, the preset feedback filter coefficient determination function corresponding to bipolarity can be expressed as:

[0092]

[0093] Where N is the filter order, Δf is the filter bandwidth, fs is the preset sampling frequency, and a N Indicates the feedback filter coefficient corresponding to bipolarity.

[0094] The feedback filter coefficient corresponding to the unipolarity can be used to determine the feedback filter coefficient corresponding to the unipolarity. Based on this, when the polarity information of the transmitted electromagnetic signal is unipolar, the response electromagnetic data corresponding to the electromagnetic signal can be filtered using the feedback filter coefficient corresponding to the unipolarity. Optionally, the preset feedback filter coefficient determination function corresponding to the unipolarity can be expressed as:

[0095]

[0096] Among them, a N ' represents the feedback filter coefficient corresponding to unipolarity, N represents the filter order, Δf represents the filter bandwidth, and fs represents the preset sampling frequency.

[0097] It should be noted that when determining the superposition filter coefficient and the feedback filter coefficient, it is necessary to determine the polarity information of the electromagnetic signal so as to substitute the filter order, filter bandwidth and preset sampling frequency corresponding to the polarity information into the preset superposition filter coefficient determination function and the preset feedback filter coefficient determination function corresponding to the polarity information.

[0098] Specifically, when the polarity information is bipolar, the filter order, filter bandwidth, and preset sampling frequency corresponding to the bipolarity are substituted into a preset tangent function to determine a first parameter corresponding to the bipolarity. A superposition filter coefficient corresponding to the bipolarity is determined based on the first parameter and a preset superposition filter coefficient determination function corresponding to the bipolarity. A feedback filter coefficient corresponding to the bipolarity is determined based on the first parameter and a preset feedback filter coefficient determination function corresponding to the bipolarity.

[0099] When the polarity information indicates unipolarity, the filter order, filter bandwidth, and preset sampling frequency corresponding to the unipolarity are substituted into a preset tangent function to determine a second parameter corresponding to the unipolarity. A superposition filter coefficient corresponding to the unipolarity is determined based on the second parameter and a preset superposition filter coefficient determination function corresponding to the unipolarity. A feedback filter coefficient corresponding to the unipolarity is determined based on the second parameter and a preset feedback filter coefficient determination function corresponding to the unipolarity.

[0100] S240 , performing filtering processing on the response electromagnetic data based on the filter parameters to obtain target electromagnetic data corresponding to the response electromagnetic data.

[0101] The technical solution of this embodiment is to transmit an electromagnetic signal to the underground medium in the target exploration area through a preset electromagnetic transmitting device, and then obtain the response electromagnetic data fed back by the underground medium according to the preset sampling frequency and preset sampling duration. The target fundamental frequency information and polarity information corresponding to the electromagnetic signal are determined. The filter parameters corresponding to the polarity information are determined according to the preset sampling frequency, target fundamental frequency information, and polarity information. Among them, the filter parameters are peak comb filter parameters. By filtering the response electromagnetic data using the filter parameters of the peak comb filter to obtain the target electromagnetic data, the waveform distortion caused by time domain smoothing can be avoided. While improving the signal-to-noise ratio, the signal integrity of the target electromagnetic data is ensured, such as the complete preservation of key time domain features such as the rising edge and attenuation curve of the response electromagnetic data. By determining the filter parameters based on the characteristics of the transmitted electromagnetic signal, the effective signal energy in the response electromagnetic data can be targeted and concentrated in a specific harmonic channel, thereby achieving the effect of increasing the signal amplitude of the target electromagnetic data. At the same time, based on the multi-passband characteristics of the comb filter, a passband can be formed at integer multiples of the fundamental frequency, and a deep stopband (usually up to -40dB or more) can be established in the non-harmonic frequency band. Based on this, the filter parameters determined by the embodiment of the present invention can be used to filter out various heterogeneous noises such as power frequency interference (50 / 60Hz), high-frequency random noise (>1kHz) and motion noise (0.1-10Hz) in the response electromagnetic data, thereby simplifying the filtering process, achieving effective filtering of the response electromagnetic data, amplifying useful signals and suppressing noise signals, ensuring the accuracy of the target electromagnetic data, improving the data signal-to-noise ratio, and ensuring the reliability and accuracy of subsequent inversion processing based on the target electromagnetic data.

