阅读说明：本技术 低频磁信号增强方法及使用其的航空磁测系统 (Low-frequency magnetic signal enhancement method and aviation magnetic measurement system using same ) 是由 秦杰 陈路昭 江薇 王同雷 王春娥 万双爱 刘建丰 于 2020-12-08 设计创作，主要内容包括：本发明提供了一种低频磁信号增强方法及使用航空磁测系统,该方法包括：对原始航空磁测数据进行数据采样,对磁测数据进行三次样条拟合以获取测量趋势项,将原始航空磁测数据去除测量趋势项以获取无趋势项的含噪航空磁测信号；对无趋势项的含噪航空磁测信号进行带通滤波,对兴趣低频磁测信号进行小波信号分解；定义增益函数；基于各个频段的含噪窄带磁测信号的先验信噪比计算获取各个频段的含噪窄带磁测信号的增益函数；根据各个频段增强处理后的窄带信号并利用小波信号合成以获取增强处理后的低频航空磁测信号。应用本发明的技术方案,以解决现有技术中航磁探测将飞机载体视为刚体且忽略模型外干扰场所导致的探测精度低的技术问题。(The invention provides a low-frequency magnetic signal enhancement method and an aviation magnetic measurement system, wherein the method comprises the following steps: carrying out data sampling on original aviation magnetic measurement data, carrying out cubic spline fitting on the magnetic measurement data to obtain a measurement trend item, and removing the measurement trend item from the original aviation magnetic measurement data to obtain a noise-containing aviation magnetic measurement signal without the trend item; carrying out band-pass filtering on the noise-containing aviation magnetic measurement signals without the trend item, and carrying out wavelet signal decomposition on the interested low-frequency magnetic measurement signals; defining a gain function; calculating and obtaining a gain function of the noise-containing narrowband magnetic measurement signal of each frequency band based on the prior signal-to-noise ratio of the noise-containing narrowband magnetic measurement signal of each frequency band; and synthesizing the narrow-band signals subjected to enhancement processing according to each frequency band by utilizing wavelet signals to obtain the low-frequency aviation magnetic measurement signals subjected to enhancement processing. By applying the technical scheme of the invention, the technical problem of low detection precision caused by the fact that the aircraft carrier is regarded as a rigid body and the disturbance place outside the model is ignored in the aeromagnetic detection in the prior art is solved.)

1. A low-frequency magnetic signal enhancement method for an aviation magnetic measurement system is characterized by comprising the following steps:

carrying out data sampling on original aviation magnetic measurement data, carrying out cubic spline fitting according to data sampling time and the magnetic measurement data obtained by sampling to obtain a measurement trend item, and removing the measurement trend item from the original aviation magnetic measurement data to obtain a noise-containing aviation magnetic measurement signal without the trend item;

carrying out band-pass filtering on the noise-containing aviation magnetic measurement signals without the trend item to obtain interest low-frequency magnetic measurement signals, and carrying out wavelet signal decomposition on the interest low-frequency magnetic measurement signals to obtain noise-containing narrow-band magnetic measurement signals of a plurality of frequency bands;

carrying out fast Fourier transform on the measuring magnetic field of the noisy narrowband magnetic measurement signal of each frequency band to obtain a frequency domain expression formula of the narrowband measuring signal of each frequency band, carrying out frequency spectrum calculation by using the frequency domain expression formula of the narrowband measuring signal of each frequency band to obtain a frequency spectrum, a target signal frequency spectrum and a noise frequency spectrum of the noisy narrowband magnetic measurement signal of each frequency band, and defining a gain function according to the target signal frequency spectrum and the frequency spectrum of the noisy narrowband magnetic measurement signal of each frequency band;

calculating the posterior signal-to-noise ratio of the noisy narrowband magnetic measurement signal of each frequency band, acquiring the prior signal-to-noise ratio of the noisy narrowband magnetic measurement signal of each frequency band by using a direct decision method based on the posterior signal-to-noise ratio, and calculating and acquiring the gain function of the noisy narrowband magnetic measurement signal of each frequency band based on the prior signal-to-noise ratio of the noisy narrowband magnetic measurement signal of each frequency band;

the method comprises the steps of finishing estimation of target signal frequency spectrums of all frequency bands according to gain functions and frequency spectrums of noisy narrow-band magnetic measurement signals of all frequency bands, obtaining the narrow-band signals after enhancement processing of all frequency bands by utilizing inverse Fourier transform according to the estimation of the target signal frequency spectrums of all frequency bands and phase information of the noisy narrow-band magnetic measurement signals of all frequency bands, and obtaining the low-frequency aviation magnetic measurement signals after enhancement processing according to the narrow-band signals after enhancement processing of all frequency bands and by utilizing wavelet signal synthesis.

