CN111650650A - Unmanned aerial vehicle-mounted semi-aviation transient electromagnetic and magnetic cooperative acquisition system and method - Google Patents
Unmanned aerial vehicle-mounted semi-aviation transient electromagnetic and magnetic cooperative acquisition system and method Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle-mounted semi-aviation transient electromagnetic and magnetic cooperative acquisition system and method, which comprises an unmanned aerial vehicle, a transient electromagnetic receiving coil, a magnetic sensor and an acquisition recorder, wherein the unmanned aerial vehicle is provided with a magnetic sensor; the magnetic sensor is carried on the unmanned aerial vehicle and connected with the acquisition recorder, and the electromagnetic receiving coil is connected with the unmanned aerial vehicle through an insulated wire; the transient electromagnetic receiving coil at least comprises an elliptical coil framework, a coil head is arranged at the end part of one end of a long shaft of the elliptical coil framework, a coil tail wing is arranged at the end part of the other end of the long shaft, and coil side wings are symmetrically arranged at the two ends of a short shaft of the elliptical coil framework or the positions close to the two ends of the short shaft; the receiving coil is designed in a streamline structure, so that the influence of wind factors can be effectively reduced in the flying process, and the data acquisition quality is improved.
Description
Technical Field
The disclosure relates to the technical field of geophysical exploration, in particular to an unmanned aerial vehicle-mounted semi-aviation transient electromagnetic and magnetic collaborative acquisition system and method.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The transient electromagnetic method is a geophysical method which is widely applied to the fields of resource exploration, geological structure exploration, hydrological exploration, underground water exploration and the like. The aviation transient electromagnetism puts the whole transient electromagnetism transceiver in the air by means of a helicopter system for detection, has the characteristics of flexibility and high detection efficiency, and is mature in western development. The semi-aviation transient electromagnetic method is a new method developed on the basis of a ground transient electromagnetic method and an aviation transient electromagnetic method, and the method adopts ground transmission and adopts an unmanned aerial vehicle mounted receiving coil to receive signals in the air. The basic process is as follows: the semi-aviation transient electromagnetic method is characterized in that a ground return line source is arranged on the ground to emit a primary pulse electric current field to the underground, and an unmanned aerial vehicle carrying a receiving device is used in the air to measure the response of a secondary field in a pulse gap. And analyzing and researching the response characteristics of the secondary field so as to judge the electrical characteristics of the underground medium body. The semi-aviation transient electromagnetic method integrates the advantages of high-power emission of the ground transient electromagnetic method and the advantage of high detection speed of the aviation transient electromagnetic method, has the characteristics of high signal-to-noise ratio, flexibility, high efficiency, large detection depth and the like of collected data, can be suitable for areas with complicated geological and topographic conditions such as high-altitude mountainous areas, deserts, gobi, forest coverage areas, karst development areas and the like, and has a wider application range compared with the traditional ground transient electromagnetic exploration and aviation transient electromagnetic exploration methods. Semi-aviation transient electromagnetic exploration is a novel mobile platform detection method, and can effectively improve detection efficiency and save labor cost.
The semi-aviation transient electromagnetic method usually adopts an unmanned aerial vehicle or other light aircrafts to carry a receiving device for acquisition. All use aircraft are herein referred to by drones. Due to the contradiction between the endurance time and the load of the unmanned aerial vehicle (the aviation system uses a manned helicopter, and the factors are hardly considered), the self weight and the external load of the unmanned aerial vehicle are reduced to the greatest extent when the unmanned aerial vehicle is designed, and the external load generally mainly comprises a receiving coil and a receiver. Meanwhile, the flying speed of the unmanned aerial vehicle is relatively low, so that a receiving system mounted on the lower portion of the unmanned aerial vehicle is easily interfered by external factors (such as jitter, crosswind, inertia and the like), and therefore the semi-aviation transient electromagnetic receiving system cannot be designed according to the same idea as the aviation transient electromagnetic system.
The inventors of the present disclosure have found that the problems faced by the design of the receiving system mainly include two parts, the receiving coil design and the receiver design. In the aspect of receiving coil design, in order to avoid interference of an aircraft, a common carrying mode is mostly nacelle type flexible connection, but the mode is easily interfered by external motion characteristics, and is particularly easily interfered under the condition that the motion speed is not as fast as a helicopter, for example, wind power changes, weather factors, improper operation of an operator of an unmanned aerial vehicle and other reasons, the receiving coil always moves along with the unmanned aerial vehicle in the air, wind resistance, shaking, magnetic line cutting and the like can be generated, so that great deviation of received data exists, and the reliability of the data is difficult to guarantee; the circuit system, the amplifying system, the posture system and the like of the traditional receiving coil are arranged at the center of the coil, so that the data acquisition area in the receiving coil is occupied, and the system is easy to interfere and influences the normal data acquisition; the traditional attitude sensor can only acquire the attitude information of the coil, and in actual field operation, more comprehensive information is needed to provide support for data interpretation, such as air pressure, temperature and the like. In the aspect of receiver design, the existing receiver is large in size and mass, so that the external load borne by the unmanned aerial vehicle when carrying the receiver is too large, the flight speed of the unmanned aerial vehicle cannot be guaranteed, the endurance time of the unmanned aerial vehicle can be reduced, the data acquisition efficiency is low, and potential safety hazards exist; the long-time carrying of the heavy load easily causes the hardware loss of the unmanned aerial vehicle, increases the maintenance cost and reduces the service life of the unmanned aerial vehicle; traditional transient electromagnetic receiver is difficult for carrying, and when carrying out data acquisition, the receiver is in the unmanned aerial vehicle below, and data transmission has certain difficulty, and in addition have the mountain sometimes and block the signal, can't realize the effective quality control to data collection.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides an unmanned aerial vehicle-mounted semi-aviation transient electromagnetic and magnetic cooperative acquisition system and method, wherein a receiving coil is designed in a streamline structure, so that the influence of wind factors can be effectively reduced in the flight process, and the data acquisition quality is improved; meanwhile, the whole receiving device is internally arranged in the shell above the fish-shaped coil framework and the cavity of the coil tail wing, the internal data acquisition area of the receiving coil is not occupied, the data acquisition of the receiving coil cannot be influenced, and the data acquisition quality is further improved.
