CN103941297A - Aeromagnetic measuring device and method based on fixed-wing unmanned aerial vehicle - Google Patents

Abstract

The invention relates to an aeromagnetic measurement device and measurement method based on a fixed-wing unmanned aerial vehicle, including a fixed-wing unmanned aerial vehicle, a proton magnetometer and a flight control system, and the fixed-wing unmanned aerial vehicle is fixed with a The measurement platform of the magnetometer; the proton magnetometer, which is used for magnetic measurement during the flight of the fixed-wing unmanned aerial vehicle, and transmits the magnetic measurement data to the flight control system; the flight control system, It is used to collect the flight data of the fixed-wing UAV and receive the magnetic measurement data transmitted by the proton magnetometer, and send the flight data and the magnetic measurement data back to the ground in real time, so as to realize the unmanned monitoring of the fixed-wing on the ground based on the received flight data. Man-machine for flight monitoring. The invention solves the problems of high cost of man-machine aeromagnetic measurement, high risk of personnel, low efficiency of ground magnetic measurement, large environmental interference and the like.

Description

An aeromagnetic measurement device and measurement method based on a fixed-wing unmanned aerial vehicle

technical field

The invention relates to the field of magnetic measurement, in particular to an aeromagnetic measurement device and a measurement method using a fixed-wing unmanned aerial vehicle equipped with a high-precision magnetic measurement instrument.

Background technique

As an important branch in the field of geophysical exploration, magnetic measurement is widely used in geological and mineral surveys or exploration. The working method is mainly to carry out area-based geomagnetic field measurement. At present, there are two main modes, airborne magnetic measurement and ground Magnetic measurement. From the perspective of measuring instruments, the aviation magnetometer is mainly based on the optical pump magnetometer, such as the potassium optical pump magnetometer in Canada, the cesium optical pump magnetometer and the helium optical pump magnetometer produced in China. Although the sensitivity of the optical pump magnetometer is high, However, the optical pump magnetometer has a dead zone and a heading error (the heading error refers to the change of the magnetometer output caused by the change of the magnetic field direction relative to the magnetometer sensor), and it is expensive, heavy, and consumes a lot of power. Due to the high failure rate of the instrument, it is suitable for man-machine aeromagnetic measurement work. In addition to the optical pump magnetometer mentioned above, the ground magnetometer also has a proton magnetometer, especially the proton magnetometer represented by the overhouse. High precision, reliable performance, small size, low power consumption, moderate price, suitable for ground magnetic measurement work. In terms of observation methods, ground magnetic measurement usually adopts the walking measurement mode carried by humans, which has played an important role in geological and mineral exploration. The main problems are that the exploration area is small, the efficiency is low, and the labor intensity is high. Observation data is often distorted due to the interference of industrial environment and industrial environment; aeromagnetic measurement usually uses fixed-wing manned aircraft or rotary-wing manned helicopter to carry measurement personnel and equipment for aeromagnetic measurement, which has the advantages of long endurance, large load capacity, large measurement area, It has the advantages of fast and high efficiency, and is suitable for carrying out medium-scale aeromagnetic surveys. It plays an important role in geological or magnetic ore body surveys. However, for manned aircraft, personnel risks are high and work costs are high. Professional pilots must be equipped Therefore, the threshold for carrying out airborne magnetic measurement is relatively high. Up to now, there are only a few professional teams in China that have the ability to carry out man-machine aeromagnetic measurement. In addition, as far as fixed-wing and rotary-wing manned aircraft are concerned, fixed-wing aircraft have a fast flight speed, high work efficiency, strong wind resistance, and strong eddy current resistance, but they need to have special facilities such as airports and running places; Slow, low work efficiency, low wind resistance and eddy current resistance, but generally do not need to have a dedicated airport and run to, etc., and the take-off and landing conditions are more flexible. Based on the above-mentioned flight characteristics and cost factors of man-machine aeromagnetic survey The machine is convenient for large-scale aeromagnetic surveying of 1:50,000 or above or small-area of 1:10,000 or above. For area magnetic surveying with a scale of less than 1:10,000, the ground magnetic survey is currently the main method. In some In areas with poor traffic conditions, mountainous areas with poor terrain conditions, or areas with large ground magnetic interference, the work is difficult, the work efficiency is low, and the measurement area is small, which often limits the development of magnetic measurement work. Therefore, no matter from the perspective of geological census or mine exploration, there is an urgent need for a set of efficient, flexible, low-cost and suitable for large-scale aeromagnetic survey equipment and technology.