2. The method for enhancing low-frequency magnetic signals of an airborne magnetic survey system according to claim 1, wherein the frequency domain expression formula of the narrow-band measurement signals of any frequency band is R_ke^jθk＝X_ke^jαk+D_ke^jβkWherein R is_kFor measuring the frequency spectrum, X, of a narrow-band signal in any frequency band_kIs the frequency spectrum of a target signal of any frequency band, D_kThe phase of the kth spectral component of the narrow-band measurement signal is j θ k, j α k and j β k are the noise spectrum of any frequency band, j θ k is the phase of the kth spectral component of the narrow-band measurement signal of any frequency band, and j β k is the phase of the kth spectral component of the noise of any frequency band.

3. The method of claim 2, wherein the gain function G (k) of the noisy narrowband magnetic measurement signal for each frequency band is based onWherein the content of the first and second substances,is the spectral estimation of the target signal in any frequency band.

4. The method of claim 3, wherein the low frequency magnetic signal enhancement method for the airborne magnetic survey system is characterized by noise-containing narrow band magnetic survey of each frequency bandPosterior signal-to-noise ratio SNP of signal_post(k) Can be based onTo obtain.

5. The method for enhancing low-frequency magnetic signals of airborne magnetic survey system according to claim 4, characterized in that the prior signal-to-noise ratio SNP of the noisy narrow-band magnetic survey signals of each frequency band_prio(k) Can be based onWhere i is the current time segment of the narrowband measurement signal, i-1 is the last time segment of the narrowband measurement signal,and alpha is a smoothing coefficient which is an estimation result of the target signal of any frequency band in the previous time period.

6. The method for enhancing low-frequency magnetic signals of aeronautical magnetic measurement systems according to any one of claims 1 to 5, wherein the gain function G (k) of the noisy narrowband magnetic measurement signals of each frequency band is determined according toTo obtain.

7. A low-frequency magnetic signal enhancement method for an aviation magnetic measurement system is characterized by comprising the following steps:

carrying out data sampling on original aviation magnetic measurement data, carrying out cubic spline fitting according to data sampling time and the magnetic measurement data obtained by sampling to obtain a measurement trend item, and removing the measurement trend item from the original aviation magnetic measurement data to obtain a noise-containing aviation magnetic measurement signal without the trend item;

carrying out band-pass filtering on the noise-containing aviation magnetic measurement signals without the trend item to obtain interest low-frequency magnetic measurement signals, and carrying out wavelet signal decomposition on the interest low-frequency magnetic measurement signals to obtain noise-containing narrow-band magnetic measurement signals of a plurality of frequency bands;

carrying out fast Fourier transform on the measuring magnetic field of the noisy narrowband magnetic measurement signal of each frequency band to obtain a frequency domain expression formula of the narrowband measuring signal of each frequency band, carrying out frequency spectrum calculation by using the frequency domain expression formula of the narrowband measuring signal of each frequency band to obtain a frequency spectrum, a target signal frequency spectrum and a noise frequency spectrum of the noisy narrowband magnetic measurement signal of each frequency band, and defining a gain function according to the target signal frequency spectrum and the frequency spectrum of the noisy narrowband magnetic measurement signal of each frequency band;

calculating and acquiring a gain function of the noise-containing narrowband magnetic measurement signal of each frequency band according to the posterior signal-to-noise ratio of the noise-containing narrowband magnetic measurement signal of each frequency band;

the method comprises the steps of finishing estimation of target signal frequency spectrums of all frequency bands according to gain functions and frequency spectrums of noisy narrow-band magnetic measurement signals of all frequency bands, obtaining the narrow-band signals after enhancement processing of all frequency bands by utilizing inverse Fourier transform according to the estimation of the target signal frequency spectrums of all frequency bands and phase information of the noisy narrow-band magnetic measurement signals of all frequency bands, and obtaining the low-frequency aviation magnetic measurement signals after enhancement processing according to the narrow-band signals after enhancement processing of all frequency bands and by utilizing wavelet signal synthesis.

8. The method for enhancing low-frequency magnetic signals of airborne magnetic survey system according to claim 7, characterized in that the posterior signal-to-noise ratio SNP of the noisy narrow-band magnetic survey signals of each frequency band_post(k) Can be based onTo obtain.

9. The method of claim 8, wherein the gain function G (k) of the noisy narrowband magnetic measurement signal for each frequency band is based onTo obtain.

10. An airborne magnetic survey system, characterized in that the airborne magnetic survey system performs magnetic signal enhancement processing using the low-frequency magnetic signal enhancement method according to any one of claims 1 to 9.

Technical Field

The invention relates to the technical field of geospatial physical science and aviation magnetic detection, in particular to a low-frequency magnetic signal enhancement method and an aviation magnetic detection system using the same.

Background

The aeromagnetic detection technology has the advantages of good maneuverability, high efficiency, high safety and the like, is widely applied to the military and civil fields, and can quickly realize reconnaissance and identification of key areas and underwater interested targets in military affairs; in civil use, aeromagnetic detection provides important support for mineral resource exploration in the fields of geophysical exploration and geological survey. The aviation magnetic measurement system is mainly composed of an airplane platform and a high-precision magnetometer, wherein the performance of the high-sensitivity magnetometer is influenced by a platform magnetic component and electromagnetic interference, and the measurement accuracy of an interested target signal is influenced. The existing aviation platform T-L interference compensation model establishes the relation between the aircraft attitude and the interference field, and achieves the purpose of eliminating the interference of permanent magnet, magnetic induction and eddy magnetic fields associated with the platform attitude, however, the aircraft carrier in the model is regarded as a rigid body and neglects the influence of the interference field outside the model, and the magnetic detection performance of the platform is limited to be further improved.

