An unmanned airborne magnetic force measuring system integration and geomagnetic background detection method

Abstract

The application relates to an unmanned aerial vehicle-mounted magnetic force measuring system integration and geomagnetic background detection method, and belongs to the technical field of quantum precision measurement. The measuring system is divided into two parts of an aerial platform and a ground platform. The method comprises the following steps: 1, performing aerial platform integration and assembly, wherein the aerial platform comprises an unmanned aerial vehicle platform and an airborne magnetic detector; 2, performing hierarchical flight testing and magnetic interference compensation on the aerial platform; 3, performing standardized route flight and data quality control; 4, performing ground platform integration and layout and magnetic interference correction; and 5, selecting a region with obvious geomagnetic anomaly change characteristics as a test area, and performing geomagnetic background detection and precision quantitative evaluation. The application realizes aerial-ground integrated system integration, standardized flight testing, accurate magnetic interference compensation, standardized route measurement and quantitative evaluation of geomagnetic background precision, and improves the geomagnetic background detection precision and operation reliability.

Description

Technical Field

[0001] This invention belongs to the field of quantum precision measurement technology, and specifically relates to an integrated scheme for an unmanned aerial vehicle (UAV)-borne magnetic measurement system and its method for geomagnetic background detection. Background Technology

[0002] Airborne geomagnetic detection has become an important technical means for geomagnetic mapping and underwater magnetic target detection in various countries. Airborne magnetic detection technology was first applied in the military field, using towed or under-mounted methods to detect underwater targets. The main platforms include manned aircraft such as long-range patrol aircraft and helicopters. Optically pumped atomic magnetometers, with their advantages of high resolution, high precision, and insensitivity to carrier attitude, have become the mainstream core equipment for airborne magnetic detection.

[0003] Developed countries abroad have completed the research and verification of the entire chain of magnetic detection systems. However, the inherent technical defects of traditional manned aircraft platforms include: the inability to achieve near-water surface and ultra-low-altitude sea-level measurements, making it difficult to fully utilize the working efficiency of magnetic detection systems and significantly reducing the effectiveness of underwater magnetic target detection and geomagnetic mapping.

[0004] With the rapid development of UAV platforms and flight control technology, the stability and safety of UAVs have become increasingly mature, enabling low-altitude flight near the water surface and making them a more ideal carrier for aeromagnetic surveys. International research has progressed from early fixed-wing UAV aeromagnetic systems to long-endurance UAVs for large-scale aeromagnetic measurements, and is currently expanding towards multi-point synchronous magnetic field acquisition by UAV swarms. Domestic research on UAV-borne magnetometers started relatively late, but has developed rapidly in recent years. Core components have been domestically produced, and system accuracy has reached international advanced levels. Preliminary application results have been achieved in fields such as mineral exploration, environmental monitoring, emergency rescue, and marine magnetic detection.

[0005] However, existing UAV-based aeromagnetic detection technologies still have many shortcomings: Conventional drones have not undergone special demagnetization modifications, resulting in strong magnetic interference from the airframe itself. The installation of magnetically sensitive detection equipment lacks scientific site selection criteria, and the equipment layout is arbitrary. The electromagnetic compatibility between navigation, communication, and magnetic measurement systems is poor, and the industry lacks standardized airborne integrated assembly solutions for drone-borne magnetic measurement systems.

[0006] The lack of standardized testing procedures for graded flight tests, dynamic magnetic compensation, and heading consistency adapted to UAV platforms means that changes in UAV flight attitude and heading can easily introduce additional magnetic interference. Conventional magnetic compensation methods cannot adapt to the maneuvering flight characteristics of UAVs, resulting in problems such as low accuracy of magnetic measurement data and poor consistency of detection response across different headings.

[0007] There are no unified and standardized standards for the delineation of survey areas and the layout of survey lines and control lines. Repeated line measurements lack unified operating guidelines, making it difficult to effectively identify and eliminate abnormal measurement data. The consistency of magnetic field measurement data is difficult to guarantee, and it is impossible to generate complete, reliable, and high-precision magnetic anomaly maps.

[0008] The lack of a complete integrated deployment system for ground-based measurement and control networking, geomagnetic diurnal variation detection, and ground magnetic interference decomposition makes it impossible to accurately correct and compensate for geomagnetic diurnal variations and ground environmental magnetic interference. At the same time, there is a lack of mature and quantifiable methods for evaluating the accuracy of geomagnetic background measurement.