Contents of the invention

The technical problem to be solved by the present invention is to provide an aeromagnetic measurement device and measurement method based on a fixed-wing unmanned aerial vehicle, which is used to solve the problems of high cost of man-machine aeromagnetic measurement, high personnel risk, low efficiency of ground magnetic measurement, and environmental problems. Interference and other issues.

The technical solution of the present invention to solve the above-mentioned technical problems is as follows: an aeromagnetic measurement device based on a fixed-wing unmanned aerial vehicle, including a fixed-wing unmanned aerial vehicle, a proton magnetometer and a flight control system, and the fixed-wing unmanned aerial vehicle is fixed with A measurement platform for mounting the proton magnetometer;

The proton magnetometer is used for magnetic measurement during the flight of the fixed-wing unmanned aerial vehicle, and transmits the magnetic measurement data to the flight control system;

The flight control system is used to collect the flight data of the fixed-wing unmanned aerial vehicle and receive the magnetic method measurement data transmitted by the proton magnetometer, and send the flight data and the magnetic method measurement data back to the ground in real time, so as to achieve Flight data is used for flight monitoring of fixed-wing UAVs.

On the basis of the above technical solutions, the present invention can also be improved as follows.

Further, the proton magnetometer includes a data collector and a magnetic probe sensor connected by a cable, and the data collector is installed outside the measurement platform, which may be inside the drone body, and the magnetic probe sensor is installed Inside the measuring platform.

Further, the inside of the measurement platform includes a cross shaft installed at the center of the measurement platform, and the magnetic probe sensor is installed on the cross shaft.

Further, the measuring platform is fixed on the abdomen or back of the fixed-wing UAV.

Further, a fixed panel connected to the fixed-wing UAV is installed on the measurement platform, and the fixed panel fixes the measurement platform on the abdomen or back of the fixed-wing UAV through bolts, and A shock absorption module is installed on the fixed panel, and the shock absorption module is located between the fixed-wing UAV and the measuring platform, and is used to filter out the shaking generated during the flight of the fixed-wing UAV.

Further, a fairing is installed on the outside of the measurement platform, and the fairing is connected to the fixed panel by bolts, so as to avoid the interference of the airflow on the stability of the magnetic probe sensor when the fixed-wing UAV is flying at high speed.

Further, the flight control system includes an airborne control system and a ground control system that communicate with each other;

The airborne control system, which is placed on the fixed-wing unmanned aerial vehicle, is used to collect the flight data of the fixed-wing unmanned aerial vehicle and receive the magnetic method measurement data transmitted by the proton magnetometer, and combine the flight data and the magnetic method measurement data Send to the ground control system in real time;

The ground control system is placed on the ground and is used to receive the flight data and magnetic measurement data sent by the airborne control system, and to monitor the flight of the fixed-wing UAV according to the received flight data.

Further, the onboard control system includes a flight attitude locator, a flight height locator, a space coordinate locator and an electronic transmitter;

The flight attitude locator is used to collect the flight attitude data of the fixed-wing unmanned aerial vehicle;

The flight height locator is used to collect the flight height data of the fixed-wing unmanned aerial vehicle;

The space coordinate locator is used to collect the flight coordinate data of the fixed-wing unmanned aerial vehicle;

The electronic transmitter is used to send the flight attitude data, flight height data, flight coordinate data and magnetic measurement data transmitted by the proton magnetometer to the ground control system in real time.

Further, the onboard control system also includes an autonomous flight module, which is used to receive the pre-set autonomous flight parameters input through the ground control system, and control the fixed-wing UAV to fly in the air according to the pre-set autonomous flight parameters. Autonomous flight in flight state.

