An aircraft aeromagnetic compensation method, system, device, and medium

Abstract

The application provides an aircraft aeromagnetic compensation method, system, device and medium, and relates to the technical field of aircrafts, and the magnetic field characteristic data and temperature characteristic data of the aircraft aeromagnetic of a current area are acquired; the total field value of the interference magnetic field corresponding to the current area is determined based on the magnetic field characteristic data; the total field value of the magnetic interference field corresponding to the current area is determined based on the total field value of the interference magnetic field and the total field value of the non-interference magnetic field; the magnetic interference characteristic matrix corresponding to the current area is determined based on the magnetic field characteristic data and the temperature characteristic data; and the compensation coefficient corresponding to the current area is determined based on the magnetic interference characteristic matrix corresponding to the current area and the total field value of the magnetic interference field, so that the comprehensive error compensation of the aeromagnetic is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft technology, in particular to an aircraft aeromagnetic compensation method, system, device and medium. BACKGROUND

[0002] In the aircraft aeromagnetic measurement system, a traditional Tolles-Lawson aeromagnetic compensation model is used to collect magnetic field vector data related to flight attitude in real time through a three-axis fluxgate magnetometer, and a mathematical model containing 16 compensation coefficients is established, which can parameterize and compensate and correct three types of interference fields, i.e. constant field, induced field and eddy current field. However, the following defects exist in the compensation correction process: in the case of large change in ambient temperature, the detection accuracy of the fluxgate magnetometer will be significantly reduced, thereby affecting the measurement accuracy of the sensor. SUMMARY

[0003] Therefore, the purpose of the present application is to provide an aircraft aeromagnetic compensation method, system, device and medium to improve the stability and reliability of magnetic force measurement.

[0004] In a first aspect, the present application provides an aircraft aeromagnetic compensation method, comprising:

[0005] obtaining magnetic field feature data and temperature feature data of aircraft aeromagnetic in a current area;

[0006] determining a total field value of an interference magnetic field corresponding to the current area based on the magnetic field feature data;

[0007] determining a total field value of a magnetic interference field corresponding to the current area based on the total field value of the interference magnetic field and a total field value of a non-interference magnetic field;

[0008] determining a magnetic interference feature matrix corresponding to the current area based on the magnetic field feature data and the temperature feature data;

[0009] determining a compensation coefficient corresponding to the current area based on the magnetic interference feature matrix corresponding to the current area and the total field value of the magnetic interference field.

[0010] Optionally, obtaining the magnetic field feature data and the temperature feature data of the aircraft aeromagnetic in the current area comprises:

[0011] obtaining magnetic field three-component data collected by a first sensor arranged on the aircraft as the magnetic field feature data;

[0012] obtaining temperature data of the first sensor collected by a second sensor arranged on the aircraft as the temperature feature data.

[0013] Optionally, the present application provides an aircraft aeromagnetic compensation method further comprising:

[0014] Obtain an undisturbed magnetic field total field value collected by a measuring instrument arranged on the ground of the current area.

[0015] Optionally, based on the magnetic field feature data and the temperature feature data, a magnetic interference feature matrix corresponding to the current area is determined, including:

[0016] Based on the magnetic field feature data and the interference magnetic field total field value, first, second and third unit direction cosines corresponding to the magnetic field feature data are determined.

[0017] Based on the initial temperature value and the measured temperature value corresponding to the magnetic field feature data, a temperature difference value is determined.

[0018] Based on the first, second and third unit direction cosines and the temperature difference value, the magnetic interference feature matrix corresponding to the current area is determined.

[0019] Optionally, based on the magnetic interference feature matrix corresponding to the current area and the magnetic interference field total field value, a compensation coefficient corresponding to the current area is determined, including:

[0020] The magnetic interference feature matrix is regularized to obtain a magnetic field relationship inverse matrix corresponding to the magnetic interference feature matrix.

[0021] According to the magnetic interference feature matrix and the magnetic interference field total field value, a magnetic interference field value corresponding to the magnetic interference feature matrix is determined.

[0022] Based on the magnetic field relationship inverse matrix and the magnetic interference field value, the compensation coefficient corresponding to the current area is determined.

[0023] Optionally, the present application provides an aircraft aeromagnetic compensation method, including:

[0024] Obtain measuring magnetic field feature data and measuring temperature feature data of aircraft aeromagnetic in a to-be-measured area; wherein the to-be-measured area is other areas in a target area except the current area;

[0025] Based on the measuring magnetic field feature data, a measuring interference magnetic field total field value corresponding to the to-be-measured area is determined.