[0009] Existing technologies mostly focus on the research and development of single equipment or simple single-unit applications, lacking a complete set of technical solutions for the entire process of air-ground integrated system integration, installation and commissioning, flight testing, geomagnetic background detection, and accuracy verification, which makes it difficult to meet the actual needs of the engineering and large-scale promotion and application of UAV aeromagnetic detection. Summary of the Invention

[0010] The purpose of this invention is to overcome the shortcomings of existing technologies, such as limitations in manned-aircraft platform measurement, poor integration and adaptability of UAV magnetic measurement systems, inadequate magnetic interference compensation, non-standard flight path measurement, lack of ground interference correction system, and absence of a complete engineering implementation plan. This invention provides an integrated method for UAV-borne magnetic measurement systems and geomagnetic background detection, achieving integrated air-ground system integration, standardized flight testing, precise magnetic interference compensation, standardized flight path measurement, and quantitative assessment of geomagnetic background accuracy, thereby improving the accuracy and reliability of geomagnetic background detection.

[0011] The above-mentioned objective of this invention is achieved through the following technical solution: An integration method for an unmanned aerial vehicle (UAV)-borne magnetic measurement system and a geomagnetic background detection method are disclosed. The measurement system consists of two main parts: an air platform and a ground platform. Through an air-ground collaborative architecture, the system completes the entire process of system integration and assembly, graded flight testing, dynamic compensation for magnetic interference, standardized flight path measurement, ground magnetic interference correction, and verification of geomagnetic background detection accuracy. The method includes the following steps: Step 1: Perform aerial platform integration and assembly. The aerial platform includes an unmanned aerial vehicle platform and an airborne magnetic detector. Step 2: Conduct graded flight tests and magnetic interference compensation on the aerial platform. Step 3: Perform standardized flight routes and data quality control; Step 4: Perform ground platform integration and deployment and magnetic interference correction; Step 5: Select areas with obvious geomagnetic anomaly changes as test areas to conduct geomagnetic background detection and quantitative assessment of accuracy.

[0012] Furthermore, the integration assembly in step 1 includes: 1) Perform non-magnetic modification on the drone, fully identify the magnetic components of the aircraft, and replace the original magnetic components with low magnetic or non-magnetic materials. Among them, the magnetic detector probe support rod, fixing screws, and signal cable are all made of non-magnetic materials that meet the mechanical strength requirements. 2) Use fluxgate magnetometers to pre-determine the magnetic cleaning area of ​​the UAV, which will serve as the basis for selecting the installation site of magnetically sensitive devices such as fluxgate magnetometers, atomic magnetometers, and attitude sensors; 3) The UAV platform and the airborne magnetometer share the satellite navigation and positioning system and the data communication system, and the navigation antenna is installed in a location with good line of sight; 4) After the equipment installation is completed, the whole machine is debugged, including checking the working status of the flight control system, the aeromagnetic remote telemetry and control link, the shared navigation and positioning system, and the data acquisition and transmission system to ensure that each subsystem operates stably and in coordination.

[0013] Furthermore, the UAV is a multi-rotor vertical take-off and landing UAV, adapted to carry optically pumped cesium atomic magnetometer and optically pumped rubidium atomic magnetometer.

[0014] Furthermore, step 2 includes the following steps: Step 2.1: Conduct no-load test flights, including autonomous take-off and landing, low-altitude and ultra-low-altitude flight, and maneuverability flight tests, to ensure the safety of the payload equipment and the flight stability of the platform; Step 2.2: Use the dual-channel airborne magnetic compensation method DCAC, and combine ground calibration with flight maneuvers to carry out magnetic compensation flight tests to suppress magnetic interference introduced by the UAV itself and its flight attitude; Step 2.3: After the magnetic compensation meets the standard, conduct a directional difference test using a cross-shaped flight pattern to verify the consistency of the magnetic detector's detection response in different headings and eliminate measurement errors caused by heading deviations.

[0015] Furthermore, in step 2.1, the flight maneuvers include level flight, climb, descent, left turn, right turn, roll, and pitch.

