Underwater Multi-Parameter Magnetic Anomaly Detection System Carried by Autonomous Underwater Vehicle and Its Data Preprocessing Method

Autonomous Underwater Vehicle (AUV) equipped with towed magnetic anomaly detection (MAD) system is a reliable underwater magnetic target detection technology. Using the detected magnetic anomaly information, the position and magnetic moment of the magnetic target can be estimated. In this paper, an underwater multi-parameter magnetic anomaly detection system equipped with scalar and vector magnetometers is proposed. Two scalar magnetometers are deployed in the horizontal direction, and the vector magnetometers are deployed behind their vertical lines. The system can synchronously collect scalar and vector magnetic anomaly data generated by magnetic targets, as well as horizontal gradient magnetic anomaly data. After preprocessing such as carrier magnetic interference compensation, coordinate system conversion and data denoising, the detection and location of magnetic targets can be realized. As an extension, multiple systems can form a detection network through cluster cooperative detection, which provides a new idea for deep-sea long-distance and fast detection of magnetic targets. Finally, the practicability of the system is verified by field experiment.