CN113189654A - High-precision aeromagnetic measurement system based on multi-rotor unmanned helicopter - Google Patents
High-precision aeromagnetic measurement system based on multi-rotor unmanned helicopter Download PDFInfo
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Abstract
本发明提供了一种基于多旋翼无人直升机的高精度航磁测量系统。该系统包括：多旋翼无人直升机、电磁干扰屏蔽板、光泵磁力仪、云台、定位系统、数据采集存储系统，其中，电磁干扰屏蔽板挂载在多旋翼无人直升机的机体的下方，其下方固接有云台，云台内部安装光泵磁力仪的磁传感器，定位系统固定在云台的底部外侧，定位系统包括：I MU惯性定位和RTK(Rea l‑t ime k i nemat i c,RTK)实时差分定位系统，数据采集存储系统安装在机体的一侧，并且同时与定位系统与光泵磁力仪连接。本发明提供的基于多旋翼无人直升机的高精度航磁测量系统能够解决地面磁测受地形及其它客观条件限制造成效率低下、容易受无人机产生的电磁信号干扰，以及固定翼无人机磁测无法进行低速低空飞行等问题。
The invention provides a high-precision aeromagnetic measurement system based on a multi-rotor unmanned helicopter. The system includes: a multi-rotor unmanned helicopter, an electromagnetic interference shielding plate, an optical pump magnetometer, a pan/tilt, a positioning system, and a data acquisition and storage system. The electromagnetic interference shielding plate is mounted under the body of the multi-rotor unmanned helicopter. There is a gimbal fixed below it. The magnetic sensor of the optical pump magnetometer is installed inside the gimbal. The positioning system is fixed on the bottom outer side of the gimbal. The positioning system includes: IMU inertial positioning and RTK (Real-t ime ki nematic, RTK) real-time differential positioning system, the data acquisition and storage system is installed on one side of the body, and is connected with the positioning system and the optical pump magnetometer at the same time. The high-precision aeromagnetic measurement system based on the multi-rotor unmanned helicopter provided by the invention can solve the problem that the ground magnetic measurement is limited by terrain and other objective conditions, resulting in low efficiency, and is easily interfered by the electromagnetic signal generated by the unmanned aerial vehicle. Magnetic survey cannot carry out low-speed and low-altitude flight and other problems.
Description
Technical Field
The invention relates to the technical field of aeromagnetic measurement, in particular to a high-precision aeromagnetic measurement system based on a multi-rotor unmanned helicopter.
Background
The magnetic method measurement is widely applied to metal mineral exploration and oil exploration, and the instruments commonly used in the magnetic method measurement at present mainly comprise an optical pump magnetometer, a proton precession magnetometer and an optical pump magnetometer, wherein the Overhauser proton magnetometer and the optical pump magnetometer are widely applied to aviation magnetic measurement due to higher resolution and measurement precision, are mostly used in the magnetic method measurement of a manned machine and a fixed wing unmanned machine, and are suitable for large-area and long-time operation.
The unmanned aerial vehicle aeromagnetic measurement has the characteristics of convenience in deployment, low application cost, intellectualization, high efficiency, high precision and the like, and becomes an important means of an aerogeophysical prospecting measurement technology at present. In the unmanned aerial vehicle aeromagnetic measurement system, a small and medium-sized fixed wing unmanned aerial vehicle is mostly utilized to carry magnetic measurement instruments for data acquisition, the small and medium-sized fixed wing unmanned aerial vehicle can launch and take off and land in a parachuting and net hitting mode, and the taking-off and landing difficulty is effectively reduced. However, the fixed-wing unmanned aerial vehicle is high in cruising speed, large in sampling interval, low in data resolution, large in flying height and not suitable for flying in areas with small range, complex terrain and large fluctuation. The multi-rotor unmanned helicopter can take off and land at fixed points, has no requirement on a take-off and landing site, can fly close to the ground, or can fly in a terrain matching manner at a fixed ground clearance, and the cruising speed of the multi-rotor unmanned helicopter can be reasonably adjusted in a maximum speed range according to the requirement of data resolution to obtain ideal magnetic measurement data, and can also fly fully or semi-autonomously, and the set waypoint plan can be temporarily changed according to the task requirement in the flying process.