[0102] Example 3

[0103] Figure 3 This is a schematic diagram of the structure of a time domain airborne electromagnetic data filtering device provided by the third embodiment of the present invention. Figure 3 As shown, the device includes: an electromagnetic data acquisition module 310 , a filter parameter determination module 320 and an electromagnetic data filtering module 330 .

[0104] The electromagnetic data acquisition module 310 is used to obtain response electromagnetic data of the underground medium based on the electromagnetic signal fed back by the electromagnetic signal according to a preset sampling frequency and a preset sampling duration after sending the electromagnetic signal to the underground medium in the target exploration area through a preset electromagnetic sending device, wherein the response electromagnetic data is used to characterize the electrical characteristics of the underground medium; the filter parameter determination module 320 is used to determine the filter parameters corresponding to the response electromagnetic data according to the electromagnetic signal and the preset sampling frequency; the electromagnetic data filtering module 330 is used to filter the response electromagnetic data based on the filter parameters to obtain target electromagnetic data corresponding to the response electromagnetic data.

[0105] The technical solution of this embodiment is to transmit an electromagnetic signal to the underground medium in the target exploration area through a preset electromagnetic transmitting device, and then obtain the response electromagnetic data fed back by the underground medium according to a preset sampling frequency and a preset sampling duration. Because the fed-back response electromagnetic data is easily affected by various noises, the filter parameters corresponding to the response electromagnetic data can be determined based on the transmitted electromagnetic signal and the preset sampling frequency, so that the response electromagnetic data can be filtered using the filter parameters to obtain the target electromagnetic data corresponding to the response electromagnetic data. By determining the filter parameters based on the characteristics of the transmitted electromagnetic signal, the filtering process is simplified, effective filtering of the response electromagnetic data is achieved, amplification of the useful signal and suppression of the noise signal are achieved, the accuracy of the target electromagnetic data is guaranteed, the data signal-to-noise ratio is improved, and the reliability and accuracy of the subsequent inversion processing based on the target electromagnetic data are guaranteed.

[0106] Based on the above embodiment, optionally, the filter parameter determination module includes: a fundamental frequency information and polarity information determination unit, which is used to determine the target fundamental frequency information and polarity information corresponding to the electromagnetic signal; a filter parameter determination unit, which is used to determine the filter parameters corresponding to the polarity information based on the preset sampling frequency, target fundamental frequency information and polarity information, wherein the filter parameters include: at least one of the filter order, filter bandwidth, superposition filter coefficient and feedback filter coefficient.

[0107] Optionally, the baseband information and polarity information determination unit includes: a baseband information determination subunit, used to perform frequency domain analysis on the response electromagnetic data, determine the offset data of the frequency information of the response electromagnetic data relative to the baseband information of the electromagnetic signal; adjust the baseband information based on the offset data, and determine the target baseband information.

[0108] Optionally, the filter parameter determination unit includes: a filter bandwidth determination subunit, used to determine the filter bandwidth based on the target baseband information and preset constraints; a filter order determination subunit, used to determine the filter order corresponding to the polarity information based on the preset sampling frequency and the target baseband information; a filter coefficient determination subunit, used to determine the superposition filter coefficient and feedback filter coefficient corresponding to the polarity information based on the filter order, the filter bandwidth and the preset sampling frequency; the filter parameter determination subunit is used to determine the filter bandwidth, the filter order, the superposition filter coefficient and the feedback filter coefficient as filter parameters responding to the electromagnetic data.

[0109] Optionally, a filter order determination subunit is used to determine a first ratio of a preset sampling frequency to a preset multiple of target baseband information when the polarity information is bipolar, and use the first ratio as the filter order corresponding to the bipolarity; and to determine a second ratio of the preset sampling frequency to the target baseband information when the polarity information is unipolar, and use the second ratio as the filter order corresponding to the unipolarity.

[0110] Optionally, a filter coefficient determination subunit is used to determine a first parameter based on the filter order, filter bandwidth, preset sampling frequency and preset tangent function corresponding to the bipolarity when the polarity information is bipolarity; determine the superposition filter coefficient and feedback filter coefficient corresponding to the bipolarity based on the first parameter and the preset superposition filter coefficient determination function and the preset feedback filter coefficient determination function corresponding to the bipolarity; determine a second parameter based on the filter order, filter bandwidth, preset sampling frequency and preset tangent function corresponding to the unipolarity when the polarity information is unipolarity; determine the superposition filter coefficient and feedback filter coefficient corresponding to the unipolarity based on the second parameter and the preset superposition filter coefficient determination function and the preset feedback filter coefficient determination function corresponding to the unipolarity.

