系统工程与电子技术 ›› 2026, Vol. 48 ›› Issue (8): 2511-2519.doi: 10.12305/j.issn.1001-506X.2026.08.01

• 电子技术 •    

水下航行器的磁异常探测技术

周洪娟1,2,3(), 崔龙青1(), 金涛1,2,3(), 周志权1,2,3(), 王晨旭1,2,3()   

  1. 1. 哈尔滨工业大学（威海）信息科学与工程学院，山东 威海 264209
    2. 山东省海洋电子信息与智能无人系统重点实验室，山东 威海 264209
    3. 海洋无人系统跨域协同与综合保障工业和信息化部重点实验室，山东 威海 264209
  • 收稿日期:2025-06-03 修回日期:2025-08-12 接受日期:2025-08-20 出版日期:2025-10-28 发布日期:2025-10-28
  • 通讯作者: 金涛 E-mail:zhouhongjuan821@hit.edu.cn;2948442633@qq.com;jintao@hit.edu.cn;zzq@hitwh.edu.cn;wangchenxu@hit.edu.cn
  • 作者简介:周洪娟（1980—），女，副教授，博士，主要研究方向为海洋目标电磁探测、海洋环境电磁噪声
    崔龙青（2001—），男，硕士研究生，主要研究方向为水下航行器探测技术
    周志权（1973—），男，教授，博士，主要研究方向为海洋目标探测技术、智能感知与无人系统
    王晨旭（1973—），男，教授，博士，主要研究方向为芯片安全技术、基于FPGA的智能硬件开发技术
  • 基金资助:
    国家重点研发计划（2023YFC3107501）；山东省重大科技创新工程（2022ZLGX04）资助课题

Magnetic anomaly detection technology for underwater vehicle

Hongjuan ZHOU1,2,3(), Longqing CUI1(), Tao JIN1,2,3(), Zhiquan ZHOU1,2,3(), Chenxu WANG1,2,3()   

  1. 1. School of Information Science and Engineering，Harbin Institute of Technology，Weihai 264209，China
    2. Shandong Provincial Key Laboratory of Marine Electronic Information and Intelligent Unmanned Systems，Weihai 264209，China
    3. Key Laboratory of Cross-Domain Synergy and Comprehensive Support for Unmanned Marine Systems，Ministry of Industry and Information Technology，Weihai 264209，China
  • Received:2025-06-03 Revised:2025-08-12 Accepted:2025-08-20 Online:2025-10-28 Published:2025-10-28
  • Contact: Tao JIN E-mail:zhouhongjuan821@hit.edu.cn;2948442633@qq.com;jintao@hit.edu.cn;zzq@hitwh.edu.cn;wangchenxu@hit.edu.cn

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摘要：

磁异常探测技术在水下航行器目标探测中具有重要应用价值。针对海浪噪声干扰下磁异常信号难以有效提取的问题，提出一种结合改进卡尔曼滤波与正交基分解的联合检测方法。首先，通过数值仿真构建任意航向下水下航行器的组合磁体模型，生成模拟磁异常信号；其次，结合有限深多层海水磁场噪声模型、海水电导率数据及海浪谱特性，构建叠加海浪噪声的磁异常探测数据；然后，采用改进的卡尔曼滤波算法有效抑制海浪噪声，增强信号质量；最后，利用正交基分解方法实现磁异常信号的高效检测。研究结果表明，在信噪比约为?15 dB、探测平台运动速度低于60 m/s的条件下，该方法能够维持较高的检测概率，验证了其在复杂海浪噪声环境下的鲁棒性。

关键词: 磁异常探测, 海浪噪声, 改进卡尔曼滤波, 正交基分解, 复杂海洋环境

Abstract:

Magnetic anomaly detection technology holds significant application value in target detection for underwater vehicles. To address the challenge of effectively extracting magnetic anomaly signals in sea wave noise interference, a joint detection method combining improved Kalman filtering and orthogonal basis decomposition is proposed. Firstly, a composite magnetic model of an underwater vehicle in arbitrary navigation is constructed through numerical simulation to generate simulated magnetic anomaly signals. Secondly, a magnetic anomaly detection dataset superimposed with sea wave noise is developed by integrating a finite-depth multilayer seawater magnetic field noise model, seawater conductivity data, and sea wave spectrum characteristics. Subsequently, an improved Kalman filtering algorithm is employed to effectively suppress sea wave noise and enhance signal quality. Finally, the orthogonal basis decomposition method is utilized to achieve efficient detection of magnetic anomaly signals. The results demonstrate that in conditions with a signal-to-noise ratio of approximately ?15 dB and a detection platform speed below 60 m/s, the proposed method maintains a high detection probability, verifying its robustness in complex sea wave noise environments.

Key words: magnetic anomaly detection, sea wave noise, improved Kalman filtering, orthogonal basis decomposition, complex marine environment

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