In order to achieve the purpose, the following technical scheme is adopted in the disclosure:
the first aspect of the disclosure provides an unmanned airborne semi-aviation transient electromagnetic and magnetic collaborative acquisition system.
An unmanned aerial vehicle-mounted semi-aviation transient electromagnetic and magnetic cooperative acquisition system comprises an unmanned aerial vehicle, a transient electromagnetic receiving coil, a magnetic sensor and an acquisition recorder;
the magnetic sensor is carried on the unmanned aerial vehicle and connected with the acquisition recorder, and the electromagnetic receiving coil is connected with the unmanned aerial vehicle through an insulated wire;
the transient electromagnetic receiving coil at least comprises an elliptical coil framework, a coil head is arranged at the end part of one end of a long shaft of the elliptical coil framework, a coil tail wing is arranged at the end part of the other end of the long shaft, and coil side wings are symmetrically arranged at two ends of a short shaft of the elliptical coil framework or at positions close to two ends of the short shaft.
As some possible implementation manners, the unmanned aerial vehicle further comprises a GPS disc, the GPS disc is connected with the bottom of the unmanned aerial vehicle, the acquisition recorder is arranged in a first shell fixedly connected with the GPS disc, and at least one GPS sensor is arranged on the GPS disc.
By way of further limitation, the magnetic sensor comprises an aeromagnetic instrument and a data transmission unit which are installed in a second streamlined shell, and the second shell is connected between the unmanned aerial vehicle and the GPS disk through an insulating wire.
As a further limitation, the first casing is square and fixed at the bottom of the GPS disc, the upper part of the first casing is open, the GPS disc is fixed at the upper part of the first casing to cover the opening, and the bottom of the first casing is provided with a through hole for the cable of the data transmission unit to pass through.
As a further limitation, a plurality of through holes are formed in the position, close to the edge, of the lower surface of the GPS disc, the insulating wire penetrates through the through holes to be connected with the receiving coil at the bottom, a fixing buckle is arranged at the circle center of the upper surface of the GPS disc, and the insulating wire is connected with the magnetic sensor through the fixing buckle.
As some possible realization modes, the coil head, the coil side wings and the coil tail wings are connected with the elliptical coil skeleton through fixing grooves, and the width of the inner sides of the fixing grooves is consistent with the height of the elliptical coil skeleton.
As some possible implementations, the acquisition recorder is arranged on the coil tail.
As possible realization modes, the oval coil framework is grooved towards the direction vertical to the central axis of the framework, a plurality of wire grooves with the same width as the diameter of the wires are formed in the grooves from top to bottom, and each turn of the wires are embedded into the wire grooves for winding.
As some possible realization modes, the device also comprises an attitude sensor connected with the acquisition recorder, the attitude sensor is arranged on the inner side of the framework at the joint of the elliptic coil framework and the coil tail wing and is coplanar with the plane of the receiving coil, and the attitude sensor at least comprises a three-component tilt angle sensor, an electronic compass, an altimeter, a thermometer and a barometer which are integrated into a whole.
As some possible realization modes, a plurality of connecting buckles used for being connected with the insulating wire and/or the elliptical canvas are fixed on the inner side of the elliptical coil skeleton.
As a further limitation, the elliptical canvas is concentric with the fish-shaped coil, the size of the elliptical canvas is reduced in an equal proportion according to the size of the fish-shaped coil, and a plurality of connecting ropes for being connected with the connecting ring buckles are arranged at the edge of the elliptical canvas.
As some possible implementation manners, the coil tail comprises a first tail, a second tail and a cavity for internally installing an amplifier, a GPS and a data transmission unit, the first tail is coplanar with a plane where the receiving coil is located or has an acute included angle, the second tail is perpendicular to the plane where the receiving coil is located, and one end of the second tail is connected with the first tail.
As a further limitation, the amplifier includes a pre-amplifier circuit and a program-controlled amplifier circuit, the pre-amplifier circuit uses an insulated gate field effect transistor to form an operational amplifier for input differential amplification, and the program-controlled amplifier circuit uses an instantaneous floating point amplifier circuit to determine the amplification factor according to the value of each sampling point.
As a further limitation, the cavity is disposed within the first flight and/or the second flight.