The technical solution of the present invention also includes an aeromagnetic measurement method based on a fixed-wing unmanned aerial vehicle, adopts the above-mentioned aeromagnetic measurement device, and includes the following steps:

Step 1. During the flight of the fixed-wing UAV, the magnetic measurement is performed by the proton magnetometer on the fixed-wing UAV to obtain the magnetic measurement data;

Step 2, collecting the flight data of the fixed-wing UAV;

Step 3: Send the flight data and magnetic measurement data back to the ground in real time, and monitor the flight of the fixed-wing UAV on the ground based on the received flight data.

Further, in the step 1, the fixed-wing UAV performs autonomous flight according to the pre-planned autonomous flight parameters, and the autonomous flight parameters are input to the flight of the fixed-wing UAV before the fixed-wing UAV takes off. in the control system.

Further, when the fixed-wing UAV completes the aeromagnetic measurement in the autonomous flight state, the fixed-wing UAV is switched to the manual flight state through the flight control system of the fixed-wing UAV, and the fixed-wing UAV is realized through manual control. landing, complete aeromagnetic survey of one flight sortie.

The beneficial effects of the present invention are: the aeromagnetic measurement device and measurement method based on the fixed-wing unmanned aerial vehicle described in the present invention fully utilizes the characteristics of the flexible take-off and landing of the fixed-wing unmanned aerial vehicle, and does not require aircraft pilots and special airport runways , not only can take off by catapult or net landing, but also can build a simple runway near the survey area with conditions, such as fields, highways and other temporary places, so as to realize takeoff and landing, which reduces the safety risk of pilots and the cost of using special airports . At the same time, the aeromagnetic measurement device of the present invention is small in size, light in weight, low in cost, flexible in installation mode, loose in application conditions for fixed-wing UAVs, and has strong practicability, and the flight speed of fixed-wing UAVs is usually 60-160 kilometers / hour, with an average of 110 km/h, using the ground walking observation mode magnetometer, the highest sampling frequency is 1-5Hz, and the aeromagnetic measurement density or measurement point distance is 3.3-6.1 meters under the flying state of the UAV, so it can meet the large- Medium-scale aeromagnetic survey requirements. In addition, due to the better flight line control performance of fixed-wing UAVs, and the ability to fly autonomously according to flight parameters such as pre-planned routes, routes, and flight altitudes, it can meet certain conditions for ground-based aeromagnetic surveys. While all kinds of human and industrial interference on the ground improve the observation accuracy, it overcomes the weaknesses of high risk of man-machine personnel, high work cost, and is suitable for small and medium-scale aeromagnetic surveys, and realizes high-precision, high-efficiency, low-cost, and flexible The aeromagnetic survey solution is an effective means for geological and mineral exploration and energy and environmental exploration.

Description of drawings

Fig. 1 is the front view of the structure of the fixed-wing unmanned aerial vehicle aeromagnetic measuring device in the present invention;

Figure 2(a) to Figure 2(d) are the main view, side view, top view and A-A section view of the measuring platform respectively;

Fig. 3 is the schematic structural diagram of the fairing installed on the outside of the measuring platform;

Fig. 4 is the 1:10000 magnetic anomaly plane contour map of a certain iron ore area in North China completed by applying the aeromagnetic measuring device of the present invention;

Figure 5 is the 1:10000 ground contour map of the magnetic anomaly plane corresponding to the area enclosed by the black line box in Figure 4, using the same magnetometer.

In the accompanying drawings, the list of parts represented by each label is as follows:

1. Fixed-wing drone, 2. Data collector, 3. Magnetic probe sensor, 4. Airborne control system, 5. Ground control system, 6. Measuring pan/tilt, 7. Fairing, 8. Cross axis, 9 , fixed panel, 10, damping module.

Detailed ways

The principles and features of the present invention are described below in conjunction with the accompanying drawings, and the examples given are only used to explain the present invention, and are not intended to limit the scope of the present invention.

As shown in Figure 1, the present embodiment provides a kind of aeromagnetic measurement device based on fixed-wing unmanned aerial vehicle, comprises fixed-wing unmanned aerial vehicle 1, proton magnetometer and flight control system, and described proton magnetometer includes through cable Connected data collector 2 and magnetic probe sensor 3, the flight control system includes an airborne control system 4 and a ground control system 5 that communicate with each other. Wherein, the proton magnetometer has a satellite synchronous observation function and a walking observation mode, the observation frequency is 1-5 Hz, and the geomagnetic field movement measurement mode is adopted.

