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I would think it's generated by thermal motion of charged particles in matter

Thermal radiation does the earth emit will be infrared .Earth emits radiations in infrared region , they are long wave heat radiations

What is thermal energy ?

The energy present in a system that determines its temperature is usually referred to as thermal energy. Thermal energy flows as heat. The infrared radiations that the Earth emits include long-wave heat radiations.

As is well known, the earth's crust, as well as core, contains many radioactive materials. As a result, the breakdown of these atoms inside the crust continuously releases a significant quantity of energy, which rises via the surface as thermal energy.

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