Eliminating Nonlinear Electromagnetic Interference in Work-Class ROVs Based on Least Squares

Remote Operated Vehicles (ROVs) are increasingly utilized in underwater exploration and inspections, where precise magnetometer readings are essential for detecting anomalies and mapping subsurface structures. However, the motors used in ROVs generate significant electromagnetic interference (EMI) that can severely distort magnetometer data, leading to inaccurate readings and compromised mission objectives. In this paper, We established a signal model that accounts for nonlinear frequency modulation interference. Through a comprehensive study of brushless DC motors and the incorporation of rotational speed sensor data, we successfully linearized the model and obtained the least squares solution for the signal. Based on our developed system model and proposed methods, the impact of motor electromagnetic interference has been significantly suppressed in simulation, enhancing the performance of magnetic detection in ROV applications.