As a further limitation, the cavity is disposed within the first flight and/or the second flight.
By way of further limitation, the second tail fin is a plurality of second tail fins arranged in parallel in sequence, the first tail fin is arranged on the upper portion of the second tail fin, and the amplifier is arranged in a cavity of the second tail fin in the middle.
The second aspect of the disclosure provides an unmanned aerial vehicle-mounted semi-aviation transient electromagnetic and magnetic collaborative acquisition method.
An unmanned airborne semi-airborne transient electromagnetic and magnetic collaborative acquisition method utilizes the unmanned airborne semi-airborne transient electromagnetic and magnetic collaborative acquisition system of the first aspect of the disclosure, and comprises the following steps:
the magnetic induction line of the underground magnetic field penetrates through the receiving coil, electromagnetic induction is caused in the electrified receiving coil, meanwhile, a magnetic field signal on the ground is collected in the magnetic sensor, and a corresponding electric signal is obtained in the data transmission unit of the coil tail wing;
the transient electromagnetic signal and the magnetic field signal are subjected to gain processing through an amplifier, and an analog signal is converted into a digital signal through an A/D converter, and then the digital signal is sent to an acquisition recorder for processing and storage;
data collected by the GPS and the attitude information of the coil collected by the attitude sensor are transmitted to the collecting recorder in real time for processing and storing;
when no base station signal exists, the data is cached in the acquisition recorder, and when the base station exists, the data is automatically uploaded to the base station.
As some possible implementations, when there is no available base station signal, a hotspot is built at the ground station, and data upload is completed within the time period when the drone returns to replace the battery.
As some possible implementation manners, the data is uploaded through a file transfer protocol, and the fingerprint verification is performed, specifically: the data are uploaded to an FTP server and automatically read into a database, all subsequent data related operations are performed in the database, the FTP server file is used for backup and reservation, and the calculation server performs rapid calculation and mapping on newly added data in the database and transmits the newly added data to the ground station of the unmanned aerial vehicle for data quality control.
As possible implementation manners, the quality of the obtained data is controlled through an application program on the external terminal, and re-flight is selected when the variance of the speed acquired and recorded by flight is greater than a preset threshold value; selecting re-flight when the variance of the heights recorded by flight acquisition is larger than a preset threshold value; the coil attitude record comprises at least three azimuth angles, the data size of each azimuth angle exceeding a preset threshold value is recorded, and the re-flight is selected when the ratio of the data size exceeding the threshold value to the azimuth angle threshold value is larger than the preset value.
Compared with the prior art, the beneficial effect of this disclosure is:
1. according to the system and the method, the receiving coil is designed in a fish-shaped streamline structure and comprises the coil head, the coil tail wing and the coil side wing, the influence of wind factors can be effectively reduced in the flight process, and the data acquisition quality is improved.
2. According to the system and the method, the whole part is arranged in the shell on the fish-shaped coil framework and the cavity of the coil tail wing, the internal data acquisition area of the receiving coil is not occupied, the data acquisition of the receiving coil cannot be influenced, and meanwhile, the receiving part adopts a built-in arrangement mode, so that the appearance structure of the receiving coil is simpler and more attractive.
3. According to the system and the method, the thermometer and the barometer are added into the attitude sensor, so that the coil attitude information is collected, parameters such as air pressure and temperature can be collected, and more comprehensive information is provided for semi-aviation transient electromagnetic data interpretation; meanwhile, the aeromagnetic data acquisition is synchronously completed by adding the magnetic sensor, so that the working efficiency is improved.
4. According to the system and the method, the data receiving device replaces the traditional receiving and storing device with the intelligent device, the occupied space is small, the carrying is light, and the load of the unmanned aerial vehicle can be effectively reduced. From the data acquisition angle, this receiving arrangement can effectively improve unmanned aerial vehicle duration to guarantee aircraft flying speed, thereby improve data acquisition efficiency. From the safety perspective, this receiving arrangement can effectively reduce the potential safety hazard and avoid unmanned aerial vehicle to take place accidents such as crash because of the overweight of load. From the equipment maintenance perspective, the method can greatly reduce the hardware abrasion of the unmanned aerial vehicle and prolong the service life of the unmanned aerial vehicle.
5. The system and the method disclosed by the invention are developed based on an intelligent operating system platform, so that the operability of equipment is improved, and the efficient, portable and easy-to-operate semi-aviation transient electromagnetic data acquisition is realized; the data acquisition APP developed based on the embedded system can upload acquired data to the cloud and realize data acquisition sharing at the cloud; the cloud data interaction is realized through other equipment on the ground, the collected data are detected in real time, the quality of the currently collected data can be judged, and some problems occurring in the data collection process can be found in time.
6. The system and the method disclosed by the disclosure realize data acquisition of transient electromagnetism and magnetism method at the same time, are beneficial to comprehensively explaining the attribute of the underground medium according to the results of the transient electromagnetism and the magnetism method, the magnetism method is sensitive to magnetic substances, the transient electromagnetism is sensitive to conductive substances, and the simultaneous use of the two methods realizes more accurate and comprehensive judgment on the attribute of the underground medium; for example, magnetite, which has both magnetic and electrical conductivity anomalies, can achieve better property differentiation.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is an overall schematic diagram of an unmanned aerial vehicle-mounted semi-airborne transient electromagnetic and magnetic cooperative acquisition system provided in embodiment 1 of the present disclosure.
