An automatic magnetic interference compensation system for underwater system magnetic field testing environment

Abstract

This invention provides an automatic magnetic interference compensation system for underwater system magnetic field testing environments. The system includes an underwater multi-parameter measurement module, a spatiotemporal decoupling module, and a hierarchical adaptive compensation module. The underwater multi-parameter measurement module is used to synchronously acquire underwater multi-dimensional physical parameters. The spatiotemporal decoupling module is used to decouple and separate the magnetic field disturbances generated by various interference sources in the testing environment and establish disturbance models for each interference source. The hierarchical adaptive compensation module is used to perform hierarchical compensation based on the disturbance models of each interference source and output high-precision measurement results of the underwater system magnetic field. This invention achieves high-precision and stable measurement of the target magnetic field of an underwater system in complex and dynamic testing environments.

Description

Technical Field

[0001] This invention relates to the field of magnetic field testing technology for underwater vehicles, and in particular to an automatic compensation system for magnetic interference in the testing environment of underwater systems. Background Technology

[0002] With the widespread application of underwater systems in fields such as detection, navigation, and engineering, the demand for testing and evaluating their magnetic field characteristics is increasing. The results of magnetic field tests not only affect the accuracy of the analysis of the magnetic characteristics of underwater systems, but also directly affect the subsequent performance evaluation and application effects. However, in the actual testing process, the magnetic field measurement environment is often affected by a variety of factors, such as the temporal variation of the geomagnetic field, leakage magnetic interference generated by the test platform or surrounding equipment, and induced magnetic field disturbances caused by the movement of the underwater system itself. These interference components are superimposed in time and space, resulting in the measurement signal containing a large amount of non-target magnetic field information.

[0003] Existing magnetic field testing methods typically rely on fixed reference values, single models, or static compensation to suppress environmental interference, making them ill-suited for complex and variable testing environments. When testing conditions change or the characteristics of interference sources alter, traditional methods are prone to undercompensation or overcompensation, thus reducing the accuracy and stability of magnetic field test results. Therefore, effectively distinguishing magnetic interference from different sources and obtaining more reliable underwater system target magnetic field measurement results under complex testing environments remains a pressing technical problem to be solved in this field.

[0004] A review of publicly available technical solutions reveals that CN120405635A proposes a sensor calibration and testing system and method for UUV intelligent sensing. This system can simulate various motion modes of underwater vehicles and underwater targets, generating a large number of calibration samples. Three-dimensional imaging sonar, underwater cameras, and magnetometers, based on underwater acoustic-optical-magnetic integrated beacons set on underwater targets, can achieve calibration of their operating parameters. After sensor calibration, the system can also be used to test the calibration effect, effectively reducing the number of sea trial calibrations and associated costs. However, this solution primarily focuses on the calibration and testing of the sensors themselves, lacking the ability to automatically identify and separate various magnetic interference sources in the test environment, such as geomagnetic disturbances, equipment magnetic leakage, and electromagnetic interference, and thus cannot achieve dynamic compensation for magnetic interference in the test environment. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of current systems by proposing an automatic magnetic interference compensation system for underwater system magnetic field testing environments.

[0006] The present invention adopts the following technical solution:

[0007] An automatic magnetic interference compensation system for an underwater system magnetic field testing environment is disclosed. The system includes an underwater multi-parameter measurement module, a spatiotemporal decoupling module, and a hierarchical adaptive compensation module. The underwater multi-parameter measurement module is used to synchronously acquire underwater multi-dimensional physical parameters. The spatiotemporal decoupling module is used to decouple and separate the magnetic field disturbances generated by various interference sources in the testing environment and establish disturbance models for each interference source. The hierarchical adaptive compensation module is used to perform hierarchical compensation based on the disturbance models of each interference source and output high-precision measurement results of the underwater system magnetic field.

[0008] The underwater multi-parameter measurement module includes a magnetic field vector measurement unit, a depth and pressure measurement unit, a temperature and salinity measurement unit, an attitude and velocity measurement unit, and a data synchronization and storage unit. The magnetic field vector measurement unit is used to measure the three-dimensional magnetic field vector distribution of the test area through multiple magnetic field sensors. The depth and pressure measurement unit is used to measure the depth of each sensor and the ambient pressure. The temperature and salinity measurement unit is used to measure the seawater temperature and salinity distribution at various depths in the test area. The attitude and velocity measurement unit is used to measure the position, attitude angle, and velocity of the underwater system. The data synchronization and storage unit is used to achieve time synchronization and unified storage of the multi-dimensional physical parameter data obtained by the above units.