[0111] Optionally, an electromagnetic data filtering module is used to determine at least one time slice within a preset sampling duration and partial electromagnetic data corresponding to each time slice based on waveform period information of the response electromagnetic data; for at least one time slice, filter the partial electromagnetic data corresponding to the target time slice according to filter parameters and a preset filtering function to obtain first output data; take the next adjacent time slice of the target time slice as the target time slice, and filter the partial electromagnetic data corresponding to the target time slice based on the first output data, filter parameters and a preset filtering function to obtain second output data; repeat the process of determining the target time slice, and repeat the filtering process of determining the partial electromagnetic data corresponding to the target time slice based on the second output data, filter parameters and a preset filtering function, until the filtering process of the response electromagnetic data within the preset sampling duration is completed, and the target electromagnetic data is obtained.

[0112] Optionally, the device further includes: an electrical characteristic determination module, which is used to perform inversion processing based on target electromagnetic data within a preset sampling time to determine the electrical characteristics of the underground medium in the target exploration area.

[0113] The time-domain airborne electromagnetic data filtering device provided in the embodiment of the present invention can execute the time-domain airborne electromagnetic data filtering method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0114] Example 4

[0115] Figure 4 1 is a structural diagram of an electronic device provided in Embodiment 4 of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0116] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0117] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0118] Processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. Processor 11 executes the various methods and processes described above, such as the time-domain airborne electromagnetic data filtering method.

[0119] In some embodiments, the time-domain airborne electromagnetic data filtering method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the time-domain airborne electromagnetic data filtering method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the time-domain airborne electromagnetic data filtering method in any other suitable manner (e.g., via firmware).

[0120] Various embodiments of the systems and techniques described above can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0121] Computer programs for implementing the time-domain airborne electromagnetic data filtering methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that, when executed by the processor, the computer programs implement the functions / operations specified in the flowcharts and / or block diagrams. The computer programs can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0122] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product that includes a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication unit 19, or installed from the storage unit 18, or installed from the ROM 12. When the computer program is executed by the processor 11, the above-mentioned functions defined in the method of the embodiment of the present invention are performed.

[0123] Example 5

[0124] A fifth embodiment of the present invention further provides a computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a processor to execute a time-domain airborne electromagnetic data filtering method, the method comprising:

[0125] After sending an electromagnetic signal to the underground medium in the target exploration area through a preset electromagnetic sending device, response electromagnetic data of the underground medium based on the electromagnetic signal is obtained according to a preset sampling frequency and a preset sampling duration, wherein the response electromagnetic data is used to characterize the electrical characteristics of the underground medium; based on the electromagnetic signal and the preset sampling frequency, filter parameters corresponding to the response electromagnetic data are determined; based on the filter parameters, the response electromagnetic data is filtered to obtain target electromagnetic data corresponding to the response electromagnetic data.

[0126] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0127] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0128] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0129] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0130] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0131] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A time-domain airborne electromagnetic data filtering method, characterized in that: include: After transmitting an electromagnetic signal to the underground medium in the target exploration area by a preset electromagnetic transmitting device, obtaining response electromagnetic data fed back by the underground medium based on the electromagnetic signal according to a preset sampling frequency and a preset sampling duration, wherein the response electromagnetic data is used to characterize the electrical characteristics of the underground medium; determining filter parameters corresponding to the response electromagnetic data according to the electromagnetic signal and the preset sampling frequency; The response electromagnetic data is filtered based on the filter parameters to obtain target electromagnetic data corresponding to the response electromagnetic data.

2. The method according to claim 1, characterized in that The determining, based on the electromagnetic signal and the preset sampling frequency, filter parameters corresponding to the response electromagnetic data includes: Determining target fundamental frequency information and polarity information corresponding to the electromagnetic signal; According to the preset sampling frequency, the target baseband information and the polarity information, filter parameters corresponding to the polarity information are determined, wherein the filter parameters include: at least one of a filter order, a filter bandwidth, a superposition filter coefficient and a feedback filter coefficient.

3. The method according to claim 2, characterized in that The determining of target fundamental frequency information corresponding to the electromagnetic signal includes: Performing frequency domain analysis on the response electromagnetic data to determine offset data of frequency information of the response electromagnetic data relative to fundamental frequency information of the electromagnetic signal; The fundamental frequency information is adjusted based on the offset data to determine target fundamental frequency information.