Disclosure of Invention

The invention provides a low-frequency magnetic signal enhancement method and an aviation magnetic measurement system using the same, which can solve the technical problem of low detection precision caused by the fact that an aircraft carrier is regarded as a rigid body and an interference place outside a model is ignored in the aviation magnetic detection in the prior art.

According to an aspect of the invention, a low-frequency magnetic signal enhancement method for an aviation magnetic measurement system is provided, and comprises the following steps: carrying out data sampling on original aviation magnetic measurement data, carrying out cubic spline fitting according to data sampling time and the magnetic measurement data obtained by sampling to obtain a measurement trend item, and removing the measurement trend item from the original aviation magnetic measurement data to obtain a noise-containing aviation magnetic measurement signal without the trend item; carrying out band-pass filtering on the noise-containing aviation magnetic measurement signals without the trend item to obtain interest low-frequency magnetic measurement signals, and carrying out wavelet signal decomposition on the interest low-frequency magnetic measurement signals to obtain noise-containing narrow-band magnetic measurement signals of a plurality of frequency bands; carrying out fast Fourier transform on the measuring magnetic field of the noisy narrowband magnetic measurement signal of each frequency band to obtain a frequency domain expression formula of the narrowband measuring signal of each frequency band, carrying out frequency spectrum calculation by using the frequency domain expression formula of the narrowband measuring signal of each frequency band to obtain a frequency spectrum, a target signal frequency spectrum and a noise frequency spectrum of the noisy narrowband magnetic measurement signal of each frequency band, and defining a gain function according to the target signal frequency spectrum and the frequency spectrum of the noisy narrowband magnetic measurement signal of each frequency band; calculating the posterior signal-to-noise ratio of the noisy narrowband magnetic measurement signal of each frequency band, acquiring the prior signal-to-noise ratio of the noisy narrowband magnetic measurement signal of each frequency band by using a direct decision method based on the posterior signal-to-noise ratio, and calculating and acquiring the gain function of the noisy narrowband magnetic measurement signal of each frequency band based on the prior signal-to-noise ratio of the noisy narrowband magnetic measurement signal of each frequency band; the method comprises the steps of finishing estimation of target signal frequency spectrums of all frequency bands according to gain functions and frequency spectrums of noisy narrow-band magnetic measurement signals of all frequency bands, obtaining the narrow-band signals after enhancement processing of all frequency bands by utilizing inverse Fourier transform according to the estimation of the target signal frequency spectrums of all frequency bands and phase information of the noisy narrow-band magnetic measurement signals of all frequency bands, and obtaining the low-frequency aviation magnetic measurement signals after enhancement processing according to the narrow-band signals after enhancement processing of all frequency bands and by utilizing wavelet signal synthesis.

Furthermore, the frequency domain expression formula of the narrow-band measurement signal of any frequency band is R_ke^jθk＝X_ke^jαk+D_ke^jβkWherein R is_kFor measuring the frequency spectrum, X, of a narrow-band signal in any frequency band_kIs the frequency spectrum of a target signal of any frequency band, D_kThe phase of the kth spectral component of the narrow-band measurement signal is j θ k, j α k and j β k are the noise spectrum of any frequency band, j θ k is the phase of the kth spectral component of the narrow-band measurement signal of any frequency band, and j β k is the phase of the kth spectral component of the noise of any frequency band.

Further, the gain function G (k) of the noisy narrowband magnetic measurement signal of each frequency band can be based onWherein，Is the spectral estimation of the target signal in any frequency band.

Furthermore, the posterior signal-to-noise ratio SNP of the noise-containing narrow-band magnetic detection signal of each frequency band_post(k) Can be based onTo obtain.

Further, prior signal-to-noise ratio SNP of noise-containing narrow-band magnetic detection signals of each frequency band_prio(k) Can be based onWhere i is the current time segment of the narrowband measurement signal, i-1 is the last time segment of the narrowband measurement signal,and alpha is a smoothing coefficient which is an estimation result of the target signal of any frequency band in the previous time period.

Further, the gain function G (k) of the noisy narrowband magnetic measurement signal of each frequency band can be based onTo obtain.