[0009] Furthermore, the spatiotemporal decoupling separation module includes a geomagnetic disturbance separation unit, an equipment leakage magnetic field separation unit, and an induced magnetic field separation unit; the geomagnetic disturbance separation unit is used to separate geomagnetic field disturbances caused by time variations and establish a corresponding disturbance model; the equipment leakage magnetic field separation unit is used to separate leakage magnetic field disturbances caused by test equipment in the test environment and establish a corresponding disturbance model; the induced magnetic field separation unit is used to separate induced magnetic field disturbances generated by the movement of the underwater system and establish a corresponding disturbance model.

[0010] Furthermore, the hierarchical adaptive compensation module includes a hierarchical compensation execution unit, a compensation weight adaptive adjustment unit, and a target magnetic field extraction unit; the hierarchical compensation execution unit is used to perform hierarchical compensation on the magnetic field signal of the test environment based on the disturbance model of each interference source; the compensation weight adaptive adjustment unit is used to dynamically adjust the compensation weight of each layer according to the compensation result of the hierarchical compensation execution unit; and the target magnetic field extraction unit is used to extract the target magnetic field of the underwater system from the compensated magnetic field signal.

[0011] Furthermore, the induced magnetic field separation unit separates the induced magnetic field disturbances generated by the underwater system's motion and establishes a corresponding disturbance model in the following manner:

[0012] S11: Acquire multidimensional parameter data, and extract the geomagnetic field disturbance and average conductivity of each sensor position, underwater system position, underwater system velocity, and underwater depth position from the multidimensional parameter data. Based on this, establish a priori physical model based on electromagnetic induction theory, and calculate the induced magnetic field disturbance of each sensor through the priori physical model.

[0013] S12: Under experimental conditions, by changing the multidimensional parameter data under experimental conditions, the measured value of the induced magnetic field under experimental conditions is obtained through differential calculation. The multidimensional parameter data under different experimental conditions and the measured value of the induced magnetic field are integrated to construct a training dataset, in which the multidimensional parameter data is used as the input label and the measured value of the induced magnetic field is used as the output label.

[0014] S13: Using the training dataset obtained in the previous step, establish a data-driven neural network model. Through this data-driven model, learn the mapping relationship between multidimensional parameter data and induced magnetic field disturbance. The induced magnetic field disturbance is the induced magnetic field measurement value in the output label.

[0015] S14: For the current test environment, obtain the induced magnetic field disturbance quantities output by the prior physical model and the data-driven model respectively, and set fusion weights for the prior physical model and the data-driven model respectively, satisfying:

[0016] ;

[0017] ;

[0018] in, For the fusion weights of the prior physics model, For the fusion weights of the data-driven model, The confidence level of the prior physical model. For the confidence level of a data-driven model, the following conditions must be met:

[0019] ;

[0020] ;

[0021] in, Seawater temperature With depth The gradient of change This represents the maximum gradient change in the test environment. seawater salinity With depth The gradient of change This represents the maximum salinity change in the test environment. A preset temperature gradient threshold is used to assess the degree of temperature activity. A preset salinity gradient threshold is used to assess the degree of salinity activity. The nearest Euclidean distance between the multidimensional parametric data vector in the current test environment and the multidimensional parametric data vector of the training samples in the training dataset;

[0022] S15: For each sensor, output the fused induced magnetic field perturbation amount separately:

[0023] ;

[0024] in, This represents the final induced magnetic field disturbance value corresponding to a certain sensor. This refers to the induced magnetic field disturbance quantity obtained from the prior physical model. The induced magnetic field disturbance quantity obtained from the data-driven model;

[0025] Furthermore, the hierarchical compensation execution unit receives the disturbance models of each interference source established by the spatiotemporal decoupling separation module, and performs three-layer compensation in sequence according to the order of geomagnetic field disturbance, leakage magnetic field disturbance and induced magnetic field disturbance; the compensation is specifically completed by subtracting the geomagnetic field disturbance, leakage magnetic field disturbance and induced magnetic field disturbance from the three-dimensional magnetic field vector obtained by each sensor respectively.