According to the characteristics of the unmanned helicopter with multiple rotors, the optical pump magnetometer is selected as a carrying instrument, the optical pump magnetometer is light in weight, low in power consumption, low in power requirement, and low in sampling rate, and the problem that the flying speed of the unmanned helicopter is properly reduced can be solved through the relatively low sampling rate. Therefore, the multi-rotor unmanned helicopter carrying the optical pump magnetometer is very suitable for small-range and low-altitude aeromagnetic measurement, and plays an important role in practical problems such as detailed mining area investigation, archaeology, finding of shallow-buried non-explosive substances and the like.
The hot spot of present aviation magnetism method measurement utilizes middle-size and small-size fixed wing unmanned aerial vehicle to carry on magnetism survey instrument and carries out data acquisition, and middle-size and small-size fixed wing unmanned aerial vehicle can launch and take off and land and descend through parachuting and the mode of hitting the net, has effectively reduced the take off and land the degree of difficulty. In 2013, based on the development prospect of the aeromagnetic measurement technology of the unmanned aerial vehicle, the geophysical geochemistry investigation institute of the Chinese geological academy of sciences breaks through key technical problems of unmanned aerial vehicle system integration, magnetic compensation and the like, successfully loads the aeromagnetic instrument on a CH-3 unmanned aerial vehicle platform, and integrates the first domestic medium-sized unmanned aerial vehicle aeromagnetic measurement system in China. And various types of geological survey application demonstration work are carried out in different terrain areas such as Heilongjiang Duobao mountain, Xinjiang Clay, Kashi, mudflat and the like, and good geological effects are obtained (Liarmy peak and the like, 2014; Lifei and the like, 2018; West Yongying and the like, 2021).
The multi-rotor unmanned aerial vehicle carries the magnetic sensor to carry out aeromagnetic observation, has obvious technical progress along with the miniaturization and endurance optimization of the unmanned aerial vehicle, is suitable for the aeromagnetic detailed investigation work of medium and small areas and large scale, and can be used as the supplement of large-scale aeromagnetic measurement and ground magnetic method measurement. University of studyware utilizes rotor unmanned aerial vehicle to carry on triaxial optical pump sensor, designs a simple operation, portable aeromagnetic measurement system of equipment, and flight measurement test in canyon, gully etc. proves that this system has the ability of carrying out large scale aeromagnetic measurement (li shipeng etc., 2018). The multi-rotor unmanned aerial vehicle aeromagnetic measurement platform (MAG-DN20G4) is independently developed by science and technology in Zhejiang in the year, and the actual application effect reaches the domestic leading level. This measuring platform includes rotor unmanned aerial vehicle flight platform, triaxial optical pump measuring apparatu, and millimeter wave radar altimeter triplex (qiao zhongkun etc. 2020). The Beijing orange light company completes the research and development and integration of UFO series aviation magnetic measurement systems, is mainly applied to unmanned platforms in the environments of low altitude, ocean, land and the like, and comprises three types (referring to orange light exploration official websites) of UFO-F optical pump systems, UFO-CS cesium optical pump systems and UFO-CS + rubidium optical pump systems. Gantai corporation uses the M600Pro six-rotor unmanned plane in Xinjiang as a carrying platform, integrates a rubidium optical pump magnetometer and a laser altimeter, and develops a GTK-RM600 multi-rotor unmanned plane optical pump aeromagnetic system (refer to official website of the Gantai corporation).