[0016] Furthermore, step 3 includes: Step 3.1: Delineate the scope of the survey area based on the overall work tasks, marine environment, shoreline topography, measurement and control and visibility conditions. The survey area should maintain a reasonable overlap with adjacent high-precision survey areas or survey areas with the same precision. The two ends of the survey line should overlap with adjacent high-precision survey areas or survey areas with the same precision by 1km to 2km to ensure the complete splicing of surveying results. Step 3.2: Plan the waypoints for the survey lines based on the survey network density. The waypoints include the latitude, longitude, and altitude information of each survey line endpoint, altitude, and yaw control point; conduct unidirectional and reverse repeating line measurement flights for the same survey area; Step 3.3: Lay out control lines perpendicular to the survey line. The spacing between control lines should be 5 to 15 times the spacing between survey lines. Verify the horizontal consistency of the magnetic field data by repeated flight. Step 3.4: By cross-referencing the flight data of the repeating lines and control lines, abnormal data segments are eliminated to construct a complete and accurate magnetic anomaly map.

[0017] Furthermore, in step 3.1, the reasonable overlap width between the survey area and the adjacent high-precision survey area or the survey area with the same precision measurement is: the width of the distance between the three survey lines that overlap with the adjacent high-precision or the survey area with the same precision measurement.

[0018] Furthermore, step 4 includes the following steps: Step 4.1: Deploy the diurnal variation detection system and the ground magnetic interference decomposition measurement device to realize real-time monitoring, data calibration and compensation of geomagnetic diurnal variation and ground environmental magnetic interference; Step 4.2: Build a UAV ground control station, integrating flight control, mission planning, trajectory simulation, payload control, and status monitoring functions; rely on the data link to transmit remote control commands uplink and transmit magnetic measurement data and flight status telemetry data downlink to ensure real-time air-to-ground communication; Step 4.3: The data processing system integrates navigation and positioning data, flight telemetry parameters, and ground correction data to complete field data preprocessing and visualize system operating status parameters.

[0019] Furthermore, step 5 is implemented as follows: Geomagnetic background detection is carried out using the repeat line measurement method. The mean square error of the internal coincidence of the repeat line measurement is used as the core evaluation index for magnetic compensation accuracy and geomagnetic background measurement accuracy. By comparing the internal coincidence of the repeat line magnetic data, the accuracy of geomagnetic background measurement is quantitatively evaluated, and a standardized accuracy verification system is formed.

[0020] Advantages and positive effects of this invention 1. This invention performs non-magnetic modification on drones, scientifically arranges magnetically sensitive equipment in magnetically cleaned areas, and optimizes the electromagnetic compatibility design of multiple systems, thus solving the technical problems of large magnetic interference in traditional drone bodies, lack of basis for equipment installation, and severe electromagnetic interference.

[0021] 2. This invention establishes a standardized flight process for unloaded test flights, magnetically compensated flights, directional difference tests, and route verification. It adopts a dual-channel airborne magnetic compensation method to effectively suppress magnetic interference introduced by flight attitude and heading, and improve the accuracy of magnetic measurement data and the consistency of heading response.

[0022] 3. This invention standardizes the criteria for delineating the measurement area, setting up measurement lines and control lines. By cross-checking the repeated lines and control lines, abnormal data can be effectively eliminated, ensuring the reliability and horizontal consistency of magnetic field measurement data, and enabling the construction of a complete and high-precision magnetic anomaly map.

[0023] 4. This invention constructs an integrated ground support system that includes diurnal variation detection, magnetic interference decomposition, ground measurement and control, and data processing, to achieve accurate compensation and correction of geomagnetic diurnal variation and environmental magnetic interference, while establishing a quantitative standard for geomagnetic background accuracy assessment.

[0024] 5. This invention forms a complete set of technical solutions for the entire process from UAV modification, equipment integration, flight testing, magnetic compensation, flight path measurement to ground correction and accuracy evaluation. It fills the gap of existing technologies being fragmented and lacking an engineering implementation system, and can meet the needs of large-scale applications in multiple scenarios such as geomagnetic mapping and underwater magnetic target detection. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the UAV-borne magnetic force measurement system of the present invention; Figure 2 This is a flowchart illustrating the composition and testing process of the flight platform of this invention; Figure 3 This is a diagram of the daily variation monitoring system architecture of the present invention; In the diagram, the daily variation reference station is responsible for collecting high-precision, interference-free daily variation data; the data link network is responsible for transmitting data from the reference station back to the monitoring center or directly to the UAV in real time; and the data access and compensation terminal is responsible for receiving, parsing, and compensating the daily variation data in real time. Figure 4 This is a schematic diagram of the three-axis attitude simulation platform for a magnetic detector, used to simulate the attitude control and magnetic compensation flight maneuvers of a magnetic detector on the ground. The platform is a three-axis mechanical turntable structure, consisting of a base, a yaw rotation mechanism, a pitch support arm, and a roll rotation ring, enabling independent control of three degrees of freedom.