According to another aspect of the invention, a low-frequency magnetic signal enhancement method for an aviation magnetic measurement system is provided, and comprises the following steps: carrying out data sampling on original aviation magnetic measurement data, carrying out cubic spline fitting according to data sampling time and the magnetic measurement data obtained by sampling to obtain a measurement trend item, and removing the measurement trend item from the original aviation magnetic measurement data to obtain a noise-containing aviation magnetic measurement signal without the trend item; carrying out band-pass filtering on the noise-containing aviation magnetic measurement signals without the trend item to obtain interest low-frequency magnetic measurement signals, and carrying out wavelet signal decomposition on the interest low-frequency magnetic measurement signals to obtain noise-containing narrow-band magnetic measurement signals of a plurality of frequency bands; carrying out fast Fourier transform on the measuring magnetic field of the noisy narrowband magnetic measurement signal of each frequency band to obtain a frequency domain expression formula of the narrowband measuring signal of each frequency band, carrying out frequency spectrum calculation by using the frequency domain expression formula of the narrowband measuring signal of each frequency band to obtain a frequency spectrum, a target signal frequency spectrum and a noise frequency spectrum of the noisy narrowband magnetic measurement signal of each frequency band, and defining a gain function according to the target signal frequency spectrum and the frequency spectrum of the noisy narrowband magnetic measurement signal of each frequency band; calculating and acquiring a gain function of the noise-containing narrowband magnetic measurement signal of each frequency band according to the posterior signal-to-noise ratio of the noise-containing narrowband magnetic measurement signal of each frequency band; the method comprises the steps of finishing estimation of target signal frequency spectrums of all frequency bands according to gain functions and frequency spectrums of noisy narrow-band magnetic measurement signals of all frequency bands, obtaining the narrow-band signals after enhancement processing of all frequency bands by utilizing inverse Fourier transform according to the estimation of the target signal frequency spectrums of all frequency bands and phase information of the noisy narrow-band magnetic measurement signals of all frequency bands, and obtaining the low-frequency aviation magnetic measurement signals after enhancement processing according to the narrow-band signals after enhancement processing of all frequency bands and by utilizing wavelet signal synthesis.

Furthermore, the posterior signal-to-noise ratio SNP of the noise-containing narrow-band magnetic detection signal of each frequency band_post(k) Can be based onTo obtain.

Further, the gain function G (k) of the noisy narrowband magnetic measurement signal of each frequency band can be based onTo obtain.

According to another aspect of the invention, an aviation magnetic measurement system is provided, and the aviation magnetic measurement system performs magnetic signal enhancement processing by using the low-frequency magnetic signal enhancement method.

Compared with the prior art, the low-frequency magnetic signal enhancement method for the aviation magnetic measurement system can fit and remove the non-stationary trend magnetic field of the magnetic measurement signal, perform band-pass filtering on the trend-removed magnetic measurement signal to obtain an interest frequency band signal, obtain each narrow-band magnetic measurement signal according to the interest frequency band signal, and process each narrow-band magnetic measurement signal to realize low-frequency magnetic measurement signal enhancement processing.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 illustrates a block flow diagram of a method for low frequency magnetic signal enhancement provided in accordance with a specific embodiment of the present invention;

FIG. 2 illustrates a schematic diagram of a test flight line and a detection experiment simulating a low frequency magnetic target provided in accordance with an embodiment of the present invention;

FIG. 3(a) is a diagram illustrating the results of processing a line low frequency magnetic field in the time domain when a low frequency signal source is turned off, according to an embodiment of the present invention;

FIG. 3(b) is a graphical representation of the results before and after processing of a line-side low frequency magnetic field at power spectral density with a low frequency signal source off, provided in accordance with a specific embodiment of the present invention;

FIG. 4(a) is a diagram illustrating the results of processing a line low frequency magnetic field in the time domain when a low frequency signal source is turned on according to an embodiment of the present invention;

FIG. 4(b) is a graph illustrating the results of processing a line low frequency magnetic field at a power spectral density when a low frequency signal source is on, according to an embodiment of the present invention;

FIG. 4(c) is a graph showing the results of a time domain analysis of the pre-processed magnetic field of FIG. 4 (a);

fig. 4(d) shows a graph of the results of time domain analysis of the processed magnetic field in fig. 4 (a).

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

As shown in fig. 1 to 4(d), according to an embodiment of the present invention, there is provided a low-frequency magnetic signal enhancement method for an airborne magnetic measurement system, the low-frequency magnetic signal enhancement method including: carrying out data sampling on original aviation magnetic measurement data, carrying out cubic spline fitting according to data sampling time and the magnetic measurement data obtained by sampling to obtain a measurement trend item, and removing the measurement trend item from the original aviation magnetic measurement data to obtain a noise-containing aviation magnetic measurement signal without the trend item; carrying out band-pass filtering on the noise-containing aviation magnetic measurement signals without the trend item to obtain interest low-frequency magnetic measurement signals, and carrying out wavelet signal decomposition on the interest low-frequency magnetic measurement signals to obtain noise-containing narrow-band magnetic measurement signals of a plurality of frequency bands; carrying out fast Fourier transform on the measuring magnetic field of the noisy narrowband magnetic measurement signal of each frequency band to obtain a frequency domain expression formula of the narrowband measuring signal of each frequency band, carrying out frequency spectrum calculation by using the frequency domain expression formula of the narrowband measuring signal of each frequency band to obtain a frequency spectrum, a target signal frequency spectrum and a noise frequency spectrum of the noisy narrowband magnetic measurement signal of each frequency band, and defining a gain function according to the target signal frequency spectrum and the frequency spectrum of the noisy narrowband magnetic measurement signal of each frequency band; calculating the posterior signal-to-noise ratio of the noisy narrowband magnetic measurement signal of each frequency band, acquiring the prior signal-to-noise ratio of the noisy narrowband magnetic measurement signal of each frequency band by using a direct decision method based on the posterior signal-to-noise ratio, and calculating and acquiring the gain function of the noisy narrowband magnetic measurement signal of each frequency band based on the prior signal-to-noise ratio of the noisy narrowband magnetic measurement signal of each frequency band; the method comprises the steps of finishing estimation of target signal frequency spectrums of all frequency bands according to gain functions and frequency spectrums of noisy narrow-band magnetic measurement signals of all frequency bands, obtaining the narrow-band signals after enhancement processing of all frequency bands by utilizing inverse Fourier transform according to the estimation of the target signal frequency spectrums of all frequency bands and phase information of the noisy narrow-band magnetic measurement signals of all frequency bands, and obtaining the low-frequency aviation magnetic measurement signals after enhancement processing according to the narrow-band signals after enhancement processing of all frequency bands and by utilizing wavelet signal synthesis.