[0026] Based on the measuring magnetic field feature data, the measuring temperature feature data and the compensation coefficient, a measuring magnetic interference field total field value of the to-be-measured area is determined; wherein the compensation coefficient is obtained according to the above aircraft aeromagnetic compensation method;

[0027] Based on the measuring interference magnetic field total field value and the measuring magnetic interference field total field value, a measuring undisturbed magnetic field total field value of the to-be-measured area is determined.

[0028] Optionally, after determining the measuring magnetic interference field total field value of the to-be-measured area based on the measuring magnetic field feature data, the measuring temperature feature data and the compensation coefficient, the method further includes:

[0029] Based on the measured magnetic field characteristic data, a compensation model is used to determine the corresponding first compensation non-interference magnetic field total field value of the to-be-measured region;

[0030] Based on the measured magnetic field characteristic data, a compensation coefficient is used to determine the corresponding second compensation non-interference magnetic field total field value of the to-be-measured region;

[0031] Based on the first compensation non-interference magnetic field total field value and the second compensation non-interference magnetic field total field value, an evaluation index corresponding to the compensation non-interference magnetic field total field value is determined.

[0032] Based on the evaluation index corresponding to the compensation non-interference magnetic field total field value, the accuracy of the aircraft aeromagnetic compensation using the compensation coefficient is verified.

[0033] In a second aspect, the present application provides an aircraft aeromagnetic compensation system, comprising:

[0034] A data acquisition module is configured to acquire magnetic field characteristic data and temperature characteristic data of aircraft aeromagnetic in a current region.

[0035] A data processing module is configured to determine a total field value of an interference magnetic field corresponding to the current region based on the magnetic field characteristic data, determine a total field value of a magnetic interference field corresponding to the current region based on the total field value of the interference magnetic field and a total field value of a non-interference magnetic field, determine a magnetic field three-component direction cosine matrix corresponding to the current region based on the magnetic field characteristic data and the temperature characteristic data, and determine a compensation coefficient corresponding to the current region based on the magnetic field three-component direction cosine matrix corresponding to the current region and the total field value of the magnetic interference field.

[0036] In a third aspect, the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the aircraft aeromagnetic compensation method when executing the computer program.

[0037] In a fourth aspect, the present application provides a computer readable storage medium, which stores computer instructions, and the computer instructions are executed by a processor to implement the aircraft aeromagnetic compensation method.

[0038] The aircraft aeromagnetic compensation method, system, device and medium provided by the embodiments of the present application acquire magnetic field characteristic data and temperature characteristic data of aircraft aeromagnetic in a current region, determine a total field value of an interference magnetic field corresponding to the current region based on the magnetic field characteristic data, determine a total field value of a magnetic interference field corresponding to the current region based on the total field value of the interference magnetic field and a total field value of a non-interference magnetic field, determine a magnetic interference characteristic matrix corresponding to the current region based on the magnetic field characteristic data and the temperature characteristic data, and determine a compensation coefficient corresponding to the current region based on the magnetic interference characteristic matrix corresponding to the current region and the total field value of the magnetic interference field, so as to realize comprehensive error compensation of aeromagnetic.

[0039] In order to make the above objectives, characteristics and advantages of the present application more apparent, more comprehensible, the following preferred embodiments are specifically described in detail below, together with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments, and it should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be considered as a limitation to the scope, and for those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0041] Figure 1 A flow chart of an aircraft magnetic compensation method provided by the embodiment of the present application is shown;

[0042] Figure 2 Another flow chart of an aircraft magnetic compensation method provided by the embodiment of the present application is shown;

[0043] Figure 3 The magnetic total field intensity before and after the aircraft magnetic compensation provided by the embodiment of the present application is shown;

[0044] Figure 4 The comparison results of the magnetic total field intensity after the aircraft magnetic compensation provided by the embodiment of the present application and the traditional aircraft magnetic compensation without considering temperature compensation are shown;

[0045] Figure 5 The magnetic anomaly distribution map of each flight line obtained after each compensation and correction provided by the embodiment of the present application is shown;

[0046] Figure 6 The magnetic anomaly distribution map of each flight line obtained after each compensation and correction provided by the embodiment of the present application is shown;

[0047] Figure 7 The structural schematic diagram of an aircraft magnetic compensation system provided by the embodiment of the present application is shown;

[0048] Figure 8 The structural schematic diagram of an electronic device provided by the embodiment of the present application is shown. DETAILED DESCRIPTION

[0049] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will combine the drawings in the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0050] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will combine the drawings in the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present application.