[0026] Figure 5 This is a schematic diagram of a typical survey line planning for aerial testing.

[0027] The map includes complete elements such as the main survey line, repeat survey lines, control lines, survey area boundaries, and UAV flight direction. The main survey line is uniformly and parallelly laid out along the geomagnetic gradient, serving as the primary data acquisition route for the magnetic field. Repeat survey lines are parallel to the main survey line and used for reverse repeat measurements to verify data consistency and system accuracy. Control lines are perpendicular to the main survey line, spaced 5-15 times the spacing between the main survey lines, and used to verify the horizontal consistency of the magnetic field and the effectiveness of magnetic compensation. The survey area is a regular rectangular region with overlapping boundaries with adjacent survey areas to ensure complete data stitching. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to specific embodiments.

[0029] For an integrated UAV-borne magnetic measurement system and a method for geomagnetic background detection, please refer to [link to relevant documentation]. Figures 1-5The invention is based on the following: the measurement system is divided into two main parts: an air platform and a ground platform. Through an air-ground collaborative architecture, it completes the entire process of system integration and assembly, graded flight testing, dynamic compensation for magnetic interference, standardized route measurement, ground magnetic interference correction, and verification of geomagnetic background detection accuracy, including the following steps: Step 1: Perform aerial platform integration and assembly. The aerial platform includes the UAV platform and the airborne magnetometer.

[0030] The aforementioned UAV platform generally consists of major components and equipment such as the aircraft airframe, power and control system, satellite navigation and positioning system (GNSS), communication system, attitude stabilization system, and magnetic measurement system. It should possess the basic requirements for retrofitting with aeromagnetic equipment. The UAV can be a multi-rotor vertical takeoff and landing UAV, adapted to carry optically pumped cesium atomic magnetic detectors and optically pumped rubidium atomic magnetic detectors. Integrated assembly includes: 1) Perform non-magnetic modification on the drone, fully identify the magnetic components of the aircraft, and replace the original magnetic components with low magnetic or non-magnetic materials. Among them, the magnetic detector probe support rod or bracket, fixing screws, and signal cables are all made of non-magnetic materials that meet the mechanical strength requirements. 2) Before installing magnetically sensitive devices such as fluxgates, atomic magnetometers, and attitude sensors on drones, the magnetic cleaning area of ​​the drone is pre-determined using fluxgates, which serves as the basis for selecting the installation site for magnetically sensitive devices such as fluxgates, atomic magnetometers, and attitude sensors. 3) The UAV platform and the airborne magnetometer share the satellite navigation and positioning system and the data communication system. The navigation antenna is installed in a location with good line of sight to avoid obstruction by the aircraft or other equipment. Necessary measures, such as appropriately increasing the antenna spacing, are adopted to suppress electromagnetic interference between systems.

[0031] 4) After the equipment installation is completed, the whole machine is debugged, including checking the working status of the flight control system, the aeromagnetic remote telemetry and control link, the shared navigation and positioning system, and the data acquisition and transmission system to ensure that each subsystem operates stably and in coordination.

[0032] Step 2: Conduct graded flight tests and magnetic interference compensation on the aerial platform, including the following steps: Step 2.1: Conduct no-load test flights, including autonomous take-off and landing, low-altitude and ultra-low-altitude flight, and maneuverability flight tests, to ensure the safety of the payload equipment and the flight stability of the platform; among them, flight maneuvers include level flight, climb, descent, left turn, right turn, roll, and pitch.

[0033] Step 2.2: Using the dual-channel airborne magnetic compensation method DCAC, combined with ground calibration and flight maneuvers, magnetic compensation flight tests are carried out to suppress magnetic interference introduced by the UAV itself and its flight attitude, and achieve a stable magnetic interference compensation effect. Step 2.3: After the magnetic compensation meets the standard, conduct a directional difference test using a cross-shaped flight pattern to verify the consistency of the magnetic detector's detection response in different headings and eliminate measurement errors caused by heading deviations.

