CN114527512A - Multi-frequency electromagnetic detection horizontal gradient acquisition system for frequency domain unmanned aerial vehicle - Google Patents
Multi-frequency electromagnetic detection horizontal gradient acquisition system for frequency domain unmanned aerial vehicle Download PDFInfo
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/15—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat
- G01V3/17—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat operating with electromagnetic waves
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Abstract
The invention discloses a multi-frequency electromagnetic detection horizontal gradient acquisition system of a frequency domain unmanned aerial vehicle, which comprises: the system comprises an unmanned aerial vehicle module and a detection module, wherein the unmanned aerial vehicle module is fixedly connected with the detection module through a physical connecting bridge, the unmanned aerial vehicle module drives the detection module to fly above a target area to be detected for operation, the detection module downwards emits multi-frequency electromagnetic waves in a target detection area and receives the multi-frequency electromagnetic waves after the multi-frequency electromagnetic waves are reflected by the target area, and detection results are judged by detecting the change of the electromagnetic fields. The invention solves the problems of poor electromagnetic detection resolution and low anti-interference capability of the existing artificial source frequency domain.
Description
Technical Field
The invention relates to the technical field of electromagnetic detection, in particular to a multi-frequency electromagnetic detection horizontal gradient acquisition system of a frequency domain unmanned aerial vehicle.
Background
The current development situation at home and abroad is as follows: at present, in geological exploration at home and abroad, electromagnetic detection instruments are widely developed and used. The geoscience instrument industry in China starts late, and under the support of various departments, various domestic scientific research units research and develop various types of electromagnetic detection instruments. Electromagnetic detection systems with their own features have been developed by scientific research institutions. A large-depth distributed electromagnetic detection system is developed by part of universities, achieves the international advanced level in main performance, and is successfully applied to the aspects of geological survey, underground water detection and the like.
The artificial source frequency domain electromagnetic detection method has been developed for decades and is widely applied to the fields of prospecting, underground water detection, geological survey and the like. And the signal-to-noise ratio of the observation signal is increased by adopting an artificial source mode, and the resolution capability is improved. However, the current detection environment and detection requirements show that the resolution capability and the anti-interference capability of the optical fiber are still insufficient, and the resolution capability of the optical fiber to an electrical interface is poor. The electric field gradient measurement can effectively distinguish underground electrical boundaries, and simultaneously can suppress regional related noise to improve the signal-to-noise ratio. However, no instrument for directly measuring the electromagnetic field gradient exists in the market at present, and an electromagnetic method gradient measurement system is developed to obtain better noise suppression and weak gradient signal acquisition capacity, so that the method has important significance.
Disclosure of Invention
Therefore, the invention provides a frequency domain unmanned aerial vehicle multi-frequency electromagnetic detection horizontal gradient acquisition system, which aims to solve the problems of poor electromagnetic detection resolution and low anti-interference capability of the existing artificial source frequency domain.
In order to achieve the above purpose, the invention provides the following technical scheme:
the invention discloses a multi-frequency electromagnetic detection horizontal gradient acquisition system of a frequency domain unmanned aerial vehicle, which comprises: the detection device comprises an unmanned aerial vehicle module and a detection module, wherein the unmanned aerial vehicle module is fixedly connected with the detection module through a physical connecting bridge, the unmanned aerial vehicle module drives the detection module to fly above a target area to be detected, the detection module downwards emits multi-frequency electromagnetic waves in the target detection area and receives the multi-frequency electromagnetic waves after the multi-frequency electromagnetic waves are reflected by the target area, and the detection result is judged according to the change of the detection electromagnetic field.
Further, the unmanned aerial vehicle module includes unmanned vehicles, and the unmanned aerial vehicle below is provided with the physics and connects the bridge, through physics connection bridge and detection module fixed connection, the detection module is provided with a plurality ofly, forms all-round detection.
Further, the detection module includes: the electromagnetic wave detection device comprises a transmitting unit, a receiving unit, a central control unit, a compensation unit and a GPS/Beidou dual-mode positioning unit, wherein the transmitting unit transmits a plurality of electromagnetic waves with fixed frequency, the receiving unit performs induction receiving of the electromagnetic waves, the compensation unit performs primary processing on magnetic field intensity and signals, the central control unit controls transmitting, receiving and compensating, records and stores the electromagnetic waves received by induction, and the GPS/Beidou dual-mode positioning unit performs positioning of a detection module.
Furthermore, the detection device is provided with two crossed support frames, the transmitting unit is installed at the end parts of the two adjacent support frames, the receiving unit is installed at the end parts of the other two adjacent support frames, the central control unit is installed in the middle of the physical connection bridge, the compensation module is installed below the cross connection part of the two support frames, and the GPS/Beidou dual-mode positioning unit is arranged above the cross connection part of the two support frames.
Furthermore, the transmitting unit can transmit a plurality of electromagnetic waves with fixed frequency, the field intensity and the frequency are continuously changed, and the generated electromagnetic fields are reflected in different target areas.