The back or abdomen on the fixed-wing unmanned aerial vehicle 1 is fixed with a measurement pan-tilt 6, the magnetic probe sensor 2 is installed inside the measurement pan-tilt, and the fairing 7 is installed on the outside, and the fixed-wing unmanned The data collector 2 of the proton magnetometer inside the machine body (outside the measuring platform) is connected with the magnetic probe sensor installed inside the measuring platform 6 through a cable, and the data collector cooperates with the magnetic probe sensor to be used in fixed-wing unmanned aerial vehicles. Magnetic measurement is performed during the man-machine flight, and the magnetic measurement data is transmitted to the on-board control system 4 .

As shown in Figure 2(a) to Figure 2(d), the measurement platform also includes a cross shaft 8 installed in the center of the measurement platform, a fixed panel 9 connected to the fixed-wing UAV, and a fixed panel mounted on the fixed panel. The damping module 10 on. The magnetic probe sensor 3 is installed on the cross shaft 8, and the cross shaft enables the measuring platform to have a dual-axis automatic level stabilization function, which ensures that the magnetic probe sensor 3 always maintains a horizontal working state when it is in flight. The fixed panel 9 is directly connected with the back or abdomen of the fixed-wing UAV body by bolts, and there is a hole in the middle of the fixed panel, which is used to install the shock absorption module 10, and the fixed panel simultaneously fixes the measuring platform 6 on the On the back or belly of a fixed-wing drone. In addition, the main function of the fixed panel 9 is to facilitate the installation of the fairing 7, and FIG. 3 shows a schematic diagram of the installation of the fairing. The damping module 10 is located between the fixed-wing UAV and the measurement platform through the fixed panel 9, and its function is mainly to filter out certain vibrations generated during the flight of the fixed-wing UAV.

In this embodiment, the airborne control system 4 is placed on the fixed-wing unmanned aerial vehicle and is used to collect the flight data of the fixed-wing unmanned aerial vehicle and receive the magnetic measurement data transmitted by the proton magnetometer. The data and magnetic measurement data are sent to the ground control system in real time; the ground control system 5 is placed on the ground for receiving the flight data and magnetic measurement data sent by the airborne control system, and according to the received flight data Flight monitoring of fixed-wing drones.

The airborne control system includes a flight attitude locator, a flight height locator, a space coordinate locator and an electronic transmitter: the flight attitude locator is used to collect the flight attitude data of the fixed-wing unmanned aerial vehicle; The altitude locator is used to collect the flight height data of the fixed-wing unmanned aerial vehicle; the space coordinate locator is used to collect the flight coordinate data of the fixed-wing unmanned aerial vehicle; The flight attitude data, flight height data, flight coordinate data and magnetic measurement data transmitted by the proton magnetometer are sent to the ground control system.

In addition, the airborne control system also includes an autonomous flight module, which is used to receive pre-set autonomous flight parameters input through the ground control system, and control the fixed-wing UAV to Autonomous flight in flight state.

Based on the above-mentioned aeromagnetic measurement device, the present embodiment mainly includes the following steps when performing aeromagnetic measurement:

Step 1. During the flight of the fixed-wing UAV, the magnetic measurement is performed by the proton magnetometer on the fixed-wing UAV to obtain the magnetic measurement data;

Step 2, collecting the flight data of the fixed-wing UAV;

Step 3: Send the flight data and magnetic measurement data back to the ground in real time, and monitor the flight of the fixed-wing UAV on the ground based on the received flight data.

Wherein, in the step 1, the fixed-wing UAV can perform autonomous flight according to the pre-planned autonomous flight parameters, and the autonomous flight parameters, such as the length of the flight survey line, the distance between the survey lines, the coordinates of the end points of the survey line and the The data such as line flight direction and flight altitude are input into the autonomous flight module of the airborne control system through the ground control system before the fixed-wing UAV takes off. After the fixed-wing UAV completes the aeromagnetic survey in the autonomous flight state, the fixed-wing UAV is switched to the manual flight state through the onboard control system, and the fixed-wing UAV is landed through manual control to complete a flight sortie aeromagnetic survey.