[0034] Step 3: Perform standardized flight routes and data quality control. The purpose is to accurately acquire geomagnetic field data for the target area. This includes the following steps: Step 3.1: Delineate the scope of the survey area based on the overall work tasks, marine environment, shoreline topography, measurement and control, and visibility conditions. The survey area should maintain a reasonable overlap width with adjacent high-precision survey areas or survey areas with the same precision. The two ends of the survey line should overlap with adjacent high-precision survey areas or survey areas with the same precision by 1km to 2km to ensure complete splicing of surveying results. The survey area should overlap with adjacent high-precision or survey areas with the same precision by the width of 3 survey line distances.

[0035] Step 3.2 Plan waypoints for survey lines based on the survey network density. Waypoints include the latitude, longitude, and altitude information of each survey line endpoint, altitude, and yaw control point. Conduct parallel and reverse repeat line measurement flights in the same survey area to verify the reliability of the survey line data and the compensation effect. Repeated-line flight tests are used to verify data repeatability and system stability, and should strive to have the same flight path and altitude as the initial flight of the survey line. Repeated-line measurement flights in the same direction and in opposite directions are required between different measurement systems in the same survey area and between different measurement years. To check and correct hysteresis in the measurement system, reversed-line repeated-line measurement flights at the same altitude are necessary. The hysteresis-flying repeated-line should include at least one complete magnetic anomaly: the position correction time is calculated based on the magnetic anomaly position offset obtained from measurements in opposite directions.

[0036] Step 3.3: Lay out control lines perpendicular to the survey line. The spacing between control lines should be 5 to 15 times the spacing between survey lines. Verify the horizontal consistency of the magnetic field data by repeated flight. Control line flight tests are used to verify the reliability of survey line data and the effectiveness of compensation. Control lines are laid perpendicular to the survey line, and repeated measurements are taken to verify the consistency of the magnetic field level. Similar to survey line measurement flights, control line flights are only permitted after the magnetic field compensation flight accuracy meets design requirements, and the flight altitude should be as close as possible to the ground altitude of the survey line. When using multiple aircraft for operations in a survey area, it is advisable to use the system with the best measurement performance to complete the control line measurements for the entire area.

[0037] Step 3.4: By cross-referencing the flight data of the repeating lines and control lines, abnormal data segments are eliminated to construct a complete and accurate magnetic anomaly map.

[0038] Step 4: Perform ground platform integration and deployment and magnetic interference correction. The ground platform is the command center and core of data communication and processing for the entire system. The specific steps for ground platform integration and deployment and magnetic interference correction are as follows: Step 4.1: Deploy the diurnal variation detection system and the ground magnetic interference decomposition measurement device to realize real-time monitoring, data calibration and compensation of geomagnetic diurnal variation and ground environmental magnetic interference; Step 4.2: Establish a UAV ground control station. The UAV ground control station includes flight control and management equipment, display equipment, mission planning equipment, data relay equipment, control station data terminals, support and maintenance subsystems, and other intelligence and communication information interfaces. It is responsible for UAV flight control, mission planning, trajectory simulation, monitoring, and real-time data monitoring. The specific components of the UAV control system are determined based on mission requirements, clarifying the specific types of data links and control stations. The control station performs real-time mission planning, link control, and payload (magnetic anomaly) control based on flight performance, mission requirements, and the flight measurement environment (including geography, weather, electromagnetic fields, threats, etc.). The data link transmits remote control commands via uplink and telemetry data (such as magnetic anomaly data and flight status) via downlink, ensuring real-time communication between the UAV and the ground station. Step 4.3: The data processing system integrates navigation and positioning data, flight telemetry parameters, and ground correction data to complete field data preprocessing and visualize system operating status parameters.

[0039] Step 5: Select areas with significant geomagnetic anomaly changes as test areas for geomagnetic background detection and quantitative accuracy assessment. Specifically: After completing the system design of the UAV-borne magnetic measurement system, conduct geomagnetic background accuracy measurement and testing. The geomagnetic background accuracy measurement test verification will adopt the UAV-borne aerial survey line method. The implementation plan is to select areas with significant magnetic anomaly changes and, in conjunction with relevant test resources, comprehensively determine the test area. The survey line should overlap with adjacent high-precision or equivalent precision measurement areas by three survey line distances; both ends of the survey line should, in principle, overlap with adjacent high-precision or equivalent precision measurement areas by 1km-2km to ensure the integrity of the splicing of results from adjacent survey areas.