At present, the aeromagnetic measurement system which is relatively mature in application mainly comprises a fixed-wing aeromagnetic measurement system and a multi-rotor unmanned aerial vehicle aeromagnetic measurement system, and in the last five years, for developing large-scale aeromagnetic measurement, the multi-rotor unmanned aerial vehicle is more applied to aeromagnetic system integration as a carrying platform. Through continuous tests and improvements, aeromagnetic measurement has obvious development and progress, but still has some defects, which are mainly reflected in the following points:
(1) fixed wing unmanned aerial vehicle ease of use is not high
Many rotors relatively, fixed wing unmanned aerial vehicle take off and descend and have certain place and facility requirement, and the ease of use and the simple operation nature under the complicated topography condition are not enough. In addition, unmanned aerial vehicle generally needs the flight hand manual control at the stage of taking off and landing, has the risk when ground condition is not good. The multi-rotor unmanned helicopter can realize fixed-point takeoff and landing, has no requirement on a takeoff and landing site, effectively improves the usability of the measuring system, and reduces the risk of field operation.
(2) Fixed-wing unmanned aerial vehicle is not suitable for carrying out large-scale aeromagnetic measurement
Because fixed wing unmanned aerial vehicle cruise speed is very fast, and the sampling interval is big, and data resolution is lower, and flying height is great simultaneously, is not fit for flying in the region that the scope is less, the topography is complicated, undulates great.
(3) Insufficient positioning precision of aeromagnetic measurement
Currently, a positioning system carried by a multi-rotor unmanned aerial vehicle for aeromagnetic measurement is mostly a combination of a GPS and a gyro inertial navigation, the vertical and horizontal positioning precision is about +/-1 m, and the precision requirement of large-scale high-precision magnetic measurement is not met. In the high-precision ground magnetic measurement operation, a real-time dynamic positioning technology based on a carrier phase observation value is generally adopted, and the positioning precision can reach centimeter level. And at present, the field of application of unmanned aerial vehicle plant protection gradually uses an RTK positioning technology, so that the positioning precision is effectively improved, and the flight error is reduced.
(4) 3D flight measurements have not yet been achieved
The unmanned aerial vehicle aeromagnetic system does not realize the fluctuation flight along with the terrain in the practical application, the magnetic measurement data obtained by measurement needs terrain correction, the calculation process is increased, and random errors are easily introduced, so that the precision of the measurement result is reduced and the geological interpretation deviation is caused.
(5) The aeromagnetic compensation scheme needs to be optimized
Most of the common unmanned aerial vehicle aeromagnetic compensation methods are soft compensation, namely Tolles-Lawson equation and adaptive algorithm are applied to carry out compensation calculation on flight observation data, so that the influence of a magnetic interference field is reduced. However, soft compensation is established on the basis of the electromagnetic field modeling and algorithm of the unmanned aerial vehicle, and certain artificial interference and random errors exist, so that the compensation precision is influenced. With soft compensation combination hard compensation, adopt magnetism isolating material to seal the great module of unmanned aerial vehicle self electromagnetic induction intensity promptly, can gain better aeromagnetic compensation effect.
Disclosure of Invention
The invention aims to solve the technical problems that the ground magnetic measurement is limited by terrain and other objective conditions to cause low efficiency, the ground magnetic measurement is easily interfered by electromagnetic signals generated by an unmanned aerial vehicle, the magnetic measurement of a fixed-wing unmanned aerial vehicle cannot fly at low speed and low altitude and the like.
In order to solve the technical problem, the invention provides a high-precision aeromagnetic measurement system based on a multi-rotor unmanned helicopter, which comprises: unmanned helicopter of many rotors, electromagnetic interference shield plate, optical pump magnetometer, cloud platform, positioning system, data acquisition storage system, wherein, electromagnetic interference shield plate carries in the below of the organism of unmanned helicopter of many rotors, and its below rigid coupling has the cloud platform, and the magnetic sensor of cloud platform internally mounted optical pump magnetometer, positioning system fix in the bottom outside of cloud platform, and positioning system includes: the IMU inertial positioning and RTK real-time differential positioning system comprises a data acquisition and storage system, a positioning system and an optical pump magnetometer, wherein the data acquisition and storage system is arranged on one side of a machine body and is simultaneously connected with the positioning system and the optical pump magnetometer.