[0051] Airborne magnetic survey, in full, is to measure the change of geomagnetic field from the air by carrying a magnetometer on an aircraft, and then to obtain relevant geological information.

[0052] Airborne magnetic compensation is to accurately eliminate or weaken the non-target interference magnetic field in the process of airborne magnetic survey by a specific mathematical model, calibration experiment and data processing method, so as to obtain the geomagnetic field without interference.

[0053] After introducing the technical terms involved in the present application, the technical solutions provided by the present application will be described in detail.

[0054] The embodiments of the present application provide an aircraft airborne magnetic compensation method, as shown in Figure 1 The general flow of the aircraft airborne magnetic compensation method provided by the embodiments of the present application is as follows:

[0055] Step 110, acquiring the magnetic field characteristic data and temperature characteristic data of the aircraft airborne magnetic survey in the current area.

[0056] In the embodiments of the present application, acquiring the magnetic field characteristic data and temperature characteristic data of the aircraft airborne magnetic survey in the current area includes but is not limited to:

[0057] Acquiring the magnetic field three-component data collected by the first sensor arranged on the aircraft as the magnetic field characteristic data; wherein the first sensor can be a fluxgate magnetometer, and the magnetic field three-component data of the current area is collected by carrying the fluxgate magnetometer on the aircraft and performing the flight action of yaw, pitch and roll at 0°, 90°, 180° and 270° four headings. , is the magnetic field component along the longitudinal axis of the aircraft fuselage to the front (i.e. the x-axis direction), is the magnetic field component along the transverse axis of the aircraft fuselage to the right (i.e. the y-axis direction), Let x be the magnetic field component that is downward along the vertical axis of the spacecraft (i.e., in the z-axis direction), where the x, y, and z axes always satisfy the right-hand screw rule, and the x-axis cross product of the y-axis points towards the z-axis.

[0058] The temperature data of the first sensor is collected by the second sensor set on the aircraft as temperature feature data. The temperature feature data is the temperature when the first sensor collects magnetic field feature data each time. The second sensor can be a temperature sensor, and the temperature feature data is obtained by collecting the temperature of the fluxgate magnetometer through the temperature sensor.

[0059] Step 120: Based on the magnetic field characteristic data, determine the total value of the interfering magnetic field corresponding to the current area.

[0060] In this embodiment of the application, determining the total value of the interfering magnetic field corresponding to the current region based on magnetic field characteristic data includes: calculating the total value of the interfering magnetic field corresponding to the current region according to the three components of the magnetic field, and the calculation process is as follows:

[0061]

[0062] In the formula, This represents the total value of the interfering magnetic field.

[0063] Step 130: Based on the total field value of the interfering magnetic field and the total field value of the non-interfering magnetic field, determine the total field value of the magnetic interference field corresponding to the current region.

[0064] In this embodiment of the application, obtaining the total field value of the interference-free magnetic field includes, but is not limited to: obtaining the total field value of the interference-free magnetic field collected by a measuring instrument set on the ground of the current area.

[0065] In practice, the total field value of the interference-free magnetic field in the current area is measured using an optically pumped magnetometer. .

[0066] It should be noted that the total field value of the interference-free magnetic field is the total intensity of the geomagnetic field excluding magnetic interference from the aircraft itself and external environmental interference (such as electromagnetic equipment and metal obstacles).

[0067] In this embodiment, the total magnetic interference field value corresponding to the current region is determined based on the total field value of the interfering magnetic field and the total field value of the non-interfering magnetic field. :

[0068]

[0069] Step 140: Based on magnetic field characteristic data and temperature characteristic data, determine the magnetic interference characteristic matrix corresponding to the current region.

[0070] In the embodiment of the present application, based on the magnetic field feature data and the temperature feature data, the magnetic interference feature matrix corresponding to the current region is determined, including: based on the magnetic field feature data and the total field value of the interference magnetic field, the first unit direction cosine, the second unit direction cosine and the third unit direction cosine corresponding to the magnetic field feature data are determined; based on the initial temperature value and the measured temperature value corresponding to the magnetic field feature data, the temperature difference value is determined; based on the first unit direction cosine, the second unit direction cosine, the third unit direction cosine and the temperature difference value, the magnetic interference feature matrix corresponding to the current region is determined.