[0040] A zero-bias calibration experiment was conducted to eliminate the magnetic field detector's zero bias, direction error, and temperature drift. The magnetic field detector was placed at the center of a Helmholtz coil, and data was continuously collected for one hour after zero current was applied. The mean offset was calculated. (1) Where N=3600, the requirement is... A standard magnetic field (0.1 μT, direction along the X / Y / Z axes) is generated using a Helmholtz coil, and the non-orthogonality of the magnetometer is corrected using the least squares method. During the repetitive linear measurement experiment, such as... Figure 5As shown, the UAV conducts measurement verification navigation along the selected survey line. During the navigation, the magnetic anomaly detector records the magnetically compensated data in real time, and also records the corresponding carrier position information. The UAV maintains a cruising speed of 100 km / h (27.7 m / s), and the repeating line length is 100 nautical miles. It is required that the accuracy within the three repeating lines all meet the requirements.

[0041] By comparing the internal consistency of the magnetic force data measured by repeating lines, the corresponding accuracy index can be calculated. The internal consistency error of repeating line measurements is used as the main evaluation standard for measuring the accuracy of magnetic compensation. The following statistical index calculation method can be adopted: The number of repeated measurement lines is m=3, and the number of measurement points on each repeated measurement line is n (determined based on the output frequency and detection time of the magnetic detector). The magnetic detector observation value at each measurement point is... The average value of the observations from each repeated survey line is ,Right now: (2) Pick For the first The first repeated test line Observations at each measuring point The average value of the repeated survey lines at that point The difference is: (3) Representing the The root mean square error of the observations at each measuring point is: (4) The accuracy of the repeating line is: (5) Verify the accuracy of geomagnetic field background detection corresponding to the accuracy values ​​within the three repeating lines. ).

[0042] Example: Employing a quadcopter miniature unmanned aerial vehicle platform, equipped with a lamp-pumped cesium atomic magnetometer, with a static sensitivity of 0.3 pT / Hz. 1 / 2 It performs geomagnetic background detection in shallow coastal waters; completes demagnetization modification, magnetic clean zone equipment installation, and electromagnetic compatibility optimization according to the integrated method of this invention; adopts the same test flight process, magnetic compensation method, flight path layout, and ground diurnal variation correction scheme, which can achieve fine detection of geomagnetic background in a small area and at high resolution, and is suitable for emergency rescue and nearshore environmental magnetic monitoring scenarios.

[0043] Although embodiments and drawings of the present invention have been disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, variations and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. An integrated method for an unmanned aerial vehicle (UAV)-borne magnetic measurement system and a method for detecting geomagnetic background, characterized in that: The measurement system is divided into two main parts: an air platform and a ground platform. Through an air-ground collaborative architecture, it completes the entire process of system integration and assembly, graded flight testing, dynamic compensation for magnetic interference, standardized flight path measurement, ground magnetic interference correction, and verification of geomagnetic background detection accuracy, including the following steps: Step 1: Perform aerial platform integration and assembly. The aerial platform includes an unmanned aerial vehicle platform and an airborne magnetic detector. Step 2: Conduct graded flight tests and magnetic interference compensation on the aerial platform. Step 3: Perform standardized flight routes and data quality control; Step 4: Perform ground platform integration and deployment and magnetic interference correction; Step 5: Select areas with obvious geomagnetic anomaly changes as test areas to conduct geomagnetic background detection and quantitative assessment of accuracy.

2. The integration method of the UAV-borne magnetic measurement system and the geomagnetic background detection method according to claim 1, characterized in that: The integration assembly in step 1 includes: 1) Perform non-magnetic modification on the drone, fully identify the magnetic components of the aircraft, and replace the original magnetic components with low magnetic or non-magnetic materials. Among them, the magnetic detector probe support rod, fixing screws, and signal cable are all made of non-magnetic materials that meet the mechanical strength requirements. 2) Use fluxgate magnetometers to pre-determine the magnetic cleaning area of ​​the UAV, which will serve as the basis for selecting the installation sites of fluxgate magnetometers, atomic magnetometers, and attitude sensors; 3) The UAV platform and the airborne magnetometer share the satellite navigation and positioning system and the data communication system, and the navigation antenna is installed in a location with good line of sight; 4) After the equipment installation is completed, the whole machine is debugged, including checking the working status of the flight control system, the aeromagnetic remote telemetry and control link, the shared navigation and positioning system, and the data acquisition and transmission system to ensure that each subsystem operates stably and in coordination.

