标题： 用于自动干扰消除和地雷检测的无人机磁强计系统 显示英文标题

标题： A Drone-mounted Magnetometer System for Automatic Interference Removal and Landmine Detection

摘要： 地雷在冲突地区被广泛用作一种不分青红皂白的武器，以控制军事行动，常常在战斗结束后仍保持活跃。 它们的存在对平民构成持续的危险，阻碍战后恢复工作，造成伤害或死亡，并限制人们对农业和基础设施所需土地的使用。 配备磁强计的无人驾驶飞行器（UAV）通常用于探测残留的隐藏地雷，但由于无人机电子设备（如电机）产生的磁场干扰，存在显著的技术挑战。 我们提出使用安装在框架上的无人机载双磁强计有效载荷，执行两步自动化干扰消除和地雷探测分析。 第一步通过为航天磁强计设计的Underdetermined Platform（WAIC-UP）方法进行小波自适应干扰消除。 第二步使用快速无监督事件检测（RUDE）算法来检测地雷特征。 这种采用多个磁强计的WAIC-UP/RUDE方法在计算成本较低的情况下实现了高保真度的弹药探测，并简化了磁测有效载荷的设计。 我们通过在10 x 10米正方形网格中随机放置地雷和无人机电机干扰的蒙特卡洛模拟验证了该方法。 此外，我们通过改变无人机的飞行高度来评估算法的有效性，研究其在不同地面高度下的性能。 显示英文摘要

摘要： Landmines have been extensively used in conflict zones as an indiscriminate weapon to control military movements, often remaining active long after hostilities have ended. Their presence poses a persistent danger to civilians, hindering post-war recovery efforts, causing injuries or death, and restricting access to essential land for agriculture and infrastructure. Unmanned aerial vehicles (UAV) equipped with magnetometers are commonly used to detect remnant hidden landmines but come with significant technical challenges due to magnetic field interference from UAV electronics such as motors. We propose the use of a frame-mounted UAV-borne two-magnetometer payload to perform a two-step automated interference removal and landmine detection analysis. The first step removes interference via the Wavelet-Adaptive Interference Cancellation for Underdetermined Platform (WAIC-UP) method designed for spaceflight magnetometers. The second method uses the Rapid Unsupervised Detection of Events (RUDE) algorithm to detect landmine signatures. This two-step WAIC-UP/RUDE approach with multiple magnetometers achieves high-fidelity ordinance detection at a low computational cost and simplifies the design of magnetic survey payloads. We validate the method through a Monte Carlo simulation of randomized landmine placements in a 10 x 10 m square grid and drone motor interference. Additionally, we assess the efficacy of the algorithm by varying the drone's altitude, examining its performance at different heights above the ground.