AU2020101956A4 - A method for inhibiting motion noise of the electrical source semi-airborne transient electromagnetic method - Google Patents
A method for inhibiting motion noise of the electrical source semi-airborne transient electromagnetic method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01V3/165—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 magnetic or electric fields produced or modified by the object or by the detecting device
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01V3/38—Processing data, e.g. for analysis, for interpretation, for correction
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Abstract
The invention discloses a method for inhibiting motion noise of the electrical source semi
airborne transient electromagnetic method, which comprises the following steps.
Si. Setting observation points and detection depths, according to which a transmitting source
and a receiving device are arranged, wherein the receiving device is arranged on flight
equipment.
S2. Acquiring the measured voltage signals of the electrical source semi-airborne transient
electromagnetic field in three directions of X, Y and Z through the receiving device, and
calculating the motion noise of the receiving device according to the measured voltage
signals and the flight offset angle of the flight equipment.
S3. Inhibiting the motion noise according to the calculation result.
The method can effectively inhibit the motion noise and greatly improve the recognition
accuracy of underground targets.
-1/9
Si. Setting observation points and detection depths, according
to which a transmitting source and a receiving device are
arranged, wherein the receiving device is arranged on flight
equipment.
4117
S2. Acquiring the measured voltage signals of the electrical
source semi-airborne transient electromagnetic field in three
directions of X, Y and Z through the receiving device, and
calculating the motion noise of the receiving device according to
the measured voltage signals and the flight offset angle of the
flight equipment.
S3. Inhibiting the motion noise according to the calculation
result.
Fig. 1
Description
-1/9
Si. Setting observation points and detection depths, according to which a transmitting source and a receiving device are arranged, wherein the receiving device is arranged on flight equipment.
4117 S2. Acquiring the measured voltage signals of the electrical source semi-airborne transient electromagnetic field in three directions of X, Y and Z through the receiving device, and calculating the motion noise of the receiving device according to the measured voltage signals and the flight offset angle of the flight equipment.
S3. Inhibiting the motion noise according to the calculation result.
Fig. 1
PATENTS ACT 1990
The invention is described in the following statement:-
[0001] The invention relates to the technical field of geophysical exploration, in
particular to a method for inhibiting motion noise of an electrical source semi-airborne
transient electromagnetic method.
[0002] Semi-airborne transient electromagnetic method is a method in which long wires
or large loops laid on the ground for several to ten kilometres are used as transmitting
sources, and receiving coils are mounted on the flight platform to receive secondary field
signals. It highlights the advantages of ground and aviation, while maintaining accuracy,
it can improve exploration speed and overcome the inconvenience caused by terrain.
Different from the ground transient electromagnetic method, the semi-airborne transient
electromagnetic receiver is hoisted under the aircraft and can be divided into X-, Y- and
Z- devices. During flight, the noise generated by the attitude changes of the receiver coil,
such as Roll, Pitch and Yaw, will affect the useful signal from the coupling of
electromagnetic field and earth. This noise is called motion noise, which seriously affects
the detection accuracy of semi-airborne transient electromagnetic. Therefore, the research
on the method of inhibiting motion noise is of great significance to improve the detection
accuracy of semi-airborne transient electromagnetic method.
[0003] The purpose of the present invention is to provide a method for inhibiting the
motion noise of electrical source-space transient electromagnetic method, so as to solve
the technical problems in the prior art, effectively inhibit the motion noise, and greatly
improve the recognition accuracy of underground targets.
[0004] To achieve the above purpose, the present invention provides the following
scheme.
[0005] The present invention provides a method for inhibiting the motion noise of
electrical source semi-airborne transient electromagnetic method, which comprises the
following steps.
[0006] Si. Setting observation points and detection depths, according to which a
transmitting source and a receiving device are arranged, wherein the receiving device is
arranged on flight equipment.
[0007] S2. Acquiring the measured voltage signals of the electrical source semi-airborne
transient electromagnetic field in three directions of X, Y and Z through the receiving
device, and calculating the motion noise of the receiving device according to the
measured voltage signals and the flight offset angle of the flight equipment.
[0008] S3. Inhibiting the motion noise according to the calculation result.
[0009] Preferably, the motion noise includes geometric motion noise and geomagnetic
noise.
[0010] Preferably, the receiving device includes X-, Y- and Z- devices, and the motion
noise is generated by the relative motion between the receiving device and the flight
equipment.
[0011] Preferably, the relative motion between the receiving device and the flight
equipment includes three forms: Roll, Pitch and Yaw.