[0026] The beneficial effects achieved by this invention are:

[0027] This invention constructs a spatiotemporal decoupling and separation mechanism for multi-source magnetic interference, and performs layered modeling and sequential compensation for geomagnetic disturbances, equipment leakage flux, and induced magnetic field disturbances. This effectively reduces the superimposed impact of multiple magnetic interferences on measurement results in complex testing environments. At the same time, it introduces an adaptive adjustment mechanism based on compensation effect feedback, which can dynamically adjust the compensation intensity of each layer according to the changes in magnetic field stability before and after compensation, avoiding the introduction of new measurement errors by ineffective or over-compensation. Thus, under changing environmental conditions or complex interference components, it can stably obtain more accurate and reliable underwater system target magnetic field measurement results, significantly improving the accuracy, robustness, and adaptability of magnetic field testing. Attached Figure Description

[0028] The invention will be further understood from the following description taken in conjunction with the accompanying drawings. The components in the drawings are not necessarily drawn to scale, but rather the emphasis is on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0029] Figure 1 This is a schematic diagram of the overall modules of the present invention.

[0030] Figure 2 This is a schematic diagram of the working process of the inductive magnetic field separation unit of the present invention.

[0031] Figure 3This is a schematic diagram of the workflow of the adaptive adjustment unit for compensation weights in this invention.

[0032] Figure 4 This is a schematic diagram comparing the stability indicators of the present invention and the traditional solution before and after magnetic field compensation.

[0033] Figure 5 This is a schematic diagram comparing the magnetic field interference compensation performance of the present invention and the traditional solution. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to its embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention. Other systems, methods, and / or features of this embodiment will become apparent to those skilled in the art after reviewing the following detailed description. It is intended that all such additional systems, methods, features, and advantages are included within this specification, are included within the scope of the present invention, and are protected by the appended claims. Further features of the disclosed embodiments are described in the following detailed description, and these features will be apparent from the following detailed description.

[0035] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0036] Example 1:

[0037] like Figure 1 As shown in the figure, this embodiment provides an automatic magnetic interference compensation system for an underwater system magnetic field testing environment. The system includes an underwater multi-parameter measurement module, a spatiotemporal decoupling and separation module, and a hierarchical adaptive compensation module. The underwater multi-parameter measurement module is used to synchronously acquire underwater multi-dimensional physical parameters. The spatiotemporal decoupling and separation module is used to decouple and separate the magnetic field disturbances generated by various interference sources in the testing environment and establish disturbance models for each interference source. The hierarchical adaptive compensation module is used to perform hierarchical compensation based on the disturbance models of each interference source and output high-precision measurement results of the underwater system magnetic field.

[0038] The underwater multi-parameter measurement module includes a magnetic field vector measurement unit, a depth and pressure measurement unit, a temperature and salinity measurement unit, an attitude and velocity measurement unit, and a data synchronization and storage unit. The magnetic field vector measurement unit measures the three-dimensional magnetic field vector distribution of the test area using multiple magnetic field sensors. The depth and pressure measurement unit measures the depth of each sensor and the ambient pressure. The temperature and salinity measurement unit measures the seawater temperature and salinity distribution at various depths within the test area. The attitude and velocity measurement unit measures the position, attitude angle, and velocity of the underwater system. The data synchronization and storage unit enables time synchronization and unified storage of the multi-dimensional physical parameter data acquired by the above units.

[0039] The spatiotemporal decoupling and separation module includes a geomagnetic disturbance separation unit, an equipment leakage magnetic field separation unit, and an induced magnetic field separation unit. The geomagnetic disturbance separation unit is used to separate geomagnetic field disturbances caused by time variations and establish a corresponding disturbance model. The equipment leakage magnetic field separation unit is used to separate leakage magnetic field disturbances caused by test equipment in the test environment and establish a corresponding disturbance model. The induced magnetic field separation unit is used to separate induced magnetic field disturbances generated by the movement of the underwater system and establish a corresponding disturbance model.

[0040] The hierarchical adaptive compensation module includes a hierarchical compensation execution unit, a compensation weight adaptive adjustment unit, and a target magnetic field extraction unit. The hierarchical compensation execution unit is used to perform hierarchical compensation on the magnetic field signal of the test environment based on the disturbance model of each interference source. The compensation weight adaptive adjustment unit is used to dynamically adjust the compensation weight of each layer according to the compensation result of the hierarchical compensation execution unit. The target magnetic field extraction unit is used to extract the target magnetic field of the underwater system from the compensated magnetic field signal.