[0071] In specific implementation, based on the magnetic field feature data and the total field value of the interference magnetic field, the first unit direction cosine, the second unit direction cosine and the third unit direction cosine corresponding to the magnetic field feature data are determined:

[0072]

[0073]

[0074]

[0075] In the formula, is the cosine value of the angle between the magnetic field vector and the positive direction of the x axis, is the cosine value of the angle between the magnetic field vector and the positive direction of the y axis, is the cosine value of the angle between the magnetic field vector and the positive direction of the z axis.

[0076] In the embodiment of the present application, the temperature feature data is based on the magnetic field feature data and the temperature feature data, and the magnetic interference feature matrix corresponding to the current region is determined:

[0077]

[0078] In the formula, is the magnetic interference feature matrix, is the change amount of the sensor environment temperature during the aeromagnetic measurement.

[0079] It should be noted that the change amount of the sensor environment temperature during the aeromagnetic measurement is the difference between the initial temperature value and the temperature value corresponding to the current magnetic field feature data, and the initial temperature value is the temperature value corresponding to the first magnetic field feature data collected.

[0080] Step 150, based on the magnetic interference feature matrix corresponding to the current region and the total field value of the magnetic interference field, the compensation coefficient corresponding to the current region is determined.

[0081] In the embodiment of the present application, the compensation coefficient corresponding to the current region is determined based on the magnetic interference characteristic matrix corresponding to the current region and the total field value of the magnetic interference field, including: performing regularization processing on the magnetic interference characteristic matrix to obtain the magnetic field relationship inverse matrix corresponding to the magnetic interference characteristic matrix; determining the magnetic interference field value corresponding to the magnetic interference characteristic matrix according to the magnetic interference characteristic matrix and the total field value of the magnetic interference field; determining the compensation coefficient corresponding to the current region based on the magnetic field relationship inverse matrix and the magnetic interference field value.

[0082] In a specific implementation, the compensation coefficient corresponding to the current region is determined based on the magnetic interference characteristic matrix and the total field value of the magnetic interference field by using a ridge regression algorithm, wherein the compensation coefficient is:

[0083]

[0084] In the formula, is the compensation coefficient, is the transpose matrix of the magnetic interference characteristic matrix, is a regularization parameter, is an identity matrix.

[0085] It should be noted that the compensation coefficient is a compensation coefficient in a comprehensive compensation model, which is obtained by adding temperature compensation (i.e. the ambient temperature of the sensor used to collect the magnetic field characteristic data) to the traditional Tolles-Lawson compensation model.

[0086] In the aircraft aeromagnetic compensation method provided in the embodiment of the present application, the total field value of the magnetic interference field is obtained from the total field value of the interference magnetic field and the total field value of the non-interference magnetic field; the magnetic interference characteristic matrix is obtained from the magnetic field characteristic data and the temperature characteristic data, and the compensation coefficient in the comprehensive compensation model is obtained by using a ridge regression algorithm based on the total field value of the magnetic interference field and the magnetic interference characteristic matrix. The temperature compensation is added to the traditional Tolles-Lawson compensation model to realize comprehensive error compensation of aeromagnetic, so as to improve the aircraft fluxgate aeromagnetic measurement accuracy.

[0087] The embodiment of the present application provides an aircraft aeromagnetic compensation method, as shown in Figure 2 The aircraft aeromagnetic compensation method provided in the embodiment of the present application is as follows:

[0088] Step 210, obtaining the measurement magnetic field characteristic data and the measurement temperature characteristic data of the aircraft aeromagnetic in the to-be-measured region; wherein the to-be-measured region is other region in the target region except the current region.

[0089] Step 220, determining the measurement interference magnetic field total field value corresponding to the to-be-measured region based on the measurement magnetic field characteristic data.

[0090] Step 230, determining the total field value of the measured magnetic interference field of the to-be-measured region based on the measured magnetic field feature data, the measured temperature feature data and the compensation coefficient;

[0091] The compensation coefficient is obtained according to the aircraft magnetic compensation method provided above.

[0092] Step 240, determining the total field value of the measured non-interference magnetic field of the to-be-measured region based on the total field value of the measured interference magnetic field and the total field value of the measured magnetic interference field.