4. The method according to claim 2, characterized in that The determining, according to the preset sampling frequency, the target fundamental frequency information, and the polarity information, a filter parameter corresponding to the polarity information includes: Determining a filter bandwidth according to the target fundamental frequency information and preset constraints; Determining a filter order corresponding to the polarity information according to the preset sampling frequency and the target fundamental frequency information; Determining a superposition filter coefficient and a feedback filter coefficient corresponding to the polarity information according to the filter order, the filter bandwidth, and the preset sampling frequency; The filter bandwidth, the filter order, the superposition filter coefficient, and the feedback filter coefficient are determined as filter parameters of the response electromagnetic data.

5. The method according to claim 4, characterized in that The determining, according to the preset sampling frequency and the target fundamental frequency information, a filter order corresponding to the polarity information includes: In a case where the polarity information is bipolar, determining a first ratio of the preset sampling frequency to the target fundamental frequency information of a preset multiple, and using the first ratio as a filter order corresponding to the bipolarity; In a case where the polarity information is unipolar, a second ratio of the preset sampling frequency to the target fundamental frequency information is determined, and the second ratio is used as a filter order corresponding to the unipolarity.

6. The method according to claim 4, characterized in that The determining, according to the filter order, the filter bandwidth, and the preset sampling frequency, of a superposition filter coefficient and a feedback filter coefficient corresponding to the polarity information includes: When the polarity information is bipolar, determining a first parameter based on a filter order corresponding to the bipolarity, the filter bandwidth, the preset sampling frequency, and a preset tangent function; Determining a superposition filter coefficient and a feedback filter coefficient corresponding to the bipolarity based on the first parameter and a preset superposition filter coefficient determination function and a preset feedback filter coefficient determination function corresponding to the bipolarity, respectively; In a case where the polarity information is unipolarity, determining a second parameter based on a filter order corresponding to the unipolarity, the filter bandwidth, the preset sampling frequency, and the preset tangent function; Based on the second parameter and a preset superposition filter coefficient determination function and a preset feedback filter coefficient determination function corresponding to the single polarity, a superposition filter coefficient and a feedback filter coefficient corresponding to the single polarity are determined respectively.

7. The method according to claim 1, characterized in that The filtering the response electromagnetic data based on the filter parameters to obtain target electromagnetic data corresponding to the response electromagnetic data includes: Determining at least one time slice within the preset sampling duration and a portion of electromagnetic data corresponding to each time slice based on waveform period information of the response electromagnetic data; For the at least one time slice, filtering the portion of electromagnetic data corresponding to the target time slice according to the filter parameters and a preset filter function to obtain first output data; Taking the next adjacent time slice of the target time slice as the target time slice, and filtering the portion of electromagnetic data corresponding to the target time slice based on the first output data, the filter parameters, and the preset filter function to obtain second output data; Repeat the process of determining the target time slice, and based on the second output data, the filter parameters and the preset filter function, repeatedly determine the filtering processing process of the portion of the electromagnetic data corresponding to the target time slice until the filtering processing of the response electromagnetic data within the preset sampling time length is completed to obtain the target electromagnetic data.

8. The method according to claim 1, characterized in that After obtaining the target electromagnetic data corresponding to the response electromagnetic data, the method further includes: Inversion processing is performed based on the target electromagnetic data within the preset sampling time to determine the electrical characteristics of the underground medium in the target exploration area.

9. A time-domain airborne electromagnetic data filtering device, characterized in that: include: An electromagnetic data acquisition module is configured to, after transmitting an electromagnetic signal to the underground medium in the target exploration area via a preset electromagnetic transmitting device, acquire, based on a preset sampling frequency and a preset sampling duration, response electromagnetic data fed back by the underground medium based on the electromagnetic signal, wherein the response electromagnetic data is used to characterize the electrical characteristics of the underground medium; a filter parameter determination module, configured to determine filter parameters corresponding to the response electromagnetic data based on the electromagnetic signal and the preset sampling frequency; The electromagnetic data filtering module is used to filter the response electromagnetic data based on the filter parameters to obtain target electromagnetic data corresponding to the response electromagnetic data.

10. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the time-domain airborne electromagnetic data filtering method according to any one of claims 1 to 8.

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