In some embodiments, the electromagnetic interference shield can be made of multiple layers of tin foil, or a plastic sheet coated with a conductive layer.
In some embodiments, the electromagnetic interference shielding plate is connected with the belly of the multi-rotor unmanned helicopter through a plastic bolt and nut and is used for shielding electromagnetic interference generated by the multi-rotor unmanned helicopter.
In some embodiments, a rubber damper connected with the electromagnetic interference shielding plate is mounted on the holder, and the rubber damper is connected with the electromagnetic interference shielding plate through a bolt and a nut so as to reduce the influence of the vibration of the machine body.
In some embodiments, the center of the pan/tilt head comprises two plastic throat hoops, and the optical pump magnetometer is mounted in the pan/tilt head through the throat hoops.
In some embodiments, a power supply system includes: the output voltage of the power management unit PMU and the two 6S lithium polymer batteries is 22.2V, the two batteries are connected in series, the capacity of the batteries can be selected according to specific task requirements, a battery single block with 10000mAh electric quantity weighs about 1.2kg, and a battery single block with 16000mAh electric quantity weighs about 1.7 kg.
In some embodiments, the data acquisition and storage system can acquire the attitude, position and height data measured by the positioning system in real time and receive the magnetic measurement data transmitted by the magnetic sensor.
In some embodiments, the attitude data measured by the navigational positioning system is used to compensate the aeromagnetic data measured by the optical pump magnetometer during ground data processing.
After adopting such design, the invention has at least the following advantages:
the invention designs an aeromagnetic measurement system which can carry out semi-autonomous or fully-autonomous fluctuation flight along the terrain, is stable and reliable, measures the accurate information of the posture and the position of the organism by two positioning systems, and adopts a compensation scheme combining hard compensation and soft compensation. Each part of the system is convenient to install, simple and easy to use, high in measurement accuracy, capable of detecting small-scale magnetic abnormal targets and very suitable for small-area low-altitude fine aeromagnetic measurement.
Drawings
The foregoing is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description.
FIG. 1 is a flow chart of data acquisition of an unmanned aerial vehicle aeromagnetic system;
FIG. 2 is a front view of a multi-rotor unmanned aerial vehicle aeromagnetic measurement system structure;
fig. 3 is a plan view of an electromagnetic interference shield plate.
Description of reference numerals:
1. positioning system 2, electromagnetic interference shielding plate
3. Data acquisition and storage system 4, many rotors unmanned helicopter
5. Power supply 6 and holder
7. Throat hoop 8, optical pump magnetometer
9. Rubber shock absorber
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
On the basis of carrying out targeted optimization and improvement to above technique, many rotor unmanned aerial vehicle aeromagnetic measurement system will play an important role in large-scale high accuracy magnetism survey, accomplishes the magnetism survey task that ground measurement can't be carried out, reduces the data processing and explains the degree of difficulty, effectively improves observation efficiency and precision, provides technical support for solving the geology problem.
In view of the disadvantages and shortcomings, the problems to be solved by the present invention include:
(1) realize unmanned aerial vehicle 3D flight, form and wait navigation magnetism with the topography unanimity and measure: based on an altimeter and a Digital Surface Model (DSM), the multi-rotor unmanned aerial vehicle can fly in a ground-attached mode or fly in a terrain-matched mode at a fixed ground clearance, the cruising speed of the multi-rotor unmanned aerial vehicle can be reasonably adjusted in a maximum speed range according to the requirement of data resolution, magnetic measurement data with higher quality can be obtained, full-autonomous or semi-autonomous flight can be carried out, and the set waypoint planning can be temporarily changed according to the task requirement in the flight process.