[0093] In the embodiments of the present application, when a target region is subjected to magnetic survey, at least the following steps are included:

[0094] Firstly, a magnetic gradient balance region in the target region is selected as a current region, and the aircraft magnetic compensation method in the above embodiments is used to determine the compensation coefficient in the comprehensive compensation model corresponding to the target region;

[0095] Then, the measured magnetic field feature data and the measured temperature feature data of the aircraft magnetic survey of the to-be-measured region are obtained by the aircraft, and the total field value of the measured magnetic interference field corresponding to the to-be-measured region is determined according to the measured magnetic field feature data, the measured temperature feature data and the compensation coefficient, wherein the total field value of the measured magnetic interference field can be calculated by the following formula:

[0096]

[0097] In the formula, is the total field value of the measured magnetic interference field, is the measured magnetic interference feature matrix, is the compensation coefficient;

[0098] Finally, the total field value of the measured non-interference magnetic field corresponding to the to-be-measured region is determined by the difference between the total field value of the measured interference magnetic field and the total field value of the measured magnetic interference field.

[0099] In the embodiments of the present application, the magnetic field feature data of the target region is optimized by the comprehensive compensation model with temperature compensation, so as to realize the comprehensive error compensation of the magnetic survey and improve the aircraft fluxgate magnetic survey precision, Figure 3 The comparison before and after the aircraft magnetic compensation is shown in Table 2, and it can be seen that the total field intensity of the magnetic field before the aircraft magnetic compensation ranges from 56850 to 57200nT, and there is a significant interference error. After the magnetic compensation, the total field intensity of the magnetic field tends to be stable and is approximately a constant, which indicates that the steering error is effectively corrected. Figure 4 The residual error of the magnetic compensation considering the temperature compensation is shown in Table 3, and it can be seen that the fluctuation of the magnetic survey after the temperature compensation is obviously smaller.

[0100] To verify the effectiveness of the aeromagnetic compensation method for aircraft provided in this application, this application involves determining the first compensated interference-free magnetic field total value for the area to be measured using a compensation model (i.e., the Tolles-Lawson aeromagnetic compensation model) based on measured magnetic field characteristic data; determining the second compensated interference-free magnetic field total value for the area to be measured using compensation coefficients based on measured magnetic field characteristic data; determining the evaluation index corresponding to the first and second compensated interference-free magnetic field total values; and verifying the accuracy of using compensation coefficients for aeromagnetic compensation of the aircraft based on the evaluation index corresponding to the compensated interference-free magnetic field total value.

[0101] In practical implementation, to quantify the compensation effect, the Improvement Ratio (IR) was used as an evaluation index. It is defined as the ratio of the standard deviation of the total magnetic field strength before compensation to the standard deviation of the total magnetic field strength after compensation. A higher Improvement Ratio indicates a better compensation effect. The expression for the Improvement Ratio is:

[0102]

[0103]

[0104] In the formula, To improve the ratio, To compensate for the total field value of the magnetic field before, To compensate for the total magnetic field value, The standard deviation is denoted as .

[0105] The standard deviation of the total magnetic field strength before compensation is calculated using the following formula:

[0106]

[0107] In the formula, The number of observation points. For the first Magnetic field values ​​at each measuring point For the first Magnetic field values ​​at each measuring point The average value of the total magnetic field before compensation;

[0108] The standard deviation of the compensated total magnetic field strength is calculated using the following formula:

[0109]

[0110] In the formula, The number of observation points. The number of compensation coefficients, For the first Magnetic field values ​​at each measuring point For the first a magnetic field value of a measuring point, an average value of the total field value of the magnetic field after compensation.

[0111] In the embodiment of the present application, the standard deviation corresponding to the total magnetic field before compensation is 116.23 nT, the standard deviation corresponding to the total magnetic field after compensation of the aircraft aeromagnetic compensation method provided by the present application is 1.69 nT, and the improvement ratio is 68.78 nT; the standard deviation after traditional aeromagnetic compensation without considering temperature is 2.37 nT, and the improvement ratio is 49.04 nT. Compared with the traditional aircraft aeromagnetic compensation method, the compensation effect of the aircraft aeromagnetic compensation method provided by the present application is improved by 40%.

[0112] Figure 5 the magnetic anomaly distribution of each flight line obtained after various compensations and corrections, and Figure 6 the magnetic anomaly distribution of each flight line obtained after various compensations and corrections, and By comparison, it can be seen that the compensation method significantly improves the aeromagnetic interference error in the aeromagnetic result, and the signal-to-noise ratio of the magnetic anomaly data is significantly improved after compensation and correction processing, and the abnormal boundary is clearer.

[0113] The embodiment of the present application provides an aircraft aeromagnetic compensation system, as shown in Figure 7 The aircraft aeromagnetic compensation system provided by the embodiment of the present application comprises:

[0114] The data acquisition module 310 is configured to acquire the magnetic field feature data and the temperature feature data of the aircraft aeromagnetic of the current area.