[0041] Furthermore, the geomagnetic disturbance separation unit, based on the time series of magnetic field distribution obtained by multi-sensor synchronous measurement, analyzes the consistency and gradual change trend of the magnetic field signal in the time dimension, identifies and extracts the common magnetic field change component that appears simultaneously at multiple measurement points and is unrelated to the motion state of the underwater system, determines the common component as geomagnetic disturbance, and constructs a geomagnetic disturbance model accordingly.

[0042] Furthermore, the equipment leakage magnetic field separation unit analyzes the spatial difference characteristics between magnetic field signals at different measurement points, identifies the magnetic field bias component that exists and is stable in a specific spatial location for a long time, and separates this component from the overall magnetic field signal, thereby establishing a disturbance model that reflects the spatial distribution characteristics of equipment leakage magnetic field, which is used to compensate for the corresponding leakage magnetic field interference.

[0043] Furthermore, such as Figure 2 As shown, the induced magnetic field separation unit separates the induced magnetic field disturbances generated by the underwater system's motion and establishes a corresponding disturbance model in the following manner:

[0044] S11: Acquire multidimensional parameter data, and extract the geomagnetic field disturbance and average conductivity of each sensor position, underwater system position, underwater system velocity, and underwater depth position from the multidimensional parameter data. Based on this, establish a priori physical model based on electromagnetic induction theory, and calculate the induced magnetic field disturbance of each sensor through the priori physical model.

[0045] S12: Under experimental conditions, by changing the multidimensional parameter data under experimental conditions, the measured value of the induced magnetic field under experimental conditions is obtained through differential calculation. The multidimensional parameter data under different experimental conditions and the measured value of the induced magnetic field are integrated to construct a training dataset, in which the multidimensional parameter data is used as the input label and the measured value of the induced magnetic field is used as the output label.

[0046] S13: Using the training dataset obtained in the previous step, establish a data-driven neural network model. Through this data-driven model, learn the mapping relationship between multidimensional parameter data and induced magnetic field disturbance. The induced magnetic field disturbance is the induced magnetic field measurement value in the output label.

[0047] S14: For the current test environment, obtain the induced magnetic field disturbance quantities output by the prior physical model and the data-driven model respectively, and set fusion weights for the prior physical model and the data-driven model respectively, satisfying:

[0048] ;

[0049] ;

[0050] in, For the fusion weights of the prior physics model, For the fusion weights of the data-driven model, The confidence level of the prior physical model. For the confidence level of a data-driven model, the following conditions must be met:

[0051] ;

[0052] ;

[0053] in, Seawater temperature With depth The gradient of change This represents the maximum gradient change in the test environment. seawater salinity With depth The gradient of change This represents the maximum salinity change in the test environment. A preset temperature gradient threshold is used to assess the degree of temperature activity. A preset salinity gradient threshold is used to assess the degree of salinity activity. The nearest Euclidean distance between the multidimensional parametric data vector in the current test environment and the multidimensional parametric data vector of the training samples in the training dataset;

[0054] S15: For each sensor, output the fused induced magnetic field perturbation amount separately:

[0055] ;

[0056] in, This represents the final induced magnetic field disturbance value corresponding to a certain sensor. This refers to the induced magnetic field disturbance quantity obtained from the prior physical model. The induced magnetic field disturbance quantity obtained from the data-driven model;

[0057] This scheme ensures the accuracy of obtaining induced magnetic field disturbances under varying environmental complexities by parallel processing and adaptive fusion of a priori physical models and data-driven models. The priori physical model provides interpretable prior estimates based on electromagnetic induction theory, while the data-driven model directly learns complex mapping relationships from multidimensional parametric data and dynamically adjusts weights based on the confidence levels of the two outputs, achieving complementary advantages. In weakly stratified environments, i.e., when both temperature and salinity gradients are low, the priori physical model is used as the dominant model; in strongly stratified environments, the data-driven model is used as the dominant model, thus ensuring the generalization ability of the physical model while fully leveraging the accuracy advantages of the data model in complex environments.

[0058] Example 2:

[0059] This embodiment should be understood to include at least all the features of any of the foregoing embodiments, and to further improve upon them;

[0060] This embodiment provides an automatic magnetic interference compensation system for an underwater system magnetic field testing environment. The system includes an underwater multi-parameter measurement module, a spatiotemporal decoupling module, and a hierarchical adaptive compensation module. The underwater multi-parameter measurement module is used to synchronously acquire underwater multi-dimensional physical parameters. The spatiotemporal decoupling module is used to decouple and separate the magnetic field disturbances generated by various interference sources in the testing environment and establish disturbance models for each interference source. The hierarchical adaptive compensation module is used to perform hierarchical compensation based on the disturbance models of each interference source and output high-precision measurement results of the underwater system magnetic field.