(2) Optimize the aeromagnetic compensation scheme, improve and observe the precision: the aeromagnetic compensation scheme combining hard compensation and soft compensation of the magnetism isolating material is adopted, a module with high electromagnetic induction intensity in the unmanned aerial vehicle body is subjected to magnetism isolating treatment, system integration induction magnetization intensity test is performed, magnetism isolating layout is optimized, interference of a secondary induction magnetic field on a measuring sensor is reduced to the maximum extent, and observation precision is improved.
(3) Upgrading the unmanned aerial vehicle navigation positioning system, showing and improving positioning accuracy: the integrated RTK and IMU combined navigation positioning system in the unmanned aerial vehicle system can obviously improve the vertical and horizontal positioning accuracy, and the navigation positioning module and the magnetic sensor adopt the upper and lower layout with the center coinciding, so that the position correction in the data preprocessing is avoided.
The invention provides a high-precision aeromagnetic measurement system based on a multi-rotor unmanned helicopter, which aims to solve the problems that the ground magnetic measurement is limited by terrain and other objective conditions to cause low efficiency, the ground magnetic measurement is easily interfered by electromagnetic signals generated by an unmanned aerial vehicle, the magnetic measurement of a fixed-wing unmanned aerial vehicle cannot fly at low speed and at low altitude, and the like.
In order to achieve the above purpose, the technical solutions provided by the embodiments of the present invention are as follows: a high-precision aeromagnetic measurement system based on a multi-rotor unmanned helicopter comprises the multi-rotor unmanned helicopter, an optical pump magnetic sensor, an electromagnetic interference shielding plate, a holder, a millimeter wave altimeter, a positioning system (comprising an IMU inertial navigation unit and an RTK real-time differential positioning system), a data acquisition and storage system and a power supply system;
the optical pump magnetometer is used for carrying out magnetic method measurement in the flight process of the multi-rotor unmanned helicopter and transmitting measurement data to the data acquisition and storage system, and the specific specification of the most advanced potassium optical pump aviation magnetometer is shown in table 1 at present.
TABLE 1 magnetometer sensor technical parameters
The positioning system is used for measuring the attitude number, position and height information of the unmanned aerial vehicle and transmitting flight data to the unmanned aerial vehicle flight controller, and the flight controller is in real-time communication with the ground station to realize the control of the unmanned aerial vehicle;
the data acquisition and storage system is used for acquiring data measured by the positioning system, attitude data of the holder and receiving magnetic measurement data transmitted by the optical pump magnetometer;
the power supply system comprises a battery and a Power Management Unit (PMU), and is used for supplying power to modules such as the optical pump magnetometer, the holder, the positioning system, the data acquisition and storage system and the like;
the two batteries are symmetrically arranged on two sides of a GPS (global positioning system) right above the multi-rotor unmanned helicopter, so that uninterrupted flight can be realized for forty minutes at most;
the Power Management Unit (PMU) is connected with the output of the lithium battery and the input of the power supply of the electric equipment, and has the main functions of converting, distributing and detecting the electric energy of the lithium battery, providing a proper and stable power supply for each part of electronic equipment, ensuring the normal work of the electronic equipment, monitoring the abnormity of the voltage, the current and the temperature in real time and displaying the abnormity in a ground station. The real-time information feedback plays an important role in controlling the unmanned aerial vehicle to safely, stably and effectively fly;
the electromagnetic interference shielding plate is arranged on the holder and is connected with the belly of the body of the multi-rotor unmanned helicopter through plastic bolts and nuts and used for shielding electromagnetic interference generated by the multi-rotor unmanned helicopter;
the electromagnetic interference shielding plate is mainly used for weakening electromagnetic interference generated by an electronic circuit of the unmanned aerial vehicle, and the used material can be a multilayer tin foil or a plastic plate coated with a conducting layer;
the rubber shock absorber is connected with the electromagnetic interference shielding plate through bolts and nuts and used for reducing the influence of vibration of the machine body.