[0115] The data processing module 320 is configured to determine the total field value of the interference magnetic field corresponding to the current area based on the magnetic field feature data; determine the total field value of the magnetic interference field corresponding to the current area based on the total field value of the interference magnetic field and the total field value of the non-interference magnetic field; determine the magnetic field three-component direction cosine matrix corresponding to the current area based on the magnetic field feature data and the temperature feature data; and determine the compensation coefficient corresponding to the current area based on the magnetic field three-component direction cosine matrix corresponding to the current area and the total field value of the magnetic interference field.

[0116] In an optional embodiment, the data acquisition module 310 is configured to acquire the magnetic field three-component data collected by a first sensor arranged on the aircraft as the magnetic field feature data; and acquire the temperature data of the first sensor collected by a second sensor arranged on the aircraft as the temperature feature data.

[0117] In an optional embodiment, the data acquisition module 310 is configured to acquire the non-interference magnetic field feature data collected by a measuring instrument arranged on the ground of the current area; and determine the total field value of the non-interference magnetic field corresponding to the current area based on the non-interference magnetic field feature data.

[0118] In an optional embodiment, the data processing module 320 is configured to determine, based on the magnetic field feature data and the total field value of the interference magnetic field, first, second and third unit direction cosines corresponding to the magnetic field feature data; determine a temperature difference value based on the initial temperature value and a measured temperature value corresponding to the magnetic field feature data; and determine a magnetic interference feature matrix corresponding to the current region based on the first, second, third unit direction cosines and the temperature difference value.

[0119] In an optional embodiment, the data processing module 320 is configured to perform regularization processing on the magnetic interference feature matrix to obtain a magnetic field relationship inverse matrix corresponding to the magnetic interference feature matrix; determine a magnetic interference field value corresponding to the magnetic interference feature matrix based on the magnetic interference feature matrix and the total field value of the magnetic interference field; and determine a compensation coefficient corresponding to the current region based on the magnetic field relationship inverse matrix and the magnetic interference field value.

[0120] In an optional embodiment, the aerial vehicle aeromagnetic compensation system further includes a data compensation module configured to obtain measured magnetic field feature data and measured temperature feature data of aerial vehicle aeromagnetic measurement in a to-be-measured region; wherein the to-be-measured region is a region other than the current region in a target region; determine a measured interference magnetic field total field value corresponding to the to-be-measured region based on the measured magnetic field feature data; determine a measured magnetic interference field total field value of the to-be-measured region based on the measured magnetic field feature data, the measured temperature feature data and the compensation coefficient; and determine a measured non-interference magnetic field total field value of the to-be-measured region based on the measured interference magnetic field total field value and the measured magnetic interference field total field value.

[0121] In an optional embodiment, the data compensation module is configured to determine, based on the measured magnetic field feature data, a first compensation non-interference magnetic field total field value corresponding to the to-be-measured region by using a compensation model; determine, based on the measured magnetic field feature data, a second compensation non-interference magnetic field total field value corresponding to the to-be-measured region by using the compensation coefficient; determine an evaluation index corresponding to the compensation non-interference magnetic field total field value based on the first and second compensation non-interference magnetic field total field values; and verify the accuracy of the aerial vehicle aeromagnetic compensation by using the compensation coefficient based on the evaluation index corresponding to the compensation non-interference magnetic field total field value.

[0122] It should be noted that the principle of solving the technical problems of the aerial vehicle aeromagnetic compensation system provided in the embodiments of the present application is similar to that of the aerial vehicle aeromagnetic compensation method provided in the embodiments of the present application. Therefore, the implementation of the aerial vehicle aeromagnetic compensation system provided in the embodiments of the present application can be referred to the implementation of the aerial vehicle aeromagnetic compensation method provided in the embodiments of the present application, and the repeated parts will not be described herein.

[0123] After introducing the aerial vehicle aeromagnetic compensation method and device provided in the embodiments of the present application, next, the electronic device provided in the embodiments of the present application is briefly introduced.

[0124] Referring to Figure 8 As shown in FIG. 5, the electronic device 500 provided by the embodiments of the present application at least includes a processor 501, a memory 502, and a computer program stored in the memory 502 and executable on the processor 501, and the processor 501 implements the aircraft magnetic compensation method provided by the embodiments of the present application when executing the computer program.

[0125] The electronic device 500 provided by the embodiments of the present application can further include a bus 503 connecting different components (including the processor 501 and the memory 502). Among them, the bus 503 represents one or more of several types of bus structures, including a memory bus, a peripheral bus, a local bus, etc.

