Electromagnetic detection system based on sea-bottom crawler

An electromagnetic detection system based on a sea-bottom crawler, comprising:

• a survey vessel, a sea-bottom crawler, a transmitting antenna, a receiving node array, a control chip, and a power supply;
• wherein the survey vessel is connected to the sea-bottom crawler through a traction rope, and a tail of the sea-bottom crawler is provided with a drag cable, and on the drag cable, the transmitting antenna and the receiving node array are mounted, and both the control chip and the power supply are configured in an integrated electronic cabin of the sea-bottom crawler;
• wherein the power supply provides electrical energy to the sea-bottom crawler, the transmitting antenna, the receiving node array, and the control chip, and the control chip is electrically connected to the transmitting antenna, the receiving node array, and a power system of the sea-bottom crawler;
• wherein an electromagnetic detection interference compensation device for performing interference elimination and compensation on reflected waves received by the receiving node array is performed by the control chip;
• wherein the control chip is configured to have a data transmission device for sending compensated electromagnetic detection results to the survey vessel;
• wherein the electromagnetic detection interference compensation device specifically implements following steps:
• S10, controlling the sea-bottom crawler to crawl within a predetermined detection area, obtaining underwater environmental parameters and pose information of the sea-bottom crawler, while emitting electromagnetic waves and receiving the reflected waves, the underwater environmental parameters including water depth, water temperature and salinity;
• wherein emitted waves are modulated and carry digital information, which are referred to as the emitted waves;
• S20, demodulating and digitizing captured reflected wave signal to obtain demodulated digital information;
• S30, aligning time of the emitted waves and the reflected wave according to the demodulated digital information, and calculating a time delay, amplitude attenuation, and discrimination between the reflected wave and the emitted waves within each time window by using a sliding time window method, wherein the discrimination is defined as 1 minus a similarity between the reflected wave and the emitted waves within the sliding time window;
• S40, inputting the emitted waves, the reflected wave, as well as the time delay, the amplitude attenuation, and the discrimination of each time window into a pre-trained first reflected wave compensation model to obtain a first compensated reflected wave;
• S50, aligning the underwater environmental parameters and the pose information of the sea-bottom crawler with the emitted waves according to time window;
• S60, calculating a correlation of the underwater environmental parameters and sea-bottom crawler pose information with the time delay, the amplitude attenuation, and the discrimination of each time window by using Bayesian network method;
• S70, establishing interference equations by using preset relation functions according to the correlation obtained by calculation, including water depth interference equation, water temperature interference equation, salinity interference equation, crawler pitch angle interference equation, crawler roll angle interference equation, crawler heading angle interference equation, crawler speed interference equation, and crawler acceleration interference equation;
• S80, fitting and calculating a weight coefficients of respective interference factors for the interference equations, wherein the respective interference factors include the underwater environmental parameters and the pose information of the sea-bottom crawler;
• S90, inputting the first compensated reflected wave, the weight coefficients of respective interference factors, and the underwater environmental parameters and the pose information of the sea-bottom crawler into a pre-trained second reflected wave compensation model to obtain a final compensated reflected wave as a result of electromagnetic detection;
• wherein the sea-bottom crawler therein adopts a tracked sea-bottom crawler;
• wherein the data transmission device sends the compensated electromagnetic detection results to the survey vessel through a data cable or wireless channel;
• wherein the receiving node array is specifically a linear or two-dimensional array composed of multiple electromagnetic induction coils, and each receiving node comprises three-axis orthogonal induction coils for receiving electromagnetic field signals from different directions.