By applying the configuration mode, the low-frequency magnetic signal enhancement method for the aviation magnetic measurement system is provided, based on the characteristic cognition of aviation magnetic detection data, the trend of the magnetic measurement signal is removed through cubic spline fitting, the interesting low-frequency magnetic measurement signal is decomposed by combining wavelet decomposition, on the basis, the amplitude estimation of the low-frequency narrow-band magnetic measurement signal is completed based on improved spectral subtraction, the reduction and enhancement of the narrow-band magnetic measurement signal are completed, and the aviation low-frequency magnetic measurement signal after the enhancement processing is obtained through wavelet transformation. Compared with the prior art, the low-frequency magnetic signal enhancement method provided by the invention can be used for fitting and removing the non-stationary trend magnetic field of the magnetic measurement signal, carrying out band-pass filtering on the trend-removed magnetic measurement signal to obtain the interest frequency band signal, obtaining each narrow-band magnetic measurement signal according to the interest frequency band signal, and processing each narrow-band magnetic measurement signal to realize low-frequency magnetic measurement signal enhancement processing.

Particularly, in the invention, with the requirements of target noise reduction, stealth technology development, dependence of geomagnetic navigation guidance on high-precision magnetic maps and exploration of deep-ground and deep-sea resources, a high-precision aeromagnetic detection technology is at hand, and a method for eliminating and inhibiting a magnetic interference field of aeromagnetic data needs to be researched. Spectral subtraction is a common method for enhancing and processing voice signals, and the enhancement processing of noise-containing signals is realized by estimating the spectral characteristics of the noise-containing voice signals and then inserting original phase information by utilizing the fact that voice characteristic information is relatively unchanged and the ears are insensitive to the phase.

In order to enhance the low-frequency magnetic signal of the aviation magnetic measurement system, on the basis of the non-stationary characteristic of the aviation magnetic measurement signal, data sampling needs to be carried out on original aviation magnetic measurement data, cubic spline fitting is carried out on the magnetic measurement data obtained according to data sampling time and sampling so as to obtain a measurement trend item, and the measurement trend item is removed from the original aviation magnetic measurement data so as to obtain a noise-containing aviation magnetic measurement signal without the trend item.

Specifically, in the present invention, the airborne magnetic survey signal is affected by the background interference magnetic field, the carrier interference magnetic field, and the shallow geological interference magnetic field, and thus is generally a non-stationary signal. In order to realize the stabilization processing of the non-stationary signals, the invention proposes that the trend of the measured magnetic field is fitted and eliminated in a cubic spline fitting mode, so that the influence of an interference magnetic field on the processing of the low-frequency signals is reduced. Specifically, data sampling is carried out on original aviation magnetic measurement data, the original aviation magnetic measurement data are sampled according to a certain time interval, and in order to guarantee the integrity of magnetic signals, the time interval is at least twice of the longest period of the magnetic signals. And then, performing cubic spline fitting on the trend item according to the data sampling time and the magnetic measurement data obtained by sampling to obtain a measurement trend item, and removing the measurement trend item from the original aviation magnetic measurement data to obtain a magnetic measurement signal preprocessing result, namely obtaining the noise-containing aviation magnetic measurement signal without the trend item.

In the invention, after the noise-containing aviation magnetic measurement signal without the trend item is obtained, the preprocessed noise-containing aviation magnetic measurement signal without the trend item can be subjected to band-pass filtering to obtain an interesting low-frequency magnetic measurement signal, and the interesting low-frequency magnetic measurement signal is subjected to wavelet signal decomposition to obtain noise-containing narrow-band magnetic measurement signals of a plurality of frequency bands.