[0126] The memory 502 can include a readable storage medium in the form of a volatile memory, such as a random access memory (RAM) 5021 and / or a cache memory 5022, and can further include a read-only memory (ROM) 5023. The memory 502 can also include a program tool 5025 having a set of (at least one) program modules 5024, including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination thereof can include the implementation of a network environment.

[0127] The processor 501 can be one processing element or a collective term for multiple processing elements, for example, the processor 501 can be a central processing unit (CPU), or one or more integrated circuits configured to implement the aircraft magnetic compensation method provided by the embodiments of the present application. Specifically, the processor 501 can be a general-purpose processor, including but not limited to a CPU, an application specific integrated circuit (ASIC), a ready-to-program gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc.

[0128] The electronic device 500 can communicate with one or more external devices 504 (such as a keyboard, a remote control, etc.) and can also communicate with one or more devices that enable a user to interact with the electronic device 500 (such as a phone, a computer, etc.) and / or one or more devices (such as a router, a modem, etc.) that enable the electronic device 500 to communicate with one or more other electronic devices. Such communication can occur via the Input / Output (I / O) interface 505. Also, the electronic device 500 can communicate with one or more networks (such as a Local Area Network (LAN), a Wide Area Network (WAN), and / or the public networks, such as the Internet) via the network adapter 506. As Figure 8 illustrated, the network adapter 506 communicates with the other modules of the electronic device 500 through the bus 503. It should be appreciated that the network adapter 506 (along with the bus 503) can be replaced by Figure 8 one or more other types of communication media that are suitable for the implementation of the present application, including but not limited to radio frequency links, Bluetooth™ links, infrared links, etc.

[0129] It is noted that the electronic device 500 illustrated is only one example of an electronic device, and should not be taken to limit the scope of functionality or use of embodiments of the present application. Figure 8

[0130] The computer readable storage medium provided by the embodiments of the present application is introduced as follows. The computer readable storage medium provided by the embodiments of the present application stores computer instructions, and the computer instructions are executed by a processor to implement the aircraft magnetic compensation method provided by the embodiments of the present application. Specifically, the computer instructions can be built-in or installed in the processor, so that the processor can implement the aircraft magnetic compensation method provided by the embodiments of the present application by executing the built-in or installed computer instructions.

[0131] In addition, the aircraft magnetic compensation method provided by the embodiments of the present application can also be implemented as a computer program product, which includes program codes. When the program codes are run on a processor, the aircraft magnetic compensation method provided by the embodiments of the present application is implemented.

[0132] ​The computer program product provided by the embodiments of the present application can adopt one or more computer readable storage media, which can be, but are not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any appropriate combination of the above. Specifically, more specific examples (non-exhaustive list) of the computer readable storage media include one or more wires, a portable disc, a hard disk, a RAM, a ROM, an Erasable Programmable Read Only Memory (EPROM), an optical fiber, a portable compact disc read-only memory (Compact Disc Read-Only Memory, CD-ROM), an optical storage device, a magnetic storage device, or any appropriate combination of the above.

[0133] The computer program product provided by the embodiments of the present application can adopt a CD-ROM and include program codes, and can also run on an electronic device such as a computer. However, the computer program product provided by the embodiments of the present application is not limited to this. In the embodiments of the present application, the computer readable storage medium can be any tangible medium containing or storing program codes, which can be used by or in combination with an instruction execution system, device or apparatus.

[0134] It should be noted that although several units or sub-units of the apparatus are mentioned in the above detailed description, such division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided into units for embodiment.

[0135] In addition, although the operations of the method of the present application are described in a specific order in the accompanying drawings, this does not require or imply that the operations must be performed in that specific order, or that all of the shown operations must be performed to achieve the desired result. Additionally or alternatively, certain steps can be omitted, a plurality of steps can be combined into one step, and / or one step can be divided into a plurality of steps.

[0136] Although the preferred embodiments of the present application have been described, those skilled in the art who are familiar with the basic inventive concept can make additional changes and modifications to the embodiments once they get the basic inventive concept. Therefore, the appended claims are intended to include the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0137] It is apparent that a person skilled in the art can make various modifications and variations to the embodiments of the application without departing from the spirit and scope of the application. Therefore, the application is intended to cover the modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

Claims

1. An aircraft aeromagnetic compensation method, characterized in that, The method comprises: obtaining magnetic field feature data and temperature feature data of aircraft aeromagnetic survey in a current area; determining a total field value of interference magnetic field corresponding to the current area based on the magnetic field feature data; determining a total field value of magnetic interference field corresponding to the current area based on the total field value of interference magnetic field and the total field value of non-interference magnetic field; determining a magnetic interference feature matrix corresponding to the current area based on the magnetic field feature data and the temperature feature data; determining a compensation coefficient corresponding to the current area based on the magnetic interference feature matrix corresponding to the current area and the total field value of magnetic interference field.