Fig. 2 is a perspective view of a receiving coil provided in embodiment 1 of the present disclosure.
Fig. 3 is a top view of a receiving coil provided in embodiment 1 of the present disclosure.
Fig. 4 is a left side view of a receiving coil provided in embodiment 1 of the present disclosure.
Fig. 5 is a perspective view of the tail of the receiving coil provided in embodiment 1 of the present disclosure.
Fig. 6 is a top view of a tail of a receiving coil provided in embodiment 1 of the present disclosure.
Fig. 7 is a left side view of the tail of the receiving coil provided in embodiment 1 of the present disclosure.
The aeromagnetic force measuring device comprises a 1-fish-shaped coil framework, a 2-coil head, a 3-coil side wing, a 4-coil tail wing, a 5-elliptical canvas, a 6-connecting ring buckle, a 7-horizontal tail wing, a 8-vertical tail wing, a 9-attitude sensor, a 10-GPS, a 11-amplifier, a 12-data transmission unit, a 13-insulating connecting rope, a 14-power supply battery tank, a 15-GPS disc, a 16-acquisition recorder pod and a 17-miniature high-sensitivity aeromagnetic force instrument.
Detailed Description
The present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
Example 1:
as shown in fig. 1-7, embodiment 1 of the present disclosure provides an unmanned aerial vehicle-mounted semi-airborne transient electromagnetic and magnetic method collaborative acquisition system, which includes a transient electromagnetic receiving coil portion, a magnetic method sensor portion and an acquisition recorder portion.
(1) Transient electromagnetic receive coil portion: comprises a fish-shaped receiving coil and various elements carried on the coil.
The fish-shaped receiving coil comprises a fish-shaped coil framework 1, a coil head 2, a coil side wing 3, a coil tail wing 4, an elliptical canvas 5 and a connecting buckle 6.
The coil empennage is designed into a cavity structure and is used for components such as a built-in amplifier, a GPS and the like and a data transmission unit thereof, and the structure comprises a horizontal empennage 7 and 3 vertical empennages 8.
The coil-mounted components include an attitude sensor 9, a GPS10, an amplifier 11, a data transmission unit 12, an insulated connecting cord 13, a power supply battery jar 14, a GPS puck 15, and an acquisition recorder pod 16.
Unmanned aerial vehicle, magnetic sensor, GPS disc and collection record ware nacelle, fish-shaped coil pass through the connecting ring and buckle and the firm connection of insulating connecting rope in order as an organic whole, carry out half aviation transient electromagnetic data collection.
The receiving coil is elliptical, the head of the coil is mounted at the front end of the fish-shaped coil framework, the head of the coil is mounted at the front part of the fish-shaped coil framework, and the side wings of the coil are mounted in the middle parts of two sides of the outer edge of the fish-shaped coil framework and form a streamline structure with the coil.
The connection part of the coil head and the side wing of the coil and the fish-shaped coil skeleton is provided with a fixing groove, the width of the inner side of the fixing groove is consistent with the height of the fish-shaped coil skeleton, and the coil head and the fish-shaped coil skeleton are fixedly inserted and detachable.
The coil tail fin is arranged at the tail part of the fish-shaped coil to enhance the stability of the coil, a fixing groove is arranged at the joint of the vertical tail fin in the coil tail fin and the coil of the fish-shaped coil framework, the width of the inner side of the fixing groove is consistent with the height of the fish-shaped coil framework, and the coil tail fin is fixedly spliced with the fish-shaped coil framework and can be detached; the streamline structure of the coil can effectively reduce wind resistance and reduce the influence of wind factors on data acquisition.
Unmanned aerial vehicle and fish coil are connected through the insulating connection rope, and insulating connection rope both ends all are equipped with the latch closure, and unmanned aerial vehicle is connected to one end, and fish coil skeleton is connected to one end.
The fish-shaped coil framework is internally provided with a connecting ring buckle which is rectangular, one end of the connecting ring buckle is poured into a whole in the coil, and one end of the connecting ring buckle is provided with a concentric round hole with the inner diameter smaller than the short edge of the ring buckle and can be used for connecting an insulating connecting rope and an elliptical canvas.
It is understood that in other embodiments, the connecting ring fastener may have other shapes such as trapezoid, triangle, etc., and one skilled in the art can design the connecting ring fastener according to specific situations.
The connection of the elliptical canvas and the fish-shaped coil skeleton is realized by 8 connecting ropes extending from the edge of the elliptical canvas, and the rope ends are provided with ring buckles which can be opened and closed and are connected with the connecting ring buckles through the ring buckles; the shape of the elliptical canvas is an ellipse which is concentric with the fish-shaped coil, and the size of the elliptical canvas is reduced in proportion to the size of the fish-shaped coil.
In this embodiment, the connection rope is made of a soft insulating material, the connection buckles are made of a hard insulating material, and the bearing capacity of the insulation connection rope and the bearing capacity of the connection buckles can bear loads such as wind resistance and coil weight of the receiving coil.