Furthermore, the receiving unit receives the electromagnetic field reflected by the target area, amplifiers are arranged below the transmitting unit and the receiving unit to amplify the electromagnetic field signals, and the receiving unit receives the electromagnetic field signals and then performs signal compensation through the compensation unit.
Furthermore, the central control unit is connected with the compensation unit, and after being processed by the compensation unit, the central control unit records and stores the magnetic field change condition.
Furthermore, the GPS/Beidou dual-mode positioning unit is connected with a satellite positioning system, positions the position of the detection unit in real time, and sends the position information to the central control unit.
Further, the central control unit sends the analysis result to the cloud server through the communication device, and the client side obtains the detection result from the cloud server.
The invention has the following advantages:
the invention discloses a multi-frequency electromagnetic detection horizontal gradient acquisition system of a frequency domain unmanned aerial vehicle, which can detect not only conductive materials similar to metals, but also magnetic materials. Non-conductive and non-magnetic materials can also be detected by comparing the target to the conductive soil surrounding the target. Can be used simultaneously at multiple frequencies, analysis of the response of the same target at different frequencies can be used to resolve the type and depth of the target. Through horizontal physical differential acquisition, the acquisition precision can be greatly improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions that the present invention can be implemented, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the effects and the achievable by the present invention, should still fall within the range that the technical contents disclosed in the present invention can cover.
Fig. 1 is a structural diagram of a multi-frequency electromagnetic detection horizontal gradient acquisition system of a frequency domain unmanned aerial vehicle according to an embodiment of the present invention;
in the figure: the system comprises an unmanned aerial vehicle module 1, a transmitting unit 2, a receiving unit 3, a central control unit 4, a compensating unit 5, a GPS/Beidou dual-mode positioning unit 6, an amplifier 7 and a physical connecting bridge 8.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
The embodiment discloses a horizontal gradient collection system is surveyed to frequency domain unmanned aerial vehicle multifrequency electromagnetism, the system includes: unmanned aerial vehicle module 1 and detection module, carry out fixed connection through physical connection bridge 8 between unmanned aerial vehicle module 1 and the detection module, unmanned aerial vehicle module 1 drives the detection module and waits to detect the target area top flight operation, the detection module is received after the reflection of target area at target detection area downward transmission multifrequency electromagnetic wave, and detection electromagnetic field changes and judges the testing result.
Unmanned aerial vehicle module 1 includes unmanned vehicles, and the unmanned aerial vehicle below is provided with physical connection bridge 8, through physical connection bridge 8 and detection module fixed connection, the detection module is provided with a plurality ofly, forms all-round detection. Because the operation of unmanned aerial vehicle convenience, the flight distance is far away, and is highly big, can carry out flight detection on a large scale, promotes the inspection efficiency.
The research researches key technologies in gradient acquisition by an electromagnetic method and develops a design prototype of a multi-frequency electromagnetic detection horizontal gradient acquisition system of the unmanned aerial vehicle.
The resolution and anti-interference capability of the artificial source frequency domain electromagnetic detection method are not enough, and the resolution capability on an electrical interface is poor. The influence of channel consistency on gradient measurements is currently measured on the basis of analytical instruments. Two differential operations are needed during gradient measurement, and the relation between the horizontal phase difference of two adjacent channels and the gradient measurement error when the horizontal phases of the measurement channels of the instrument are inconsistent is deduced, so that the relevant key influence of the horizontal phase difference on the gradient measurement is shown; when the gradient field measurement effect of two differential measurement modes of hardware difference and software difference is researched, it is found that although the software difference in the electromagnetic exploration is simpler than the mathematical calculation of the hardware difference measurement result, the software difference is a pure mathematical operation and cannot be optimized according to the actual environment requirement, and the precision measurement realized by the frequency difference generated by the hardware is more in line with the actual measurement requirement, so that the operation is simpler.
The gradient signal is very weak + because the method is suitable for a hardware system for gradient measurement, and therefore, the requirement on the hardware system is high. By analyzing the noise source of the preamplifier 7 and calculating the contribution of the noise of each stage of amplifier 7 to the total noise, the small background noise is realized and the signal-to-noise ratio is greatly improved by impedance matching and selecting the proper amplifier 7.
The detection module includes: the electromagnetic wave detection device comprises a transmitting unit 2, a receiving unit 3, a central control unit 4, a compensating unit 5 and a GPS/Beidou dual-mode positioning unit 6, wherein the transmitting unit 2 transmits electromagnetic waves with a plurality of fixed frequencies, the receiving unit 3 conducts induction receiving of the electromagnetic waves, the compensating unit 5 conducts preliminary processing on magnetic field intensity and signals, the central control unit controls transmitting, receiving and compensating, records and stores the electromagnetic waves received through induction, and the GPS/Beidou dual-mode positioning unit 6 conducts positioning of a detection module.