[0061] The hierarchical adaptive compensation module includes a hierarchical compensation execution unit, a compensation weight adaptive adjustment unit, and a target magnetic field extraction unit. The hierarchical compensation execution unit is used to perform hierarchical compensation on the magnetic field signal of the test environment based on the disturbance model of each interference source. The compensation weight adaptive adjustment unit is used to dynamically adjust the compensation weight of each layer according to the compensation result of the hierarchical compensation execution unit. The target magnetic field extraction unit is used to extract the target magnetic field of the underwater system from the compensated magnetic field signal.

[0062] Furthermore, the hierarchical compensation execution unit receives the disturbance models of each interference source established by the spatiotemporal decoupling separation module, and performs three-layer compensation in the order of geomagnetic field disturbance, leakage magnetic field disturbance, and induced magnetic field disturbance. The compensation is specifically completed by subtracting the geomagnetic field disturbance, leakage magnetic field disturbance, and induced magnetic field disturbance from the three-dimensional magnetic field vectors obtained by each sensor.

[0063] Furthermore, such as Figure 3 As shown, the specific adjustment method of the compensation weight adaptive adjustment unit for each layer is as follows:

[0064] S21: For a given sensor, acquire the magnetic field vector distributed over time after compensation for each layer. ;in, Number the sensor. For the compensation layer number, The direction of the magnetic field component. For the first Each sampling time;

[0065] S22: Set the sliding time window and calculate the standard deviation of each layer after compensation within each sliding time window:

[0066] ;

[0067] in, For the first The sensor is performing the first... Standard deviation after layer compensation This is the sampled time sequence within the current sliding time window. For the first The average value of the magnetic field vector after layer compensation within the sliding time window satisfies:

[0068] ;

[0069] S23: Calculate the effectiveness weights obtained after compensation at each layer:

[0070] ;

[0071] in, For the first Effectiveness weights after layer compensation For the first Standard deviation of magnetic field vector when no compensation is performed by each sensor For the first The stability improvement after layer compensation satisfies:

[0072] ;

[0073] in, For the first The sensor is performing the first... The standard deviation after layer compensation, when A value of 0 represents the standard deviation of the magnetic field vector when no compensation was performed;

[0074] S24: Adjust the compensation weights of each layer based on the effectiveness weights obtained after compensation at each layer:

[0075] ;

[0076] in, For the first Layer compensation weights;

[0077] Furthermore, in the initial testing phase, the compensation weight for each layer can be set to 1.

[0078] Furthermore, the hierarchical compensation execution unit performs hierarchical compensation on the magnetic field signal of the test environment using the following formula:

[0079] ;

[0080] in, For the first The magnetic field vector of each sensor after compensation at each layer For the first The magnetic field vector when the sensor does not perform compensation is the three-dimensional magnetic field vector obtained by the magnetic field vector measurement unit;

[0081] This scheme employs layered modeling and sequential compensation for geomagnetic disturbances, equipment leakage flux, and induced magnetic field disturbances. During the compensation process, a compensation effectiveness evaluation mechanism based on the improvement in short-term magnetic field stability is introduced to achieve adaptive adjustment of the compensation intensity at each layer. By comparing the degree of magnetic field fluctuation before and after compensation in real time, the scheme automatically determines the actual effectiveness of various disturbance compensations in the current test environment, avoiding the introduction of new measurement errors through ineffective or erroneous compensation. This results in more accurate and reliable underwater system magnetic field measurement results in complex and dynamic test environments, significantly improving the accuracy and robustness of magnetic field testing.

[0082] Furthermore, after completing multi-layer interference compensation, the target magnetic field extraction unit performs spatial difference on the compensated magnetic field vector signal and combines it with multi-sensor fusion processing to suppress the influence of residual background magnetic field, thereby extracting and outputting the target magnetic field measurement results of the underwater system itself.

[0083] Example 3:

[0084] This embodiment should be understood to include at least all the features of any of the foregoing embodiments, and to further improve upon them;

[0085] This embodiment further refines the engineering deployment method, sensor configuration parameters, and compensation execution process of the automatic magnetic interference compensation system for the underwater system magnetic field testing environment based on Embodiment 1 and Embodiment 2, so as to improve the applicability and stability of the system in complex dynamic testing environments.