The winding mode of the receiving coil is that a fish-shaped coil framework is used as a concentric ellipse to carry out horizontal winding, the coil framework is provided with an outward slot, a plurality of wire slots with the same width as the diameter of the wire of the receiving coil are arranged in the slots from top to bottom, and each turn of the receiving coil is embedded into the wire slot to carry out winding.
The data transmission and the power supply condition of receiving coil have following setting, and the coil fin is provided with the through-hole with fish-shaped coil skeleton in the junction, can be used to the data transmission unit to lay, realizes data acquisition and transmission between components and parts such as amplifier, GPS, attitude sensor and the unmanned aerial vehicle.
The power supply battery is arranged in the power supply battery grooves on the vertical tail wings at the two sides, can be detached and is used for supplying power to components such as an amplifier and a GPS.
The attitude sensor collects coil attitude information and comprises a three-component tilt angle sensor, an electronic compass, an altimeter, a thermometer and a barometer, wherein all components are integrated into a whole in an integrated mode, are arranged at the front end of the intersection of a coil tail wing and a fish-shaped coil framework and are positioned on the same horizontal plane with a coil.
Wherein, the three-component inclination angle sensor collects the inclination angle of the coil; the electronic compass collects and records the magnitude and direction of the earth magnetic field vector; the altimeter acquires the altitude of the coil; collecting temperature by a thermometer; collecting atmospheric pressure by a barometer; the collected information is transmitted through the data transmission unit.
The GPS positioning adopts a PPK technology, namely a dynamic post-processing technology for carrying out post-differential GPS positioning by utilizing a carrier phase, and is suitable for the GPS positioning of an unmanned aerial vehicle.
The GPS is arranged in a coil empennage cavity, and the data interaction with a data acquisition terminal is realized through a data transmission unit of the coil empennage; the other type is arranged in a GPS disc in the middle of the connecting rope, and data interaction with a data acquisition terminal is realized through a data transmission unit.
The GPS disc lower surface is equipped with a plurality of through-holes along the edge, and the insulating rope of connecting passes the through-hole, is connected with bottom fish shape receiving coil, and GPS disc upper surface centre of a circle position is equipped with a fixed latch closure, and the insulating rope of connecting is connected with the magnetic method sensor on GPS disc lower surface upper portion through this latch closure, and the GPS disc is through the fixed action of insulating rope of connecting and connecting latch closure, and the level is arranged in between unmanned aerial vehicle and the coil.
The acquisition recorder nacelle is arranged at the bottom of the GPS disc and used for arranging the acquisition recorder and the data transmission unit thereof, the nacelle is a cuboid shell, the upper surface of the nacelle is open, the GPS disc is fixed on the upper surface of the nacelle through screws and forms a closed structure with the nacelle, so that internal components are prevented from falling in the flight process, and the nacelle bottom is provided with a circular through hole for a cable of the data transmission unit to pass through and for data transmission between the acquisition recorder and each sensor.
It can be understood that the GPS circular disk described in this embodiment may also be a GPS elliptical disk, and those skilled in the art may design the GPS circular disk according to specific working conditions.
(2) Magnetic sensor part: including a miniature high-sensitivity aeronautical magnetometer 17 and a data transmission unit.
The miniature high-sensitivity aviation magnetometer is carried on the unmanned aerial vehicle and used for collecting magnetic total field signals. Considering that the unmanned aerial vehicle is small in size, different from aeromagnetic measurement (the aircraft is a manned helicopter and the problem that a carrying device is overweight basically is not considered), the borne load is very limited, so that the magnetometer is selected as a miniature high-sensitivity optical pump magnetometer applicable to a small aircraft, the instrument is small in size, light in weight and low in power consumption, and unattended high-precision magnetic detection can be realized.
The working principle of the miniature high-sensitivity optical pump magnetometer is as follows: the atomic magnetic moments of helium, mercury, nitrogen, hydrogen, alkali metal rubidium, cesium and other elements under the action of the optical pump are orderly arranged, the geomagnetic field serves as an external magnetic field, when the magnetometer moves along with the unmanned aerial vehicle, the atoms of the helium, mercury, nitrogen, hydrogen, alkali metal rubidium, cesium and other elements can generate a Zeeman splitting phenomenon under the action of the external magnetic field, the splitting size is proportional to the magnetic induction intensity, the frequency between Zeeman energy levels is accurately measured, the size of the external magnetic field at the moment can be calculated, and then the information of the geomagnetic total field is collected. The magnetometer has high sensitivity which can reach +/-0.01 nT, can measure the absolute value of the total magnetic field intensity, has no zero point lattice drop and temperature influence, does not need accurate orientation during working, is suitable for high-precision rapid continuous measurement under the motion condition, and meets the requirement of semi-aeromagnetic measurement of the unmanned aerial vehicle.
Miniature high sensitivity aviation magnetometer utilizes short insulating connection rope to hang in the unmanned aerial vehicle bottom, and the magnetometer is installed in the small-size casing of an aircraft outward appearance, through realizing quick data transmission between data transmission unit and the acquisition recorder. Miniature high sensitivity aviation magnetometer's shell top and bottom all are equipped with the connecting ring and detain, and the top connecting ring is detained and is connected in the unmanned aerial vehicle bottom through an insulation connection rope, and bottom connecting ring is detained and is connected through the insulation connection rope with GPS disc upper surface ring.