Specifically, in the invention, according to the frequency band of the interested low-frequency magnetic measurement signal, the cut-off frequency of the filter is determined, and the band-pass filter b is generated by adopting an FIR (finite Impulse response) or IIR (infinite impulse response) method_pAnd (t) filtering the preprocessed signal. And determining the discrete wavelet decomposition layer number n according to the sampling rate fs and the lower cut-off frequency fl of the signal (ensuring that fl and 2 × fl belong to two levels). And (3) decomposing the signals by using db4 of Daubechies series as a wavelet basis to obtain wavelet coefficients with different layers, and respectively corresponding to the noise-containing narrow-band magnetic measurement signals of different frequency bands of the measurement magnetic field.

Further, in the present invention, after the noisy narrowband magnetic measurement signals of multiple frequency bands are acquired, the measurement magnetic field of the noisy narrowband magnetic measurement signal of each frequency band is subjected to fast fourier transform to acquire a frequency domain expression formula of the narrowband measurement signal of each frequency band, frequency spectrum calculation is performed by using the frequency domain expression formula of the narrowband measurement signal of each frequency band to acquire a frequency spectrum, a target signal frequency spectrum, and a noise frequency spectrum of the noisy narrowband magnetic measurement signal of each frequency band, and a gain function is defined according to the target signal frequency spectrum of each frequency band and the frequency spectrum of the noisy narrowband magnetic measurement signal.

Particularly, in the present inventionIn the description, the measurement magnetic field of the noise-containing narrowband magnetic measurement signal of each frequency band obtained by wavelet decomposition can be represented by y (n), which includes the target signal s (n) and the noise magnetic field e (n), i.e. y (n) ═ s (n) + e (n). Carrying out fast Fourier transform on the measuring magnetic field of the noise-containing narrow-band magnetic measurement signal of each frequency band to obtain a frequency domain expression formula of the narrow-band measurement signal of each frequency band, wherein the frequency domain expression formula of the narrow-band measurement signal of any frequency band is R_ke^jθk＝X_ke^jαk+D_ke^jβkWherein R is_kFor measuring the frequency spectrum, X, of a narrow-band signal in any frequency band_kIs the frequency spectrum of a target signal of any frequency band, D_kThe phase of the kth spectral component of the narrow-band measurement signal is j θ k, j α k and j β k are the noise spectrum of any frequency band, j θ k is the phase of the kth spectral component of the narrow-band measurement signal of any frequency band, and j β k is the phase of the kth spectral component of the noise of any frequency band.

Assuming that the measurement signal is not correlated with noise, performing spectrum calculation by using a frequency domain expression formula of the narrowband measurement signal of each frequency band to obtain a spectrum R of the noisy narrowband magnetic measurement signal of each frequency band_kTarget signal spectrum X_kAnd noise spectrum D_kWherein, | R_k|²＝|X_k|²+|D_k|²。

The noise spectrum can be estimated from the background magnetic field without the target signal. And defining a gain function according to the target signal frequency spectrum of each frequency band and the frequency spectrum of the noise-containing narrow-band magnetic measurement signal. The gain function is the ratio of the frequency spectrum of the target signal to the frequency spectrum of the noise-containing narrowband magnetic measurement signal, and the gain function G (k) of the noise-containing narrowband magnetic measurement signal of each frequency band can be determined according toWherein the content of the first and second substances,is the spectral estimation of the target signal in any frequency band.

Further, after the gain function is defined, a posterior signal-to-noise ratio of the noisy narrowband magnetic measurement signal of each frequency band needs to be calculated, a priori signal-to-noise ratio of the noisy narrowband magnetic measurement signal of each frequency band is obtained by using a direct decision method based on the posterior signal-to-noise ratio, and the gain function of the noisy narrowband magnetic measurement signal of each frequency band is calculated and obtained based on the priori signal-to-noise ratio of the noisy narrowband magnetic measurement signal of each frequency band.

Specifically, in the present invention, the prior signal-to-noise ratio SNP of the noisy narrow-band magnetic measurement signal of each frequency band_prio(k) Can be based onWhere i is the current time segment of the narrowband measurement signal, i-1 is the last time segment of the narrowband measurement signal,and alpha is a smoothing coefficient which is an estimation result of the target signal of any frequency band in the previous time period. Posterior signal-to-noise ratio SNP of noise-containing narrow-band magnetic detection signals of each frequency band_post(k) Can be based onTo obtain. The gain function of the noise-containing narrow-band magnetic measurement signal of each frequency band is calculated and obtained through the prior signal-to-noise ratio of the noise-containing narrow-band magnetic measurement signal of each frequency band, and the defect that the estimation error of the gain function of the noise-containing narrow-band magnetic measurement signal of each frequency band calculated by utilizing the posterior signal-to-noise ratio is large can be overcome. After the prior signal-to-noise ratio of the noise-containing narrow-band magnetic measurement signal of each frequency band is obtained, the gain function G (k) can be calculated. The gain function G (k) of the noisy narrowband magnetic measurement signal of each frequency band can be determined according toTo obtain.