[0012] Preferably, when the receiving device rolls, the relationship between the voltage
V V V x, Y and zin the receiving coil of X-device, Y-device and Z-device before the
movement and the voltage VV x, Yand Vz in the receiving coil of X-device, Y-device
and Z-device after movement is shown in equations 3-5,
x x
sinyV ............... 4 V = cos y(V - ,)6
Vz =)Os7 +sin yV............... 5
8 8
[0013] wherein, y is the Roll offset angle, 7' and yz respectively represent the
induced voltage generated in Y-axis direction and Z-axis direction by motion when the
motion offset angle is 7.
[0014] When the receiving device moves in pitch, the relationship between the voltage
V, and Vz in the receiving coil of X-device, Y-device and Z-device before the
movement and the voltage Vx, VY and Vz in the receiving coil of X-device, Y-device
and Z-device after movement is shown in equations 6-8,
V = cos a (V'- d)+sin aV ......... 6
Vy -Vy... sin. -. ............... 8
V Cosa( -c.,)-sinaJ ~
[0015] wherein a is the pitch offset angle, ax and az respectively represent the
induced voltage generated in X-axis direction and Z-axis direction by motion when the
motion offset angle is a.
[0016] When the receiving device moves in yaw, the relationship between the voltagexV
VYand Vz in the receiving coil of X-device, Y-device and Z-device before the
V V VI movement and the voltage x, Y and z in the receiving coil of X-device, Y-device
and Z-device after movement is shown in equations 9-11,
V =cosflV + sinpQV ........................ 9
VCosQV - sinV ................ 10
[00 17] V=V z z .............................. 1
[0018] wherein P is Yaw offset angle.
[0019] Preferably, the voltage relationship in the receiving coil of the receiving device
before and after motion is shown in equation 12,
. . . 12 V ARoll PitchAYatV' p - p ......
[0020] wherein V represents the voltage in the receiving coil before movement, V' represents the voltage in the receiving coil after motion, ARoll, APitch and AYaw respectively represent the motion noise correction coefficients of Roll, Pitch and Yaw,c represents the induced voltage generated by the relative motion between the receiving device and the UAV, and P represents the type of receiving device, wherein P is (1,0,0),
(0,1,0) and (0,0,1) respectively representing X-device, Y- device and Z- device.
[0021] The invention discloses the following technical effects.
[0022] According to the method, the influence of geomagnetic noise on the electrical
source semi-airborne transient electromagnetic method is fully considered, and geometric
noise and geomagnetic noise are effectively separated according to the generation
mechanism of motion noise in the construction process of the semi-airborne transient
electromagnetic method. The motion noise is inhibited by using the measured signals
collected by the receiving device and the deviation angles of the three motion forms
Roll, Pitch and Yaw- of the unmanned aerial vehicle platform, so that the recognition
accuracy of underground targets is greatly improved.
[0023] In order to explain the embodiments of the present invention or the technical
scheme in the prior art more clearly, the drawings needed in the embodiments will be
briefly introduced below. Obviously, the drawings in the following description are only
some embodiments of the present invention, and for ordinary technicians in the field,
other drawings can be obtained according to these drawings without paying creative
labour.
[0024] Fig. 1 is a flow chart of the method for inhibiting motion noise of electrical source
semi-airborne transient electromagnetic method of the present invention;
[0025] Fig. 2 is a position diagram of an observation point, a transmitting source and a
receiving device of the present invention;
[0026] Fig. 3 is a schematic structural diagram of the receiving device of the electrical
source semi-airborne transient electromagnetic method of the present invention;
[0027] Fig. 4 is a schematic diagram of the movement form of the receiving device of the
present invention, wherein fig. 4(a) is a schematic diagram of the motion form of Roll,
fig. 4(b) is a schematic diagram of the motion form of Pitch, and fig. 4(c) is a schematic
diagram of the motion form of Yaw.
[0028] Fig. 5 is a relationship curve between the relative motion angle of the receiving
device and the UAV and the geomagnetic field influence in the embodiment 1 of the
present invention, wherein, fig. 5(a) is the relationship curve between the motion angle
and the influence of geomagnetic field when Roll motion occurs, fig. 5(b) shows the
relationship between the motion angle and the influence of geomagnetic field when Pitch
motion occurs.
[0029] Fig. 6 is a graph showing the influence of geometric noise on the received signal
when the receiving device in Roll motion in the embodiment 1 of the present invention,
wherein, fig. 6(a) is a graph showing that the received signal of Y- device is affected by
geometric noise, and fig. 6(b) is a graph showing that Z- device is affected by geometric
noise.