[0086] The underwater multi-parameter measurement module described in this embodiment adopts a distributed multi-point synchronous acquisition structure. The magnetic field vector measurement unit consists of no less than six triaxial magnetic field sensors, preferably arranged on the circumferential shell surface of the underwater system to form a spatially distributed measurement array, enabling the system to acquire three-dimensional magnetic field spatial gradient information of the test area. The range of a single magnetic field sensor is preferably set to ±1000nT to ±5000nT, and the resolution is preferably better than 0.1nT to meet the requirements for weak target magnetic field extraction. The depth and pressure measurement unit adopts a pressure-resistant packaged pressure sensor and synchronously outputs real-time depth and environmental pressure data of each sensor at a sampling rate of 1Hz to 5Hz. The temperature and salinity measurement unit adopts a multi-point CTD combined sensing structure and acquires temperature and salinity profile data at depth intervals of 2m to 5m. The attitude and velocity measurement unit uses an inertial navigation component to acquire the real-time attitude angle and navigation speed of the underwater system for input for sensing magnetic field modeling. The multi-dimensional data synchronous storage unit adopts a unified timestamp management mechanism to align multi-source parameter data within millisecond-level time accuracy.

[0087] In this embodiment, the spatiotemporal decoupling separation module adopts a joint discrimination strategy of "time consistency + spatial difference". The geomagnetic disturbance separation unit performs short-time sliding window analysis on the time series of magnetic fields of multiple sensors, extracts the common magnetic field components that appear synchronously and change slowly at each measuring point and establishes a time change model. The equipment leakage magnetic field separation unit performs spatial fitting on the magnetic field bias components that exist for a long time at a fixed spatial location and establishes a static spatial disturbance model. The induced magnetic field separation unit combines the attitude and velocity data of the underwater system, uses a priori physical model to calculate the theoretical induced magnetic field and fuses and corrects it with the data-driven model output, thereby forming the final induced magnetic field disturbance model.

[0088] In this embodiment, the hierarchical adaptive compensation module adopts a real-time compensation weight feedback adjustment structure. The hierarchical compensation execution unit performs compensation in the order of geomagnetic disturbance, equipment leakage magnetic disturbance, and induced magnetic field disturbance. After each layer of compensation is completed, the short-term stability improvement of the magnetic field after compensation is immediately evaluated. The compensation weight adaptive adjustment unit automatically increases the weight of the effective compensation layer and decreases the weight of the ineffective compensation layer according to the degree of stability improvement, thereby avoiding overcompensation or miscompensation. After the three layers of compensation are completed, the target magnetic field extraction unit performs multi-sensor spatial fusion on the compensated magnetic field vector, suppresses the residual background field, and outputs the final underwater system target magnetic field measurement result.

[0089] In the actual test deployment of this embodiment, the system was installed in a closed pool or near-shore test water area. Auxiliary test equipment was set up in the test water area to generate a controllable leakage magnetic interference source. At the same time, by adjusting the underwater system's navigation speed and direction, different intensities of induced magnetic field disturbance conditions were formed. The system ran continuously for no less than 30 minutes and recorded magnetic field fluctuation data before and after compensation. The test results showed that the standard deviation of the magnetic field signal measured under uncompensated conditions was about 3 to 5 times the amplitude of the original target magnetic field. However, under the hierarchical adaptive compensation mechanism of this embodiment, the standard deviation of the magnetic field after compensation was reduced to less than 20% of the original value, and the success rate of stable extraction of the target magnetic field was increased to more than 95%. This verifies that this embodiment can significantly improve the accuracy and stability of magnetic field testing in complex test environments.

[0090] Furthermore, in this embodiment, the magnetic field vector measurement unit can be replaced with an optically pumped magnetometer array or a high-sensitivity magnetoresistive sensor array to adapt to different measurement range requirements, the temperature, salinity, and depth measurement unit can be replaced with a fast-disposable profile measuring device to adapt to deep-water testing scenarios, and the compensation weight adaptive adjustment unit can also be replaced with a dynamic weight optimization strategy based on reinforcement learning, thereby further improving the system's adaptive capability in unknown and complex interference environments.

[0091] This embodiment enables underwater system magnetic field testing to stably obtain high-precision target magnetic field measurement results in an environment with multiple superimposed interference sources by using multi-parameter synchronous sensing, spatiotemporal decoupling modeling of magnetic interference, and hierarchical adaptive compensation synergy. It has good engineering adaptability and promotion application value.