To sum up, in this embodiment, the fixed-wing unmanned aerial vehicle realizes ground catapult takeoff through manual control or rolls and takes off on a simple runway, and when it reaches the actual measurement area and measurement height, it switches to the autonomous flight state through the ground control system , The fixed-wing UAV carries out aeromagnetic survey according to the coordinates and survey line parameters input after planning in advance. After the measurement is completed, it is switched to the manual control of the UAV to realize the ground arresting net or sliding landing.

In practical applications, when the maximum flight speed of the fixed-wing UAV is ≤160Km/h, the proton magnetometer adopts 5Hz observation frequency, the maximum sampling density or measurement point distance is ≤8.8 meters, and the magnetic method exceeds 1:2000 scale. The point distance is 10 meters. When the control flight speed is ≤90Km/h, the magnetometer adopts 5Hz observation frequency, and the maximum sampling density or measurement point distance is ≤5 meters, which meets the 1:1000 scale magnetic method measurement point distance of 5 meters. Require. In addition, for fixed-wing UAVs, the flight height can be set according to the terrain conditions, or the flight height can be set according to the geological survey standards. According to the flight altitude parameters input in advance, the ground-based flight is carried out, so as to realize the ground-based flight aeromagnetic survey of the fixed-wing UAV, and improve the quality and requirements of the observation data.

In order to test the practicability and effectiveness of the aeromagnetic measurement device and measurement method described in this embodiment, an aeromagnetic measurement experiment and research were carried out by taking a large iron ore deposit distribution area in North China as an example.

The area of the aeromagnetic measurement experiment is 40 square kilometers, the measurement scale is 1:10000, and the flight parameters are: east-west flight, flight measurement line length 10 kilometers, line distance 100 meters, a total of 41 east-west measurement lines, flight height 200 meters, flying speed 80 km/h, magnetometer sampling frequency 3Hz, measuring point distance 7.4 meters, which is better than the requirement of 10 meters for 1:2000 scale sampling point distance, effective working time is 12 hours.

As shown in Fig. 4, the contour map of the plane distribution of aeromagnetic anomalies actually obtained by applying the present invention to carry out the aeromagnetic survey of the fixed-wing UAV is obtained, which clearly reflects the plane distribution characteristics of the underground hidden magnetic body anomalies. As shown in Fig. 5, corresponding to the area enclosed by the black line frame in Fig. 4 of the aeromagnetic anomaly plane distribution contour plane, the magnetic anomaly plane after extending 200 meters from the 1:10000 scale magnetic observation data obtained by the ground magnetic method measurement, etc. The value line diagram, the actual field ground magnetic measurement work is a single ground magnetic measurement instrument that has worked for 120 hours in total.

From the analysis of the experimental results, it can be seen that the measurement results using the aeromagnetic measurement device of this embodiment are significantly better than the observation results of the ground magnetic method in terms of anti-environmental interference and work efficiency. Therefore, it can be proved that the fixed-wing unmanned aerial vehicle aeromagnetic measurement device and measurement method described in this embodiment overcome many shortcomings of man-machine aeromagnetic measurement and ground magnetic measurement, and the accuracy of aeromagnetic measurement reaches or is better than that of ground magnetic. The measurement accuracy of the magnetic method is a useful supplement or alternative to the traditional magnetic method, and it can achieve fast, efficient, flexible, low-cost, and high-precision magnetic prospecting work.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (12)