[0030] Fig. 7 is a graph showing that the received signal is affected by geometric noise
when the receiving device is in Pitch motion in the embodiment 1 of the present
invention, wherein, fig. 7(a) is a graph of the received signal of X- device affected by
geometric noise, and fig. 7(b) is a graph of Z- device affected by geometric noise.
[0031] Fig. 8 is a graph showing that the received signal is affected by geometric noise
when the receiving device moves in Yaw in the embodiment 1 of the present invention,
wherein, fig. 8(a) is a graph of the received signal of X- device affected by geometric
noise, and fig. 8(b) is a graph of Y- device affected by geometric noise.
[0032] Fig. 9 is an inversion profile of angle changes of Roll, Pitch, and Yaw during
UAV flight and before and after noise inhibition in the embodiment 2 of the present
invention, wherein, fig. 9(a) shows the angle variation curves of Roll, Pitch and Yaw
during UAV flight, fig. 9(b) shows the inversion profile before noise inhibition, and fig.
9(c) shows the inversion profile after noise inhibition.
[0033] The technical scheme in the embodiments of the present invention will be
described clearly and completely with reference to the drawings in the embodiments of
the present invention. Obviously, the described embodiments are only parts of the
embodiments of the present invention, not all of them. Based on the embodiments of the
present invention, all other embodiments obtained by ordinary technicians in the field
without creative labor should belong to the scope of protection of the present invention.
[0034] In order to make the above objects, features and advantages of the present
invention more obvious and easy to understand, the present invention will be further
explained in detail with reference to the drawings and specific embodiments.
[0035] Referring to fig. 1, this embodiment provides a method for inhibiting motion
noise of electrical source semi-airbome transient electromagnetic method, which includes
the following steps.
[0036] Si. Setting observation points and detection depths, and arranging emission
sources and receiving devices according to the observation points and detection depths.
[0037] Set observation points and detection depths, arrange grounding wires at both ends
as emission sources, and mount the receiving device on the flight equipment. In this
embodiment, the receiving device is mounted on the UAV platform. The receiving device
is used for receiving magnetic fields or voltage signals in X, Y and Z directions, wherein
the distance between the emission source and the observation point is 0.5-3 times of the
detection depth. The distance between the flight height of the UAV and the ground is 0-1
time of the detection depth, as shown in Figure 2.
[0038] S2. Acquiring the measured voltage signals of the electrical source semi-airborne
transient electromagnetic field in three directions of X, Y and Z through the receiving
device, and calculating the motion noise of the receiving device according to the flight
deviation angle of the unmanned aerial vehicle. The motion noise includes geometric
motion noise and geomagnetic noise.
[0039] The motion noise is noise generated by the motion of the receiving coil in the
receiving device. The position changes of the receiving coil fixed under the UAV lead to
the coupling between the receiving coil and the ground, and because of the sudden
change of the receiving coil in the geomagnetic field, the effective area of the
geomagnetic field passing through the receiving coil is changed, resulting in the
production of induced voltage in the receiving coil, thus forming motion noise.
[0040] The receiving device types of electrical source semi-airborne transient
electromagnetic method are shown in fig. 3, which can be divided into three rigid device
forms: X-, Y- and Z-. Due to the influence of wind, air resistance, sudden change of UAV attitude and other factors, the receiving coil has three basic motion forms: Roll, Pitch and
Yaw, as shown in fig. 4(a), 4(b) and 4(c) respectively. The flight direction of UAV is
consistent with the X-axis. When the receiving device and UAV move relatively, the
coordinate system changes from X-Y-Z to X'-Y'-Z', wherein y is Roll offset angle, a is
Pitch offset angle and P is Yaw offset angle. Roll means that when the receiving coil
flies, it is forced on both sides of the flight direction (Y-axis direction) and makes
pendulum motion on Y-Z plane with Z-axis as the rotation axis, and the force is caused
by wind power or sudden left-right movement of unmanned aerial vehicle. Pitch means
that when the receiving coil is forced up and down in the flight direction, it makes
pendulum motion on the X-Z plane, and the cause of Pitch motion is resistance or sudden
speed-up, emergency stop, etc. in the flight direction. Yaw refers to the change of the
flight direction of the receiving coil, that is, the X axis is suddenly affected by the wind
on both sides or the UAV turns, which causes the receiving coil to displace on the X-Y
plane around the Z axis.
[0041] The traditional method only considers the influence of the relative movement
between the receiving device and the UAV on the received coupling signal, but ignores
the effect of the geomagnetic field, wherein the coupling signal is a signal coupled from
the earth and the transmission current.