[0092] like Figure 4 , Figure 5 As shown, in order to verify the effect of the automatic magnetic interference compensation system for underwater system magnetic field testing environment proposed in this invention on improving the accuracy and stability of target magnetic field measurement under complex testing environment, the following experimental verification scheme is provided, and the experimental process and data results are explained.

[0093] In this experiment, the underwater system magnetic field test environment magnetic interference automatic compensation system described in Example 3 was deployed in a controlled test water area. The underwater multi-parameter measurement module was installed on the surface of the shell of the underwater system under test and formed a six-point spatially distributed measurement array. A controllable equipment leakage magnetic interference source was set up in the test area, and different intensities of induced magnetic field disturbances were generated by adjusting the underwater system's navigation speed and attitude. At the same time, the target magnetic field reference value was obtained using an external reference magnetic field measurement device as a comparison standard. The system ran continuously for thirty minutes and recorded the magnetic field measurement values ​​of each sensor and multi-dimensional parameter data with a sampling period of one second.

[0094] Three processing schemes were set up in the experiment while maintaining consistent hardware and sampling conditions. Traditional scheme 1 did not enable any interference separation or compensation, and only directly output the original magnetic field measurement value. Traditional scheme 2 enabled geomagnetic disturbance and equipment leakage magnetic field separation and compensation, but did not enable induced magnetic field separation and compensation. The scheme of this invention simultaneously enables geomagnetic disturbance separation, equipment leakage magnetic field separation, induced magnetic field separation, and hierarchical adaptive compensation throughout the entire process. During operation, the system records the time series of magnetic field signals before and after compensation in real time, and uses a sliding time window to statistically analyze the standard deviation of magnetic field fluctuations, the stability of target magnetic field extraction, and the success rate of continuous effective measurements.

[0095] Experimental data show that, under the condition of multiple interference sources superimposed, the amplitude of the magnetic field measurement signal fluctuation in traditional scheme 1 is significant, and the standard deviation of the magnetic field time series is about three to five times that of the target magnetic field amplitude, and the measurement results show obvious random drift. After eliminating some geomagnetic disturbances and equipment leakage magnetic interference, the standard deviation of the magnetic field in traditional scheme 2 is reduced by about 40%, but there is still a significant periodic shift caused by induced magnetic field disturbances during the movement of the underwater system. In contrast, after fully performing spatiotemporal decoupling separation and hierarchical adaptive compensation, the standard deviation of the magnetic field after compensation is reduced to less than 20% of the original signal, the target magnetic field extraction curve remains continuous and stable, without obvious abrupt changes or drift, and the success rate of continuous effective measurement is increased to over 95%.

[0096] Therefore, it can be seen that the multi-source decoupling and separation and hierarchical adaptive compensation mechanism proposed in Embodiment 3 of the present invention can significantly suppress the superposition effect of multi-source magnetic disturbances on the test results in complex and dynamic magnetic interference environments, stably extract the true components of the target magnetic field of the underwater system, thereby effectively improving the accuracy, continuity and engineering reliability of magnetic field testing, and fully verifying the beneficial effects of the present invention.

[0097] The content disclosed above is only a preferred and feasible embodiment of the present invention, and is not intended to limit the scope of protection of the present invention. Therefore, all equivalent technical changes made based on the content of the present invention specification and drawings are included within the scope of protection of the present invention. Furthermore, the elements therein can be updated as technology develops.