(3) And the acquisition recorder part adopts full-waveform acquisition so as to facilitate later denoising and data processing.
The acquisition recorder comprises an amplifier, an acquisition card, a data transmission unit and an embedded computer, and can be arranged in an acquisition recorder nacelle at the bottom of the GPS disc or on the tail part of a fish-shaped coil.
The acquisition recorder has two setting modes, one is arranged at the tail part of the fish-shaped coil, and data interaction, acquisition and recording among all components can be realized through a data transmission unit at the tail part; the other Type is arranged in an acquisition recorder nacelle at the bottom of the GPS disc, the nacelle is fixed at the bottom of the GPS disc and is fixed in the nacelle, a round hole is formed in the bottom of the nacelle and is used for a cable of the data transmission unit to pass through, and both ends of the cable are Type-C communication interfaces, so that communication connection between the data transmission unit of the coil empennage and the acquisition recorder can be realized and used for data transmission.
Example 2:
the embodiment 2 of the disclosure provides an unmanned aerial vehicle-mounted semi-aviation transient electromagnetic and magnetic collaborative acquisition method, which comprises the following steps:
the plane of the receiving coil is taken as a reference plane, the receiving coil is horizontally wound by taking a fish-shaped receiving coil framework as a ring, a magnetic induction line of a local magnetic field penetrates through the receiving coil, electromagnetic induction is caused in the electrified receiving coil, meanwhile, a magnetic method signal on the ground is collected in a magnetic method sensor, and a corresponding electric signal can be observed in a data transmission unit of a tail wing of the coil;
because the electric signal value is small, the transient electromagnetic signal and the magnetic field signal are subjected to gain processing through an amplifier at the front end of the coil empennage, and the analog signal is converted into a digital signal by an A/D converter and then sent to an acquisition recorder for processing and storage;
the positioning information and the travel time acquired by the GPS and the attitude information of the coil acquired by the attitude sensor are transmitted into the acquisition recorder to be processed and stored.
In this embodiment, the amplifier includes a pre-amplifier circuit and a programmable amplifier circuit. The amplifier is arranged in a cavity of the vertical tail wing at the central position, and does not occupy partial area of data acquisition in the coil.
The transient electromagnetic signal has the characteristics of high early attenuation speed and weak late signal, and the amplifier can amplify the weak signal and can realize effective non-overflow detection of the signal. The amplifier can transmit the amplified signal to the A/D converter through the data transmission unit of the coil empennage, and the A/D converter converts the analog signal into a digital signal and finally realizes the data transmission with the data acquisition terminal.
The preamplifier is mainly a low-noise preamplifier and has lower noise level; since the transient electromagnetic late signal and magnetic field signal amplitudes are at a lower order of magnitude, much less than the external noise, the noise level of the preamplifier determines the minimum signal that can be detected by the instrument. Since the noise generated by the preamplifier is further amplified by the subsequent programmable amplifier, the noise figure of the preamplifier has a large influence on the noise characteristics of the whole system.
To avoid this, low noise preamplifiers are used. Therefore, weak signals can be amplified, and noise interference generated by the amplifier can be reduced from the source, so that more accurate transient electromagnetic and magnetic field signals are obtained. In the embodiment, an insulated gate field effect transistor is adopted to form an ultra-low noise and high-speed operational amplifier of an input differential amplification stage, and a preamplifier is formed in a differential amplification mode.
The basic features of transient electromagnetic signals are: the late signal is weak, and the dynamic range is wide. The program control amplifier is to realize effective non-overflow detection for early, middle and late signals. Usually, the programmable amplifying circuit is composed of several stages of fixed gain amplifiers and numerical control gain amplifiers.
For digitally controlled gain amplifiers, here the instantaneous floating point amplification circuit is chosen. The instantaneous floating-point amplification circuit can determine the amplification factor according to the value of each sampling point. Unlike a general program-controlled amplifying circuit, the amplification factor of the instantaneous floating-point amplifying circuit is different for different sampling points. The amplification gain of the floating-point amplification circuit is not preset, but the magnitude of the acquired signal level value is instantly judged in the sampling interval time of signal acquisition, and a corresponding gain value is determined according to the magnitude. The programmable gain coefficient is dynamically set, so that the output can be neither overflowed nor too small, and the transient electromagnetic signal can be effectively detected without overflow.
In this embodiment, a data acquisition card is adopted, the core of which is an a/D chip, the resolution capability of the data acquisition system is determined by the quantization bit number of an a/D converter, and the measurement accuracy of the data acquisition system is limited by the conversion accuracy of the a/D converter. The sampling frequency of the data acquisition card is related to the resolution, the sampling frequency mainly depends on the time required by the A/D chip to convert a point, and the resolution depends on the number of bits of the A/D converter. The acquisition card selected by the embodiment gives consideration to both sampling frequency and resolution ratio, and the acquisition speed is increased on the basis of ensuring the resolution ratio. The A/D conversion chip can convert the amplified analog signal into a digital signal and transmit the digital signal into a recording system for storage. The data acquisition card can convert the field signals into digital quantity with high precision and transmit the digital quantity to the embedded computer for processing.