Further, after the gain function g (k) of the noisy narrowband magnetic measurement signal of each frequency band is obtained, the estimation of the target signal spectrum of each frequency band can be completed according to the gain function and the frequency spectrum of the noisy narrowband magnetic measurement signal of each frequency band, and the estimation of the target signal spectrum of each frequency band is performed according to the estimation of the target signal spectrum of each frequency bandAnd phase information j theta k of the noise-containing narrow-band magnetic measurement signals of each frequency band, acquiring the narrow-band signals after enhancement processing of each frequency band by utilizing Fourier inversion, and acquiring the low-frequency aviation magnetic measurement signals after enhancement processing by utilizing wavelet signal synthesis according to the narrow-band signals after enhancement processing of each frequency band.

According to another embodiment of the invention, there is provided a low-frequency magnetic signal enhancement method for an airborne magnetic measurement system, the low-frequency magnetic signal enhancement method including: carrying out data sampling on original aviation magnetic measurement data, carrying out cubic spline fitting according to data sampling time and the magnetic measurement data obtained by sampling to obtain a measurement trend item, and removing the measurement trend item from the original aviation magnetic measurement data to obtain a noise-containing aviation magnetic measurement signal without the trend item; carrying out band-pass filtering on the noise-containing aviation magnetic measurement signals without the trend item to obtain interest low-frequency magnetic measurement signals, and carrying out wavelet signal decomposition on the interest low-frequency magnetic measurement signals to obtain noise-containing narrow-band magnetic measurement signals of a plurality of frequency bands; carrying out fast Fourier transform on the measuring magnetic field of the noisy narrowband magnetic measurement signal of each frequency band to obtain a frequency domain expression formula of the narrowband measuring signal of each frequency band, carrying out frequency spectrum calculation by using the frequency domain expression formula of the narrowband measuring signal of each frequency band to obtain a frequency spectrum, a target signal frequency spectrum and a noise frequency spectrum of the noisy narrowband magnetic measurement signal of each frequency band, and defining a gain function according to the target signal frequency spectrum and the frequency spectrum of the noisy narrowband magnetic measurement signal of each frequency band; calculating and acquiring a gain function of the noise-containing narrowband magnetic measurement signal of each frequency band according to the posterior signal-to-noise ratio of the noise-containing narrowband magnetic measurement signal of each frequency band; the method comprises the steps of finishing estimation of target signal frequency spectrums of all frequency bands according to gain functions and frequency spectrums of noisy narrow-band magnetic measurement signals of all frequency bands, obtaining the narrow-band signals after enhancement processing of all frequency bands by utilizing inverse Fourier transform according to the estimation of the target signal frequency spectrums of all frequency bands and phase information of the noisy narrow-band magnetic measurement signals of all frequency bands, and obtaining the low-frequency aviation magnetic measurement signals after enhancement processing according to the narrow-band signals after enhancement processing of all frequency bands and by utilizing wavelet signal synthesis.

In this embodiment, according to the principle of spectral subtraction, the gain function g (k) of the noisy narrowband magnetic measurement signal of each frequency band is obtained by calculating the posterior signal-to-noise ratio, which can also complete the calculation of the gain function, but this approach may cause a large error in the estimation of the gain function. The embodiment provides another method for enhancing the low-frequency magnetic signal, which can also improve the detection precision of the signal and is suitable for enhancing the low-frequency signal of the aeromagnetic survey and eliminating the low-frequency magnetic interference noise.

In this embodiment, the posterior signal-to-noise ratio SNP of the noisy narrow-band magnetic measurement signal of each frequency band_post(k) Can be based onThe gain function G (k) of the noisy narrowband magnetic measurement signal of each frequency band can be obtained according toTo obtain.

According to still another aspect of the present invention, an airborne magnetic surveying system is provided, which performs magnetic signal enhancement processing using the low-frequency magnetic signal enhancement method as described above. The low-frequency magnetic signal enhancement method provided by the invention can be used for fitting and removing the non-stationary trend magnetic field of the magnetic measurement signal, carrying out band-pass filtering on the trend-removed magnetic measurement signal to obtain the interesting frequency band signal, obtaining each narrow-band magnetic measurement signal according to the interesting frequency band signal, and processing each narrow-band magnetic measurement signal to realize low-frequency magnetic measurement signal enhancement processing, so that the low-frequency magnetic signal enhancement method provided by the invention is used in an aviation magnetic measurement system, and the magnetic measurement performance of the aviation magnetic measurement system can be greatly improved.

In order to further understand the present invention, the method for enhancing a low frequency magnetic signal provided by the present invention is described in detail below with reference to fig. 1 to 4 (d).

As shown in fig. 1 to 4(d), a low frequency magnetic signal enhancement method is provided according to an embodiment of the present invention, and includes the following steps.

The method comprises the steps of firstly, carrying out data sampling on original aviation magnetic measurement data, carrying out cubic spline fitting according to data sampling time and magnetic measurement data obtained by sampling to obtain a measurement trend item, and removing the measurement trend item from the original aviation magnetic measurement data to obtain a noise-containing aviation magnetic measurement signal without the trend item.

