CN104808250B - A kind of aeromagnetics detection device and method based on unmanned plane - Google Patents

Abstract

The present invention relates to an aerial magnetic detection device and method based on an unmanned aerial vehicle, including an aerial magnetometer system, an unmanned aerial vehicle flight platform, an airborne data acquisition system, and an airborne GPS positioning system; the aerial magnetometer system includes a A total field magnetometer for measuring the earth's magnetic field and a three-component magnetometer for measuring the attitude of an unmanned aerial vehicle; the airborne data acquisition system includes a main control module, a total field magnetometer acquisition module, a three-component magnetometer acquisition module, and a GPS module , A/D acquisition card, status display module and storage module. The invention has the advantages of not needing a large manned aircraft, which reduces the cost of aeromagnetic surveying, and is suitable for magnetic surveying in areas where vehicles and ships cannot reach the land and the junction of beaches and shallow seas, and has the advantages of low cost and high safety.

Description

An aerial magnetic detection device and method based on an unmanned aerial vehicle

technical field

The invention relates to an aerial magnetic detection device and method based on an unmanned aerial vehicle, belonging to the technical field of geophysical exploration.

Background technique

Aeronautical magnetic detection is a method of detecting the geomagnetic field through the magnetometer installed on the aircraft, obtaining the magnetic parameters of the geomagnetic field, and analyzing and judging the geological situation or judging the prospecting target area by calculating and drawing the obtained data . Traditional aeronautical magnetic detection devices need to be used on manned special aircrafts, which have high operating costs and require professional pilots to operate. Due to the limitations of weather, terrain, machinery and other conditions, the safety of personnel is threatened. In addition, the operating time is limited by the night, making it difficult to carry out all-weather operations; the operating area is relatively limited, and it is difficult to carry out ocean and island magnetic detection with the survey ship.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies of the prior art, to provide an aeronautical magnetic detection device and method based on an unmanned aerial vehicle, which does not require a large manned aircraft, and reduces the cost of aeronautical magnetic detection.

The detecting device of the present invention includes an airborne magnetometer system, an unmanned aerial vehicle flight platform, an airborne data acquisition system, and an airborne GPS positioning system.

The airborne magnetometer system includes a total field magnetometer and a three-component magnetometer, the total field magnetometer is used to measure the earth's magnetic field, and the three-component magnetometer is used to measure the attitude of the UAV.

The total field magnetometer measures the Earth's total magnetic field. Due to the influence of the UAV's own magnetic field, the total magnetic field of the earth measured by the total field magnetometer includes the UAV's magnetic field interference. The interference of the UAV's magnetic field on the measurement of the Earth's total magnetic field is closely related to the flight attitude of the UAV. The three-component magnetometer measures the flight attitude of the UAV, and sends these data to the airborne data acquisition system.

The airborne data acquisition system includes a main control module, a total field magnetometer acquisition module, a three-component magnetometer acquisition module, a GPS module, an A/D acquisition card, a status display module and a storage module; the total field magnetometer acquisition module is a total The field magnetometer provides power, sends the command of the main control module to the total field magnetometer, and transmits the data of the total field magnetometer to the main control module; the three-component magnetometer acquisition module provides power for the three-component magnetometer, and the main control module The command is sent to the three-component magnetometer, and the data of the three-component magnetometer is transmitted to the main control module; the GPS module transmits the GPS data to the main control module; the A/D acquisition card digitizes the four-way analog input and transmits it to the Main control module; the main control module controls the total field magnetometer and three-component magnetometer, receives the total field magnetometer, three-component magnetometer, GPS, and four-way analog input data and records them in the storage module; the main control module includes automatic The magnetic compensation module, the main control module simultaneously receives the total earth magnetic field data including the UAV magnetic field interference measured by the total field magnetometer and the flight direction and attitude data of the UAV measured by the three-component magnetometer; the main control module contains The automatic magnetic compensation module calculates in real time based on the UAV flight direction and attitude data measured by the three-component magnetometer, and removes the UAV magnetic field interference contained in the total earth magnetic field data measured by the total field magnetometer. The disturbed data is recorded on the hard disk and output through the data output port in real time; the status display module displays various device status information in real time.

Preferably, the total field magnetometer in the airborne magnetometer system is a CS-3 high-sensitivity cesium optical pump magnetometer produced by SCINTREX.

Preferably, the three-component magnetometer in the airborne magnetometer system is a Mag629 fluxgate magnetometer produced by Bartington Company.

The unmanned aerial vehicle flying platform is a rotary-wing unmanned helicopter or a fixed-wing unmanned aerial vehicle.

Preferably, the UAV flight platform is a V750 unmanned helicopter of Shandong Weifang Tianxiang Airlines, and the flight time of the UAV is not less than 4 hours.

Preferably, the airborne GPS positioning system is Novetal OEMV1.