3. The integration method of the UAV-borne magnetic measurement system and the geomagnetic background detection method according to claim 1, characterized in that: The drone is a multi-rotor vertical take-off and landing drone, equipped with an optically pumped cesium atomic magnetometer and an optically pumped rubidium atomic magnetometer.

4. The integration method of the UAV-borne magnetic measurement system and the geomagnetic background detection method according to claim 1, characterized in that: Step 2 includes the following steps: Step 2.1: Conduct no-load test flights, including autonomous take-off and landing, low-altitude and ultra-low-altitude flight, and maneuverability flight tests, to ensure the safety of the payload equipment and the flight stability of the platform; Step 2.2: Use the dual-channel airborne magnetic compensation method DCAC, and combine ground calibration with flight maneuvers to carry out magnetic compensation flight tests to suppress magnetic interference introduced by the UAV itself and its flight attitude; Step 2.3: After the magnetic compensation meets the standard, conduct a directional difference test using a cross-shaped flight pattern to verify the consistency of the magnetic detector's detection response in different headings and eliminate measurement errors caused by heading deviations.

5. The integration method of the UAV-borne magnetic measurement system and the geomagnetic background detection method according to claim 1, characterized in that: In step 2.1, flight maneuvers include level flight, climb, descent, left turn, right turn, roll, and pitch.

6. The integration method of the UAV-borne magnetic measurement system and the geomagnetic background detection method according to claim 1, characterized in that: Step 3 includes: Step 3.1: Delineate the scope of the survey area based on the overall work tasks, marine environment, shoreline topography, measurement and control and visibility conditions. The survey area should maintain a reasonable overlap with adjacent high-precision survey areas or survey areas with the same precision. The two ends of the survey line should overlap with adjacent high-precision survey areas or survey areas with the same precision by 1km to 2km to ensure the complete splicing of surveying results. Step 3.2 Plan the waypoints for the survey lines based on the survey network density. The waypoints include the latitude, longitude and altitude information of each survey line endpoint, altitude and yaw control point; conduct unidirectional and reverse repeat line measurement flights for the same survey area; Step 3.3: Lay out control lines perpendicular to the survey line. The spacing between control lines should be 5 to 15 times the spacing between survey lines. Verify the horizontal consistency of the magnetic field data by repeated flight. Step 3.4: By cross-referencing the flight data of the repeating lines and control lines, abnormal data segments are eliminated to construct a complete and accurate magnetic anomaly map.

7. The integration method of the UAV-borne magnetic measurement system and the geomagnetic background detection method according to claim 6, characterized in that: In step 3.1, the reasonable overlap width between the survey area and the adjacent high-precision survey area or the survey area with the same precision measurement is: the width of the distance between the three survey lines that overlap with the adjacent high-precision or the survey area with the same precision measurement.

8. The integration method of the UAV-borne magnetic measurement system and the geomagnetic background detection method according to claim 1, characterized in that: Step 4 includes the following steps: Step 4.1: Deploy the diurnal variation detection system and the ground magnetic interference decomposition measurement device to realize real-time monitoring, data calibration and compensation of geomagnetic diurnal variation and ground environmental magnetic interference; Step 4.2: Build a UAV ground control station, integrating flight control, mission planning, trajectory simulation, payload control, and status monitoring functions; rely on the data link to transmit remote control commands uplink and transmit magnetic measurement data and flight status telemetry data downlink to ensure real-time air-to-ground communication; Step 4.3: The data processing system integrates navigation and positioning data, flight telemetry parameters, and ground correction data to complete field data preprocessing and visualize system operating status parameters.

9. The integration method of the UAV-borne magnetic measurement system and the geomagnetic background detection method according to claim 1, characterized in that: Step 5 is implemented as follows: Geomagnetic background detection is carried out using the repeat line measurement method. The mean square error of the internal coincidence of the repeat line measurement is used as the core evaluation index for magnetic compensation accuracy and geomagnetic background measurement accuracy. By comparing the internal coincidence of the repeat line magnetic data, the accuracy of geomagnetic background measurement is quantitatively evaluated, and a standardized accuracy verification system is formed.

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