The aeromagnetic measurement system can realize the full-autonomous flight measurement of the multi-rotor unmanned helicopter through the control of a ground station and can also carry out manual flight in a manual operation mode when the multi-rotor unmanned helicopter carries out the aeromagnetic measurement, and the multi-rotor unmanned helicopter and the ground station can be combined to carry out semi-autonomous flight measurement under special conditions;
the data acquisition and storage system can acquire attitude, position and height data measured by the positioning system in real time and receive magnetic measurement data transmitted by the magnetic sensor, and the measured data can be imported into a computer through the data interface when the multi-rotor unmanned helicopter lands on the ground.
And when ground data processing is carried out, compensation calculation is carried out on the magnetic measurement data by using the data measured by the navigation positioning system.
It should be noted that the setting and operation radius of the base station have a direct influence on the measurement accuracy of the RTK and the speed of the aeromagnetic measurement operation. The reference station should be erected at a place with a high terrain as much as possible, and should be far away from a strong electromagnetic interference source and a large-area signal reflector. In addition, the positioning can not be carried out in places with large-area signal reflectors, such as nearby high-rise buildings, dense forests and the like; strong electromagnetic sources also interfere with signals, such as near high voltage transmission lines, substations, etc., and also have an effect when the cloud cover is thick.
As shown in fig. 2 and fig. 3, the present embodiment provides a high-precision aeromagnetic measurement system based on a multi-rotor unmanned helicopter, which includes a multi-rotor unmanned helicopter 4, an electromagnetic interference shielding plate 2, an optical pump magnetometer 8, a pan/tilt head 6, a positioning system 1, a data acquisition and storage system 3, and a power supply system 5. The optical pump magnetometer 8 comprises a power supply wire and a magnetic sensor, wherein the power supply wire and the magnetic sensor are connected with a power supply, the power supply wire is connected to the power supply along the holder 6, and the magnetic sensor is installed inside the holder 6.
The data acquisition and storage system is used for acquiring angular velocity and angular acceleration data of the optical pump magnetometer 8 measured by the positioning system 1 and receiving magnetic measurement data transmitted by the optical pump magnetometer 8, the data acquisition and storage system 3 is light in weight, and the stored data comprise information such as the real-time position and the direction of a magnetic sensor, so that carrying and later-stage data correction processing are facilitated.
The center of the tripod head 6 comprises two plastic hose clamps 7, and the optical pump magnetometer 8 is arranged in the tripod head 6 through the hose clamps 7. The positioning system 1 is fixed on the outer side of the top of the holder 6 and can measure the tiny rotation angle and the angular acceleration of the optical pump magnetometer 8 in real time.
Install electromagnetic interference shield plate 2 above the cloud platform 6, just install on the electromagnetic interference shield plate 2 with the rubber shock absorber 9 that many rotors unmanned helicopter 4 organism belly is connected, rubber shock absorber 9 passes through the organism belly of plastics bolt and nut and many rotors unmanned helicopter 4 and is connected for shield the electromagnetic signal that many rotors unmanned helicopter produced.
The holder 6 is connected with the electromagnetic interference shielding plate 2 through a plastic bolt and a nut.
When carrying out the aeromagnetic measurement, many rotors unmanned helicopter 4 can realize many rotors unmanned helicopter through ground station and independently flight measurement entirely, also can carry out manual flight measurement through manually operation's mode, and the change over switch of two kinds of modes of controlling is on the remote controller, and manual flight measurement is though unable accurate control many rotors unmanned helicopter's gesture and terrain clearance, nevertheless helps carrying out comprehensive coverage measurement to survey the district.
The measured data of the data acquisition and storage system 3 can be imported into a computer through a data interface when the multi-rotor unmanned helicopter 4 lands on the ground.