The detection method of the present invention adopts the following magnetic detection steps:

(1) Enter the coordinates of the compensation flight survey line and the magnetic detection survey line into the UAV airborne system;

(2) Set the working parameters such as the sampling rate of the aviation magnetometer system, and start the work; the data acquisition system starts the work;

(3) After the UAV takes off and reaches a predetermined height, it first conducts magnetic compensation flight; the compensation flight survey line is generally a square closed box, and completes three prescribed actions of roll, swing and pitch during the flight, and the airborne data acquisition system Real-time calculation of UAV magnetic field interference parameters;

(4) After the UAV completes the magnetic compensation flight, it starts to cruise according to the magnetic detection survey line, and realizes uninterrupted earth magnetic field detection within the endurance time; during the magnetic detection period, the airborne data acquisition system receives and records the total field magnetometer acquisition The total earth magnetic field data including UAV interference and the UAV attitude data collected by the three-component magnetometer, according to the UAV magnetic field interference parameters obtained during the magnetic force compensation flight, the total earth field collected by the total magnetic field The data is magnetically compensated, the magnetic interference of the UAV is removed, and the total magnetic field data of the earth without interference is obtained;

(5) The UAV returns and lands after completing the established detection mission; during the execution of the mission, the ground station can order the UAV to return and land at any time as needed;

(6) Complete the scheduled task and shut down the machine; if the scheduled task has not been completed, the UAV will perform magnetic detection on the next flight segment after refueling.

The invention has the advantages of not needing a large manned aircraft, which reduces the cost of aeromagnetic surveying, and is suitable for magnetic surveying in the land where vehicles and ships cannot reach and the border areas of beaches and shallow seas, and has the advantages of low cost and high safety.

Description of drawings

Fig. 1 is a schematic diagram of the system layout of the present invention.

Figure 2 is a block diagram of the structure of the airborne data acquisition system.

Detailed ways

In order to make the technical solution of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

UAVs are used as the flight movement carrier of the aerial magnetometer and mission system to realize the remote control or autonomous aerial magnetic detection of the system. As a UAV flight platform equipped with a UAV aerial magnetic detection system, it can be divided into two types: fixed-wing UAV and rotary-wing UAV (unmanned helicopter) according to its lift power device.

The following is a detailed description of the rotary wing UAV as a specific embodiment (as shown in Figure 1):

(1) The UAV platform is selected as the V750 unmanned helicopter of Shandong Weifang Tianxiang Airlines, and the flight time of the UAV is not less than 4 hours;

(2) Install the airborne data acquisition system and airborne GPS positioning system in the belly of the aircraft. The airborne GPS positioning system is Novetal OEMV1.

(3) In the airborne magnetometer system, the total field magnetometer is CS-3 high-sensitivity cesium optical pump magnetometer produced by SCINTREX Company, and the three-axis vector magnetometer is Mag629 fluxgate magnetometer produced by Bartington Company. The total field magnetometer and the three-axis vector magnetometer are horizontally installed on both sides of the center of the unmanned helicopter in a symmetrical manner to the central axis of the unmanned helicopter. The layout of the air mission execution system is shown in Figure 2;

(4) In order to weaken the magnetic background interference of the drone, the optical pump magnetometer and the drone, and the three-axis vector magnetometer and the drone are connected by a magnetic probe rod; the magnetic probe rod has a certain length and Strength, the size design of the magnetic probe needs to avoid the resonant frequency of the drone;

(5) Select the beach of Laizhou Bay, Bohai Sea as the survey area;

(6) Enter the coordinates of the compensation flight survey line and the magnetic detection survey line into the UAV airborne system;

(7) The compensation flight survey line is designed as a square closed frame; there are 28 magnetic detection survey lines with a total length of 500km;

(8) The flight height of the UAV is designed to be 300m, and the flight speed is 90km/h;

(9) After the UAV takes off and reaches the predetermined altitude, it first conducts magnetic compensation flight. During the flight, the three prescribed actions of rolling, swaying and pitching are completed, and the data acquisition and processing system records the magnetic force and positioning data in real time, and solves the UAV magnetic field interference parameters in real time;

(10) After the UAV completes the magnetic compensation flight, it starts to cruise according to the magnetic detection survey line, and can complete the 300km survey line task within the endurance time; during the magnetic detection period, the airborne data acquisition system receives and records the total field magnetometer acquisition The total earth magnetic field data including UAV interference and the UAV attitude data collected by the three-component magnetometer, according to the UAV magnetic field interference parameters obtained during the magnetic force compensation flight, the total earth field collected by the total magnetic field The data is magnetically compensated, the magnetic interference of the UAV is removed, and the total magnetic field data of the earth without interference is obtained.

(11) After the UAV completes the 300km line survey task, it returns and lands;

(12) Refuel the UAV;

(13) The UAV takes off, returns and lands after completing the remaining 200km survey line tasks;

(14) After the aerial magnetic survey of the UAV is completed, the magnetic survey data is downloaded to the computer and processed with professional software.