1. An aeromagnetic surveying device based on a fixed-wing unmanned aerial vehicle is characterized in that it comprises a fixed-wing unmanned aerial vehicle, a proton magnetometer and a flight control system, and a fixed-wing unmanned aerial vehicle is fixed with a proton magnetometer for installing a proton The measuring platform of the magnetometer; The proton magnetometer is used for magnetic measurement during the flight of the fixed-wing unmanned aerial vehicle, and transmits the magnetic measurement data to the flight control system; The flight control system is used to collect the flight data of the fixed-wing unmanned aerial vehicle and receive the magnetic method measurement data transmitted by the proton magnetometer, and send the flight data and the magnetic method measurement data back to the ground in real time, so as to achieve Flight data is used for flight monitoring of fixed-wing UAVs. 2. The aeromagnetic measuring device according to claim 1, wherein the proton magnetometer includes a data collector and a magnetic probe sensor connected by cables, and the data collector is installed outside the measuring platform , the magnetic probe sensor is installed inside the measuring platform. 3. The aeromagnetic measuring device according to claim 2, wherein the inside of the measuring platform includes a cross shaft installed at the center of the measuring platform, and the magnetic probe sensor is installed on the cross shaft. 4. The aeromagnetic measuring device according to any one of claims 1 to 3, wherein the measuring platform is fixed on the abdomen or back of the fixed-wing UAV. 5. The aeromagnetic measuring device according to any one of claims 1 to 3, wherein a fixed panel connected to the fixed-wing unmanned aerial vehicle is installed on the measuring platform, and the fixed panel is connected by a bolt The measuring platform is fixed on the abdomen or back of the fixed-wing UAV, and a shock-absorbing module is installed on the fixed panel, and the shock-absorbing module is located between the fixed-wing UAV and the measuring platform , which is used to filter out the jitter generated during the flight of the fixed-wing UAV. 6. The aeromagnetic measuring device according to claim 5, wherein a fairing is installed on the outside of the measuring platform, and the fairing is connected with the fixed panel by bolts to prevent the fixed-wing unmanned aerial vehicle from When flying at high speed, the airflow interferes with the stability of the magnetic probe sensor. 7. The aeromagnetic measuring device according to claim 1, wherein the flight control system comprises an airborne control system and a ground control system communicating with each other; The airborne control system, which is placed on the fixed-wing unmanned aerial vehicle, is used to collect the flight data of the fixed-wing unmanned aerial vehicle and receive the magnetic method measurement data transmitted by the proton magnetometer, and combine the flight data and the magnetic method measurement data Send to the ground control system in real time; The ground control system is placed on the ground and is used to receive the flight data and magnetic measurement data sent by the airborne control system, and to monitor the flight of the fixed-wing UAV according to the received flight data. 8. The aeromagnetic measuring device according to claim 7, wherein the airborne control system comprises a flight attitude locator, a flight height locator, a space coordinate locator and an electronic transmitter; The flight attitude locator is used to collect the flight attitude data of the fixed-wing unmanned aerial vehicle; The flight height locator is used to collect the flight height data of the fixed-wing unmanned aerial vehicle; The space coordinate locator is used to collect the flight coordinate data of the fixed-wing unmanned aerial vehicle; The electronic transmitter is used to send the flight attitude data, flight height data, flight coordinate data and magnetic measurement data transmitted by the proton magnetometer to the ground control system in real time. 9. The aeromagnetic surveying device according to claim 7 or 8, wherein the onboard control system also includes an autonomous flight module, which is used to receive pre-set autonomous flight parameters input by the ground control system , and control the fixed-wing UAV to fly autonomously in the flight state according to the autonomous flight parameters set in advance. 10. An aeromagnetic surveying method based on a fixed-wing unmanned aerial vehicle, is characterized in that, comprises the following steps: Step 1. During the flight of the fixed-wing UAV, the magnetic measurement is performed by the proton magnetometer on the fixed-wing UAV to obtain the magnetic measurement data; Step 2, collecting the flight data of the fixed-wing UAV; Step 3: Send the flight data and magnetic measurement data back to the ground in real time, and monitor the flight of the fixed-wing UAV on the ground based on the received flight data. 11. The aeromagnetic measurement method according to claim 10, wherein in said step 1, the fixed-wing UAV performs autonomous flight according to the pre-planned autonomous flight parameters, and the autonomous flight parameters are determined in the fixed-wing Before the UAV takes off, it is input to the flight control system of the fixed-wing UAV. 12. The aeromagnetic measurement method according to claim 11, wherein, after the fixed-wing unmanned aerial vehicle completes the aeromagnetic measurement under the state of autonomous flight, the fixed-wing unmanned aerial vehicle is controlled by the flight control system of the fixed-wing unmanned aerial vehicle. The aircraft is switched to the manual flight state, and the fixed-wing UAV can be landed through manual control to complete the aeromagnetic measurement of a flight sortie.