And step two, performing band-pass filtering on the preprocessed noise-containing aviation magnetic measurement signals without the trend items to obtain interest low-frequency magnetic measurement signals, and performing wavelet signal decomposition on the interest low-frequency magnetic measurement signals to obtain noise-containing narrow-band magnetic measurement signals of multiple frequency bands. In this embodiment, the cut-off frequency of the filter is determined according to the frequency band of the low-frequency magnetic measurement signal of interest, and the band-pass filter b is generated by using an FIR or IIR method_pAnd (t) filtering the preprocessed signal. And determining the discrete wavelet decomposition layer number n according to the sampling rate fs and the lower cut-off frequency fl of the signal (ensuring that fl and 2 × fl belong to two levels). And (3) decomposing the signals by using db4 of Daubechies series as a wavelet basis to obtain wavelet coefficients with different layers, and respectively corresponding to the noise-containing narrow-band magnetic measurement signals of different frequency bands of the measurement magnetic field.

Thirdly, performing fast Fourier transform on the measuring magnetic field of the noisy narrow-band magnetic measurement signal of each frequency band to obtain a frequency domain expression formula R of the narrow-band measurement signal of each frequency band_ke^jθk＝X_ke^jαk+D_ke^jβkPerforming frequency spectrum calculation by using a frequency domain expression formula of the narrow-band measurement signal of each frequency band to obtain a frequency spectrum R of the noise-containing narrow-band magnetic measurement signal of each frequency band_kTarget signal spectrum X_kAnd noise spectrum D_kWherein, | R_k|²＝|X_k|²+|D_k|²According to the target signal spectrum X of each frequency band_kFrequency spectrum R of noise-containing narrow-band magnetic measurement signal_kA gain function g (k) is defined.

Step four, calculating the posterior signal-to-noise ratio SNP of the noise-containing narrow-band magnetic measurement signal of each frequency band_post(k) Based on the posterior signal-to-noise ratio and by using the direct decision method to obtain the prior signal-to-noise ratio of the noise-containing narrow-band magnetic measurement signal of each frequency band, and based on the prior signal-to-noise ratio of the noise-containing narrow-band magnetic measurement signal of each frequency band, calculating to obtain the prior signal-to-noise ratio of the noise-containing narrow-band magnetic measurement signal of each frequency bandA gain function. In this embodiment, the posterior signal-to-noise ratio SNP of the noisy narrow-band magnetic measurement signal of each frequency band_post(k) Can be based onObtaining prior signal-to-noise ratio SNP of noise-containing narrow-band magnetic measurement signals of each frequency band_prio(k) Can be based onThe gain function G (k) of the noisy narrowband magnetic measurement signal of each frequency band can be obtained according toTo obtain.

Step five, finishing the estimation of the target signal frequency spectrum of each frequency band according to the gain function and the frequency spectrum of the noise-containing narrow-band magnetic measurement signal of each frequency band, and estimating the target signal frequency spectrum of each frequency bandAnd phase information j theta k of the noise-containing narrow-band magnetic measurement signals of each frequency band, acquiring the narrow-band signals after enhancement processing of each frequency band by utilizing Fourier inversion, and acquiring the low-frequency aviation magnetic measurement signals after enhancement processing by utilizing wavelet signal synthesis according to the narrow-band signals after enhancement processing of each frequency band.

The results of processing aeromagnetic flight test data by using the low-frequency magnetic signal enhancement method provided by the invention are described below with reference to fig. 2 to 4 (d). The test flight survey line and the simulated low frequency magnetic target are shown in fig. 2, and the height of the corresponding survey line is 500 m. The target low frequency magnetic signal is generated by the earth conductor current, which is a square wave signal of 1.67 Hz.

When the analog target signal source is turned off, the line measurement magnetic field and the enhanced result are shown in fig. 3(a) and fig. 3(b), where fig. 3(a) is time domain magnetic field data and fig. 3(b) is its power spectral density, and it can be seen from fig. 3(a) and fig. 3(b) that the enhancement algorithm can effectively eliminate low-frequency magnetic field noise.

When the analog target signal source is turned on, the line measurement magnetic field and the processed result and the power estimation thereof are shown in fig. 4(a) to 4 (d). As can be seen from fig. 4(a) to 4(d), the amplitude of the magnetic interference noise in the processed magnetic field is significantly reduced, while the amplitude of the low-frequency target signal is substantially unchanged. The time-frequency analysis of the magnetic field in fig. 4(a) is performed, and the results are shown in fig. 4(c) and 4(d), which correspond to the results before and after the treatment, respectively. As can be seen from fig. 4(c) and 4(d), the signal of the line measurement magnetic field after being processed is more prominent.

In summary, the present invention provides a low-frequency magnetic signal enhancement method for an airborne magnetic measurement system, which can fit and remove a non-stationary trend magnetic field of a magnetic measurement signal, perform band-pass filtering on the trend-removed magnetic measurement signal to obtain an interest frequency band signal, obtain each narrow-band magnetic measurement signal according to the interest frequency band signal, and process each narrow-band magnetic measurement signal to realize low-frequency magnetic measurement signal enhancement processing.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.