The data acquisition card, the embedded system and the special data acquisition APP form a data acquisition system together. The data acquisition system acquires transient electromagnetic signals through the sensor, sends the acquired analog signals to the A/D converter to be converted into digital signals, and then sends the signals to the FIFO. When the data stored in the FIFO reaches a certain number, the embedded microprocessor can read the data stored in the FIFO and transmit the data to the embedded computer through the data line, and can detect the data in real time through the data acquisition APP so as to ensure the acquisition quality.
The embedded system described in this embodiment is a special computer system embedded inside the controlled component and designed for transient electromagnetic data acquisition, and includes mobile devices such as a mobile phone tablet embedded with a data acquisition APP. The core of the embedded system consists of several microprocessors preprogrammed to perform the task of data acquisition. The embedded system can receive and store the digital signal transmitted by the A/D conversion chip.
The listing system: the semi-aviation transient electromagnetic data receiving and recording device based on the embedded system, the data acquisition APP and the embedded computer jointly form a transient electromagnetic data receiving and recording system. The recording system can receive transient electromagnetic signals collected by a front-end A/D conversion chip, monitor data collection quality through a data collection APP and store data. The mobile phone can be used for semi-aviation transient electromagnetic data acquisition, the acquired data can be automatically transmitted to the cloud end through a communication system arranged in the mobile phone, data interaction can be carried out between the mobile phone end and a transient electromagnetic receiving coil data acquisition system, and the data can be uploaded to a cloud end server through 4G/5G/WiFi signals.
In the absence of a base station signal, data is buffered in the receiver and automatically uploaded when a base station connection exists. When no available base station signal exists, a hot spot is built at the ground station, and data uploading can be completed quickly in the time period when the airplane returns to replace the battery.
In consideration of connection uncertainty, a data transmission mode is designed to be uploaded through a file transfer protocol, and fingerprint verification is carried out. The method comprises the steps of firstly uploading data to an FTP server, then automatically reading the data into a database according to an opened program, carrying out all subsequent data related operations in the database, and using the file of the FTP server for backup and reservation. The calculation server can perform fast calculation and mapping on the newly-added data in the database, and transmit the data to an unmanned aerial vehicle ground station for data quality Control (quality Control, referred to as QC for short).
Criteria for data quality control include: speed variation, altitude variation, data consistency, and coil attitude. The speed variation is the variance of the speed acquired and recorded in each flight, and when the variance is larger than a designed threshold value, the re-flight is selected; and (4) altitude change, namely the variance of the recorded altitude acquired by each flight, and selecting re-flight when the variance is greater than a designed threshold value. The coil attitude record comprises three azimuth angles, an azimuth angle threshold value is designed, and the data size of the azimuth angle exceeding the threshold value is recorded. And selecting the re-flying when the ratio of the data volume exceeding the threshold value to the azimuth angle threshold value is too large. And the results of the data quality assessment are sent to the ground station monitor so that a quality assessment of the just completed data can be obtained before the second flight is started for deciding whether a re-flight is required, etc.
After the semi-aviation transient electromagnetic and magnetic data are transmitted to the recording system, transient electromagnetic data acquisition conditions can be observed on the ground in real time through data interaction of a cloud, a large amount of time cost can be saved for subsequent semi-aviation transient electromagnetic data processing and interpretation, and data processing efficiency is improved.
As will be appreciated by one skilled in the art, embodiments of the present disclosure may be provided as a method, system, or computer program product. Accordingly, the present disclosure may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present disclosure is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (10)
1. An unmanned aerial vehicle-mounted semi-aviation transient electromagnetic and magnetic cooperative acquisition system is characterized by comprising an unmanned aerial vehicle, a transient electromagnetic receiving coil, a magnetic sensor and an acquisition recorder;
the magnetic sensor is carried on the unmanned aerial vehicle and connected with the acquisition recorder, and the electromagnetic receiving coil is connected with the unmanned aerial vehicle through an insulated wire;
the transient electromagnetic receiving coil at least comprises an elliptical coil framework, a coil head is arranged at the end part of one end of a long shaft of the elliptical coil framework, a coil tail wing is arranged at the end part of the other end of the long shaft, and coil side wings are symmetrically arranged at two ends of a short shaft of the elliptical coil framework or at positions close to two ends of the short shaft.
2. The unmanned airborne semi-airborne transient electromagnetic and magnetic collaborative acquisition system of claim 1, further comprising a GPS disc, wherein the GPS disc is connected with the bottom of the unmanned aerial vehicle, the acquisition recorder is arranged in a first housing fixedly connected with the GPS disc, and at least one GPS sensor is arranged on the GPS disc.
3. The unmanned airborne semi-airborne transient electromagnetic and magnetic cooperative collection system of claim 2, wherein the magnetic sensor comprises an airborne magnetometer and a data transmission unit mounted in a streamlined second housing, the second housing being connected between the unmanned aerial vehicle and the GPS disk by insulated wires, respectively;
alternatively, the first and second electrodes may be,
the first shell is square and fixed at the bottom of the GPS disc, the upper part of the first shell is provided with an opening, the GPS disc is fixed at the upper part of the first shell to cover the opening, and the bottom of the first shell is provided with a through hole for a cable of the data transmission unit to pass through;
alternatively, the first and second electrodes may be,
the lower surface of the GPS disc is provided with a plurality of through holes close to the edge, the insulated wire penetrates through the through holes to be connected with the receiving coil at the bottom, the circle center of the upper surface of the GPS disc is provided with a fixed buckle, and the insulated wire is connected with the magnetic sensor through the fixed buckle.
