Velocity-Related Magnetic Interference Compensation of Unmanned Underwater Vehicle

Abstract

Underwater magnetic detection based on unmanned underwater vehicles (UUVs) is an important approach for marine exploration and monitoring. Due to the interference of the carrier magnetic field, the detection accuracy is severely limited. To improve the performance of magnetic detection, various compensation methods have been developed. However, the compensation effectiveness of these methods is greatly diminished when UUVs sail at different velocities. In this paper, we propose a velocity-related interference magnetic compensation method that enhances the conventional Tolles–Lawson model. By introducing a velocity-related term and combining the ridge regression with the linear fitting algorithm, we determine the compensation parameters for various UUV velocities. Field experiments are conducted to verify the effectiveness of the proposed method. The results show that the root mean square error of the total magnetic field after compensation is reduced from 246.90 nT to 2.23 nT. Our study demonstrates that the velocity-related compensation method can significantly improve the accuracy of interference magnetic compensation under different UUV velocities, making it applicable to actual underwater magnetic detection.