The detection is provided with two crossed support frames, the transmitting unit 2 is arranged at the end parts of the two adjacent support frames, the receiving unit 3 is arranged at the end parts of the other two adjacent support frames, the central control unit 4 is arranged in the middle of a physical connection bridge, the compensation module is arranged below the cross connection part of the two support frames, and the GPS/Beidou dual-mode positioning unit 6 is arranged above the cross connection part of the two support frames.
The transmitting unit 2 can transmit a plurality of electromagnetic waves with fixed frequency, the field intensity and the frequency are continuously changed, and the generated electromagnetic fields are reflected in different target areas. The receiving unit 3 receives the electromagnetic field reflected by the target area, amplifiers 7 are arranged below the transmitting unit 2 and the receiving unit 3 to amplify the electromagnetic field signals, and the receiving unit 3 receives the electromagnetic field signals and then performs signal compensation through the compensating unit 5. The central control unit 4 is connected with the compensation unit 5, and after being processed by the compensation unit 5, the central control unit 4 records and stores the magnetic field change condition.
The GPS/Beidou dual-mode positioning unit 6 is connected with a satellite positioning system, positions the position of the detection unit in real time, and sends the position information to the central control unit 4. Through the positioning function of the GPS/Beidou dual-mode positioning unit 6, the area to be detected can be positioned, and the detected area is marked after detection is finished.
The central control unit 4 sends the analysis result to the cloud server through the communication device, and the client side obtains the detection result from the cloud server.
The horizontal gradient collection system of frequency domain unmanned aerial vehicle multifrequency electromagnetic detection that this embodiment discloses can not only survey the conducting material similar to the metal class, also can survey magnetic material. Non-conductive and non-magnetic materials can also be detected by comparing the target to the conductive soil surrounding the target. Can be used simultaneously at multiple frequencies, analysis of the response of the same target at different frequencies can be used to resolve the type and depth of the target. Through horizontal physical differential acquisition, the acquisition precision can be greatly improved.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (9)
1. A frequency domain unmanned aerial vehicle multifrequency electromagnetic detection horizontal gradient acquisition system, the system comprising: the detection device comprises an unmanned aerial vehicle module and a detection module, wherein the unmanned aerial vehicle module is fixedly connected with the detection module through a physical connecting bridge, the unmanned aerial vehicle module drives the detection module to fly above a target area to be detected, the detection module downwards emits multi-frequency electromagnetic waves in the target detection area and receives the multi-frequency electromagnetic waves after the multi-frequency electromagnetic waves are reflected by the target area, and the detection result is judged according to the change of the detection electromagnetic field.
2. The system according to claim 1, wherein the unmanned aerial vehicle module comprises an unmanned aerial vehicle, a physical connecting bridge is disposed below the unmanned aerial vehicle and fixedly connected to the detection module through the physical connecting bridge, and a plurality of detection modules are disposed to form an omni-directional detection.
3. The system of claim 1, wherein the detection module comprises: the electromagnetic wave detection device comprises a transmitting unit, a receiving unit, a central control unit, a compensation unit and a GPS/Beidou dual-mode positioning unit, wherein the transmitting unit transmits a plurality of electromagnetic waves with fixed frequency, the receiving unit performs induction receiving of the electromagnetic waves, the compensation unit performs primary processing on magnetic field intensity and signals, the central control unit controls transmitting, receiving and compensating, records and stores the electromagnetic waves received by induction, and the GPS/Beidou dual-mode positioning unit performs positioning of a detection module.
4. The system according to claim 3, wherein the detection device is provided with two crossed support frames, the transmitting unit is installed at the end of two adjacent support frames, the receiving unit is installed at the end of two other adjacent support frames, the central control unit is installed in the middle of the physical connection bridge, the compensation module is installed below the cross connection of the two support frames, and the GPS/Beidou dual-mode positioning unit is arranged above the cross connection of the two support frames.
5. The system according to claim 3, wherein the transmitting unit is capable of transmitting a plurality of fixed-frequency electromagnetic waves with varying field strength and frequency, and the generated electromagnetic fields are reflected in different target areas.
6. The system according to claim 3, wherein the receiving unit receives the electromagnetic field reflected by the target area, amplifiers are installed below the transmitting unit and the receiving unit to amplify the electromagnetic field signal, and the receiving unit receives the electromagnetic field signal and then performs signal compensation through the compensation unit.
7. The system according to claim 3, wherein the central control unit is connected to the compensation unit, and after processing by the compensation unit, the central control unit records and stores the magnetic field variation.
8. The system according to claim 3, wherein the GPS/Beidou dual-mode positioning unit is connected with a satellite positioning system, positions the position of the detection unit in real time, and sends the position information to the central control unit.
9. The system according to claim 7, wherein the central control unit sends the analysis result to a cloud server through a communication device, and the client obtains the detection result from the cloud server.
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Cited By (2)
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