4. The unmanned airborne semi-airborne transient electromagnetic and magnetic collaborative acquisition system as claimed in claim 1, wherein the coil head, the coil side wings and the coil tail wings are all connected with the elliptical coil bobbin through fixing grooves, and the width of the inner sides of the fixing grooves is consistent with the height of the elliptical coil bobbin;
or the acquisition recorder is arranged in a cavity in the coil empennage;
or, the elliptic coil framework is provided with a groove towards the direction vertical to the central axis of the framework, a plurality of wire grooves with the same width as the diameter of the wires are arranged in the groove from top to bottom, and each turn of the wires are embedded into the wire grooves for winding;
or the attitude sensor is arranged on the inner side of the framework at the joint of the elliptic coil framework and the coil empennage and is coplanar with the plane of the receiving coil, and the attitude sensor at least comprises a three-component tilt angle sensor, an electronic compass, an altimeter, a thermometer and a barometer which are integrated into a whole.
5. The unmanned airborne semi-airborne transient electromagnetic and magnetic collaborative acquisition system according to claim 1, wherein a plurality of connecting buckles for connecting with insulated wires and/or elliptical canvases are fixed on the inner side of the elliptical coil skeleton.
6. The unmanned airborne semi-airborne transient electromagnetic and magnetic cooperative collection system as claimed in claim 5, wherein the elliptical canvas is concentric with the fish coil, and the size of the elliptical canvas is reduced proportionally according to the size of the fish coil, and the edge of the elliptical canvas is provided with a plurality of connecting ropes for connecting with the connecting ring buckle.
7. The unmanned airborne semi-airborne transient electromagnetic and magnetic cooperative collection system of claim 1, wherein the coil tail comprises a first tail, a second tail and a cavity for a built-in amplifier, a GPS and a data transmission unit, the first tail is coplanar with a plane of the receiving coil or forms an acute angle with the plane of the receiving coil, the second tail is perpendicular to the plane of the receiving coil, and one end of the second tail is connected with the first tail.
8. The unmanned airborne semi-airborne transient electromagnetic and magnetic cooperative collection system according to claim 7, wherein the amplifier comprises a pre-amplification front circuit and a program-controlled amplification circuit, the pre-amplification circuit adopts an insulated gate field effect transistor to form an operational amplifier for input differential amplification, the program-controlled amplification circuit adopts an instantaneous floating point amplification circuit, and the amplification factor is determined according to the value of each sampling point;
or the cavity is arranged in the first tail wing and/or the second tail wing;
or the second tail wings are arranged in parallel in sequence, the first tail wing is arranged at the upper part of the second tail wing, and the amplifier is arranged in a cavity of the second tail wing at the middle position.
9. An unmanned airborne semi-airborne transient electromagnetic and magnetic collaborative acquisition method, which is characterized in that the unmanned airborne semi-airborne transient electromagnetic and magnetic collaborative acquisition system of any one of claims 1-8 is utilized, and comprises the following steps:
the magnetic induction line of the underground magnetic field penetrates through the receiving coil, electromagnetic induction is caused in the electrified receiving coil, meanwhile, a magnetic field signal on the ground is collected in the magnetic sensor, and a corresponding electric signal is obtained in the data transmission unit of the coil tail wing;
the transient electromagnetic signal and the magnetic field signal are subjected to gain processing through an amplifier, and an analog signal is converted into a digital signal through an A/D converter, and then the digital signal is sent to an acquisition recorder for processing and storage;
data collected by the GPS and the attitude information of the coil collected by the attitude sensor are transmitted to the collecting recorder in real time for processing and storing;
when no base station signal exists, the data is cached in the acquisition recorder, and when the base station exists, the data is automatically uploaded to the base station.
10. The unmanned aerial vehicle-mounted semi-aviation transient electromagnetic and magnetic cooperative collection method according to claim 9, characterized in that when no available base station signal exists, a hot spot is built at a ground station, and data uploading is completed in a time period when the unmanned aerial vehicle returns to replace a battery;
alternatively, the first and second electrodes may be,
data are uploaded through a file transfer protocol, and fingerprint verification is carried out, specifically: uploading the data to an FTP server, automatically reading the data into a database, performing all subsequent data-related operations in the database, wherein the FTP server file is used for backup and retention, and a calculation server performs rapid calculation and mapping on newly-added data in the database and transmits the newly-added data to an unmanned aerial vehicle ground station for data quality control;
or, performing quality control on the obtained data through an application program on the external terminal, and selecting re-flight when the variance of the speed acquired and recorded by flight is greater than a preset threshold value; selecting re-flight when the variance of the heights recorded by flight acquisition is larger than a preset threshold value; the coil attitude record comprises at least three azimuth angles, the data size of each azimuth angle exceeding a preset threshold value is recorded, and the re-flight is selected when the ratio of the data size exceeding the threshold value to the azimuth angle threshold value is larger than the preset value.
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