2. The aircraft aeromagnetic compensation method of claim 1, wherein, The method comprises: obtaining magnetic field three-component data collected by a first sensor arranged on the aircraft as the magnetic field feature data; obtaining temperature data of the first sensor collected by a second sensor arranged on the aircraft as the temperature feature data.

3. The aircraft aeromagnetic compensation method of claim 1, wherein, The method further comprises: obtaining the total field value of non-interference magnetic field collected by a measuring instrument arranged on the ground in the current area.

4. The aircraft aeromagnetic compensation method of claim 2, wherein, The method further comprises: determining first, second and third unit direction cosines corresponding to the magnetic field feature data based on the magnetic field feature data and the total field value of interference magnetic field; determining a temperature difference value based on an initial temperature value and a measured temperature value corresponding to the magnetic field feature data; determining the magnetic interference feature matrix corresponding to the current area based on the first, second and third unit direction cosines and the temperature difference value.

5. The aircraft aeromagnetic compensation method of claim 4, wherein, The method further comprises: performing regularization processing on the magnetic interference feature matrix to obtain a magnetic field relationship inverse matrix corresponding to the magnetic interference feature matrix; determining a magnetic interference field value corresponding to the magnetic interference feature matrix based on the magnetic interference feature matrix and the total field value of magnetic interference field; determining the compensation coefficient corresponding to the current area based on the magnetic field relationship inverse matrix and the magnetic interference field value.

6. An aircraft aeromagnetic compensation method, characterized in that, The method comprises: obtaining measured magnetic field feature data and measured temperature feature data of aircraft aeromagnetic survey in a to-be-measured area; wherein the to-be-measured area is an area other than the current area in a target area; determining a measured total field value of interference magnetic field corresponding to the to-be-measured area based on the measured magnetic field feature data; determining a measured total field value of magnetic interference field of the to-be-measured area based on the measured magnetic field feature data, the measured temperature feature data and the compensation coefficient; wherein the compensation coefficient is obtained according to the aircraft aeromagnetic compensation method in any one of claims 1 to 5; determining a measured total field value of non-interference magnetic field of the to-be-measured area based on the measured total field value of interference magnetic field and the measured total field value of magnetic interference field.

7. The aircraft aeromagnetic compensation method of claim 6, wherein, After determining the measured total field value of magnetic interference field of the to-be-measured area based on the measured magnetic field feature data, the measured temperature feature data and the compensation coefficient, the method further comprises: Based on the measured magnetic field characteristic data, a compensation model is used to determine the corresponding first compensated non-interference magnetic field total field value of the to-be-measured region; Based on the measured magnetic field characteristic data, the compensation coefficient is used to determine the corresponding second compensated non-interference magnetic field total field value of the to-be-measured region; Based on the first compensated non-interference magnetic field total field value and the second compensated non-interference magnetic field total field value, an evaluation index corresponding to the compensated non-interference magnetic field total field value is determined; Based on the evaluation index corresponding to the compensated non-interference magnetic field total field value, the accuracy of the aircraft aeromagnetic compensation using the compensation coefficient is verified.

8. An aircraft magnetic compensation system characterized by, Comprise: The data acquisition module is used for acquiring the magnetic field characteristic data and temperature characteristic data of the current region of the aircraft aeromagnetic survey; The data processing module is used for determining the interference magnetic field total field value corresponding to the current region based on the magnetic field characteristic data; Based on the interference magnetic field total field value and the non-interference magnetic field total field value, the magnetic interference field total field value corresponding to the current region is determined; Based on the magnetic field characteristic data and temperature characteristic data, the magnetic field three-component direction cosine matrix corresponding to the current region is determined; based on the magnetic field three-component direction cosine matrix corresponding to the current region and the magnetic interference field total field value, the compensation coefficient corresponding to the current region is determined.

9. An electronic device, comprising: The computer readable storage medium stores computer instructions, and the computer instructions are executed by the processor to realize the aircraft aeromagnetic compensation method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions, and the computer instructions are executed by the processor to realize the aircraft aeromagnetic compensation method according to any one of claims 1 to 7.

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