The present invention is only described with the above-mentioned embodiment, and the structure, arrangement, and connection of each component can be changed. On the basis of the technical solution of the present invention, all improvements and equivalents to individual components according to the principle of the present invention Any transformation shall not be excluded from the protection scope of the present invention.

Claims (3)

1. A kind of 1. aeromagnetics detection device based on unmanned plane, it is characterised in that including：Aeromagnetics instrument system, unmanned plane Flying platform, airborne data acquisition system, Airborne GPS alignment system；Between optical pumped magnetometer and unmanned plane, three axial vector magnetic force Connected between instrument and unmanned plane with magnetic spy bar；Magnetic spy bar has certain length and intensity, and the size design of magnetic spy bar needs Avoid the resonant frequency of unmanned plane；The aeromagnetics instrument system, including for measuring the resultant field magnetometer and use in magnetic field of the earth In the three-component magnetometer of measurement UAV Attitude；The airborne data acquisition system, including main control module, resultant field magnetometer are adopted Collect module, three-component magnetometer acquisition module, GPS module, A/D capture cards, state display module and memory module；Resultant field magnetic force Instrument acquisition module provides power supply for resultant field magnetometer, the order of main control module is sent to resultant field magnetometer, by resultant field magnetometer Data be transferred to main control module；Three-component magnetometer acquisition module provides power supply, by main control module for three-component magnetometer Order is sent to three-component magnetometer, the data of three-component magnetometer is transferred into main control module；GPS module is by GPS data It is transferred to main control module；A/D capture cards are digitized to four road analog inputs and are transferred to main control module；Main control module pair Resultant field magnetometer and three-component magnetometer are controlled, and receive resultant field magnetometer, three-component magnetometer, gps data and four road moulds Analog quantity input data is simultaneously recorded in memory module；Main control module includes automatic magnetic compensation module, and main control module receives resultant field simultaneously The unmanned plane that the earth magnetic resultant field data comprising unmanned plane magnetic interference and three-component magnetometer that magnetometer measures measure flies Line direction and attitude data；The unmanned plane during flying side that automatic magnetic compensation module contained by main control module measures according to three-component magnetometer Unmanned plane magnetic field to included in the earth magnetic resultant field data measured with attitude data real-time resolving, removal resultant field magnetometer Interference, the data record removed after disturbing is exported in hard disk and by data-out port in real time；State display module is real-time Show various status information of equipment；After unmanned plane takes off and reaches intended height, magnetic compensation flight, compensation flight are carried out first Survey line is that a square closes frame, completes to sidewinder during flight, waves and three kinds of compulsory exercises of pitching, on-board data collection System real-time resolving unmanned plane magnetic interference parameter；After unmanned plane completes magnetic compensation flight, start to patrol by magnetic survey survey line Boat, signal magnetic field detection incessantly is realized within the endurance time；During magnetic survey, airborne data acquisition system receives simultaneously Record the collection of resultant field magnetometer the earth magnetic resultant field data comprising unmanned plane interference and the collection of three-component magnetometer nobody Machine attitude data, the unmanned plane magnetic interference parameter of acquisition is resolved during being flown according to magnetic compensation, resultant field magnetometer is gathered Earth resultant field data carry out magnetic compensation, remove unmanned plane magnetic disturbance, obtain glitch-free earth magnetic resultant field data.
2. 2. aeromagnetics detection device according to claim 1, it is characterised in that the unmanned plane during flying platform, is rotor Depopulated helicopter or fixed-wing unmanned plane.
3. 3. a kind of aeromagnetics detection method based on unmanned plane, it is characterised in that comprise the following steps：

   （1）By compensation flight survey line and magnetic survey line coordinates typing unmanned plane during flying platform；

   （2）The sample rate running parameter of aeromagnetics instrument system is set, work of starting shooting；Airborne data acquisition system start work；

   （3）After unmanned plane takes off and reaches intended height, magnetic compensation flight is carried out first, compensation flight survey line is a pros Shape close frame, during flight complete sidewinder, wave with three kinds of compulsory exercises of pitching, airborne data acquisition system real-time resolving without Man-machine magnetic interference parameter；

   （4）After unmanned plane completes magnetic compensation flight, start to cruise by magnetic survey survey line, realized not within the endurance time It is interrupted magnetic field of the earth detection；During magnetic survey, airborne data acquisition system receives and records including for resultant field magnetometer collection The earth magnetic resultant field data of unmanned plane interference and the UAV Attitude data of three-component magnetometer collection, fly according to magnetic compensation The unmanned plane magnetic interference parameter of acquisition is resolved between the departure date, magnetic force benefit is carried out to the earth resultant field data of resultant field magnetometer collection Repay, remove unmanned plane magnetic disturbance, obtain glitch-free earth magnetic resultant field data；

   （5）Unmanned plane makes a return voyage after set detection mission is completed, landed；During execution task, earth station can be as needed Order unmanned plane returns, landed at any time；

   （6）Complete assigned tasks, shutdown；Assigned tasks are not yet completed, next leg magnetic force is carried out after unmanned plane fuel up and is visited Survey.