The power supply system comprises two 6S lithium polymer batteries, the output voltage is 22.2V, the two batteries are connected in series, the capacity of the batteries can be selected according to specific task requirements, a single battery with 10000mAh electric quantity weighs about 1.2kg, and a single battery with 16000mAh electric quantity weighs about 1.7kg
Based on the aeromagnetic measurement device and the data processing method, a field measurement process is formed, as shown in fig. 1. The following steps are given for the aeromagnetic measurement during the operation of the embodiment:
And 2, starting a power supply to enable the optical pump magnetometer positioning system and the data acquisition and storage system to work.
And 3, operating the multi-rotor unmanned helicopter by using manual operation or autonomous navigation flight.
And 4, after the multi-rotor unmanned helicopter falls down, importing the data acquired by the data acquisition and storage system into a computer through an interface for analysis, and compensating the data measured by the positioning system for the data measured by the optical pump magnetometer during data analysis.
The high-precision aeromagnetic measurement system based on the multi-rotor unmanned helicopter fully utilizes the advantages of the multi-rotor unmanned helicopter, and has the characteristics of capability of flying at low speed and low altitude, capability of flying along the terrain in an undulating manner, small limitation of the terrain, convenience, high efficiency and the like. Meanwhile, the multi-rotor unmanned helicopter can realize fixed-point takeoff and landing and fixed-point hovering, and can fly at low speed.
In an actual non-mounted flight test, the control radius of the multi-rotor unmanned helicopter can reach 5km to the maximum, the endurance time is about 30-40 min, the cruising speed can reach 30km/h to the maximum, if the multi-rotor unmanned helicopter flies at the speed of 5m/s, the sampling rate of an instrument is set to be 10Hz, the corresponding adopted distance is 0.5m, data with high resolution can be obtained, the flying speed can be continuously reduced, and the sampling rate can be improved. If at 20000m2In the measuring area, the total measuring line length is 10000m, the required measuring time is only about 40min according to the flying speed of 5m/s, and the measuring task can be completed by two flying frames, so that the working efficiency is greatly improved.
In addition, when a shallow magnetic anomaly body below the ground surface is searched, the multi-rotor unmanned helicopter can fly close to the ground at a very low height, for example, in an area with flat terrain, the flying height can be set to be 1-2 m at a ground station, and therefore the shallow micro magnetic anomaly can be found more favorably. Another advantage is that nighttime aeromagnetic measurements can be made using the measurement system of the present invention in small areas without trees, utility poles, small buildings, etc. Before the measurement, at the suitable position of fuselage, for example propeller motor below, the installation LED display lamp for confirm the position at many rotor unmanned aerial vehicle places, and set for the safe height of flight at the ground satellite station, can carry out the task flight.
The magnetic method measurement at night can effectively reduce the interference of the diurnal variation, so that the measured data is more accurate. According to field measured data, in general, the time period from zero hour to noon in one day is a magnetic diurnal variation 'quiet cycle', the variation of the diurnal variation value in the period is very small, and the amplitude is only 10-20 nT. The characteristics of the aeromagnetic measurement system based on the multi-rotor unmanned helicopter are all beneficial to improving the measurement efficiency and the reliability and the usability of magnetic measurement data.
In conclusion, the technical scheme provided by the invention ensures good adaptability of the system platform to the measuring instrument, applies the advanced magnetic measuring instrument carrying platform, the aeromagnetic compensation technology and the high-precision positioning and altimeter module, has the advantages of high efficiency, low cost and difficulty in being influenced by terrain, realizes high-precision aeromagnetic measurement in exploration work, and improves the identification capability of target areas of oil gas, mineral products and geothermal resources.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention in any way, and it will be apparent to those skilled in the art that the above description of the present invention can be applied to various modifications, equivalent variations or modifications without departing from the spirit and scope of the present invention.
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