Claims

1. An automatic compensation system for magnetic interference in the testing environment of an underwater system magnetic field, characterized in that, The system includes an underwater multi-parameter measurement module, a spatiotemporal decoupling module, and a hierarchical adaptive compensation module. The underwater multi-parameter measurement module is used to synchronously acquire underwater multi-dimensional physical parameters. The spatiotemporal decoupling module is used to decouple and separate the magnetic field disturbances generated by various interference sources in the test environment and establish disturbance models for each interference source. The hierarchical adaptive compensation module is used to perform hierarchical compensation based on the disturbance models of each interference source and output high-precision measurement results of the underwater system's magnetic field. The underwater multi-parameter measurement module includes a magnetic field vector measurement unit, a depth and pressure measurement unit, a temperature and salinity measurement unit, an attitude and velocity measurement unit, and a data synchronization and storage unit. The magnetic field vector measurement unit measures the three-dimensional magnetic field vector distribution of the test area using multiple magnetic field sensors. The depth and pressure measurement unit measures the depth of each sensor and the ambient pressure. The temperature and salinity measurement unit measures the seawater temperature and salinity distribution at various depths within the test area. The attitude and velocity measurement unit measures the position, attitude angle, and velocity of the underwater system. The data synchronization and storage unit enables time synchronization and unified storage of the multi-dimensional physical parameter data acquired by the above units. The spatiotemporal decoupling and separation module includes a geomagnetic disturbance separation unit, an equipment leakage magnetic field separation unit, and an induced magnetic field separation unit. The geomagnetic disturbance separation unit is used to separate geomagnetic field disturbances caused by time variations and establish a corresponding disturbance model. The equipment leakage magnetic field separation unit is used to separate leakage magnetic field disturbances caused by test equipment in the test environment and establish a corresponding disturbance model. The induced magnetic field separation unit is used to separate induced magnetic field disturbances generated by the movement of the underwater system and establish a corresponding disturbance model. The induced magnetic field separation unit separates the induced magnetic field disturbances generated by the underwater system's motion and establishes a corresponding disturbance model in the following manner: S11: Acquire multidimensional parameter data, and extract the geomagnetic field disturbance and average conductivity of each sensor position, underwater system position, underwater system velocity, and underwater depth position from the multidimensional parameter data. Based on this, establish a priori physical model based on electromagnetic induction theory, and calculate the induced magnetic field disturbance of each sensor through the priori physical model. S12: Under experimental conditions, by changing the multidimensional parameter data under experimental conditions, the measured value of the induced magnetic field under experimental conditions is obtained through differential calculation. The multidimensional parameter data under different experimental conditions and the measured value of the induced magnetic field are integrated to construct a training dataset, in which the multidimensional parameter data is used as the input label and the measured value of the induced magnetic field is used as the output label. S13: Using the training dataset obtained in the previous step, establish a data-driven neural network model. Through this data-driven neural network model, learn the mapping relationship between multidimensional parameter data and induced magnetic field disturbance, where the induced magnetic field disturbance is the induced magnetic field measurement value in the output label. S14: For the current test environment, obtain the induced magnetic field disturbance quantities output by the prior physical model and the data-driven model respectively, and set fusion weights for the prior physical model and the data-driven model respectively, satisfying: ； ； in, For the fusion weights of the prior physics model, For the fusion weights of the data-driven model, The confidence level of the prior physical model. For the confidence level of a data-driven model, the following conditions must be met: ； ； in, Seawater temperature With depth The gradient of change This represents the maximum gradient change in the test environment. seawater salinity With depth The gradient of change This represents the maximum salinity change in the test environment. A preset temperature gradient threshold is used to assess the degree of temperature activity. A preset salinity gradient threshold is used to assess the degree of salinity activity. The nearest Euclidean distance between the multidimensional parametric data vector in the current test environment and the multidimensional parametric data vector of the training samples in the training dataset; S15: For each sensor, output the fused induced magnetic field perturbation amount separately: ； in, This represents the final induced magnetic field disturbance value corresponding to a certain sensor. This refers to the induced magnetic field disturbance quantity obtained from the prior physical model. The induced magnetic field disturbance quantity obtained from the data-driven model.

2. The automatic magnetic interference compensation system for underwater system magnetic field testing environment according to claim 1, characterized in that, The hierarchical adaptive compensation module includes a hierarchical compensation execution unit, a compensation weight adaptive adjustment unit, and a target magnetic field extraction unit; The hierarchical compensation execution unit is used to perform hierarchical compensation on the magnetic field signal of the test environment based on the disturbance model of each interference source. The adaptive adjustment unit for compensation weights is used to dynamically adjust the compensation weights of each layer according to the compensation results of the hierarchical compensation execution unit; the target magnetic field extraction unit is used to extract the target magnetic field of the underwater system from the compensated magnetic field signal.

3. The automatic magnetic interference compensation system for underwater system magnetic field testing environment according to claim 2, characterized in that, The hierarchical compensation execution unit receives the disturbance models of each interference source established by the spatiotemporal decoupling separation module, and performs three-layer compensation in the order of geomagnetic field disturbance, leakage magnetic field disturbance and induced magnetic field disturbance. The compensation is specifically completed by subtracting the geomagnetic field disturbance, leakage magnetic field disturbance and induced magnetic field disturbance from the three-dimensional magnetic field vectors obtained by each sensor.

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