[0042] Under the condition that there is no relative movement between the receiving
device and the unmanned aerial vehicle, according to Faraday's law, under the action of
the secondary field generated by the transmitting source, the voltage V in the receiving
coil is shown in formula (1),
V = -IcoS Bm pT .................................... ( 1
[0043] wherein, B represents the magnetic induction intensity when the receiving
device and UAV do not move relatively, o represents angular velocity, Sm represents the
effective area of receiving coil, i represents induced current, and P represents the type of
receiving device. P is (1,0,0), (0,1,0) and (0,0,1) respectively representing X- device, Y
device and Z- device.
[0044] When the receiving device and the UAV move relatively, the voltage Vin the
receiving coil is as shown in formula (2):
1 V'I V= -iOSB'p -it)SB P T - OPTE2 P.................................. (2) -.......
[0045] In the formula, B' represents the magnetic induction intensity when the
receiving device moves relative to the UAV, and c represents the induced voltage
generated by the relative movement between the receiving device and the UAV.
[0046] when the receiving device rolls, the relationship between the voltage Vx, VY and
Vz in the receiving coil of X-device, Y-device and Z-device before the movement and
I VI V the voltage x, T and z in the receiving coil of X-device, Y-device and Z-device
after movement is shown in equations 3-5,
Vx Vx ......................... 3
V =cos y(V - E -sinyV ....... 4
V =cos y(V - sinyV ..... 5
[0047] wherein, y is the Roll offset angle, C7 and y respectively represent the
induced voltage generated in Y-axis direction and Z-axis direction by motion when the
motion offset angle is y.
[0048] It can be known from formulas 3- 5 that the signals received by X-device are not
affected by the motion of Roll, and the effective area of the receiving coil on X axis has
not changed. However, the signals received on Y-axis and Z-axis change, which
introduces the influence of electromagnetic field. And the target signal is a single
direction component. Because of the attitude change and other direction components
influence, the signals received by Y- device not only include signals in Y direction, but
also are doped with signals in Z direction. The signals received by Z- device not only
include signals in Z direction, but also are doped with signals in Y direction.
[0049] When the receiving device moves in pitch, the relationship between the voltage x
V , and Vz in the receiving coil of X-device, Y-device and Z-device before the
movement and the voltage Vx, VY and VIz in the receiving coil of X-device, Y-device
and Z-device after movement is shown in equations 6-8,
vjcosa( cs V, a(V '-- f +inaV............... )j+sina . . 66
y y V = V .................................... 7
V = cos a(V -qE - sin aV ................ 8
[0050] wherein a is the pitch offset angle, aO and az respectively represent the
induced voltage generated in X-axis direction and Z-axis direction by motion when the
motion offset angle is a.
[0051] From formulas 6 to 8, it can be known that the signals received by Y- device are
not affected by the Pitch movement, and the effective area of the receiving coil on Y-axis
has not changed. However, the signals received on X-axis and Z-axis changed, which
introduced the influence of electromagnetic field. And the target signal is a single
direction component. Because of the attitude change and other direction components
influences, the signals received by X-device not only include signals in X direction, but
also are doped with signals in Z direction. The signals received by Z-device not only
include signals in Z direction, but also are doped with signals in X direction.
[0052] When the receiving device moves in yaw, the relationship between the voltage x,
VV Y and z in the receiving coil of X-device, Y-device and Z-device before the
movement and the voltage Vx, V Yand Vz in the receiving coil of X-device, Y-device
and Z-device after movement is shown in equations 9-11,
V =cosf#V +sin #V ........................ 9
=cos iV - sinfiV ..................... 10
V05V z 3].wherein.p.is.Yaw1offset.angl z
[0053] wherein1P3is Yaw offset angle.
[0054] It can be seen from formulas 9 ~ 11 that the signal received by Z- device is not
affected by Yaw movement, and the effective area of receiving coil on Z-axis has not
changed. However, the signals received on X-axis and Y-axis change, which introduces
the influence of electromagnetic field. And the target signal is a single direction
component. Because of the attitude change and other direction components influence, the
signals received by X- device not only include signals in X direction, but also are doped
with signals in Y direction. The signals received by Y- device not only include signals in
Y direction, but also are doped with signals in X direction.
[0055] According to equations 3~ 11, when the receiving device moves, if the signals
mixing in other directions is ignored, the relationship between the actual signal and the
target signal is cosine or cotangent.
[0056] S3. According to the calculation result of the motion noise and the voltage
relationship before and after the motion, inhibiting the motion noise. The voltage
relationship in the receiving coil of the receiving device before and after the movement is
shown in formula (12),
V = ARall APitch YawV' p - ep ......... (12)
[0057] wherein V represents the voltage in the receiving coil before movement, V
represents the voltage in the receiving coil after motion, ARoll, APitch and AYaw
respectively represent the motion noise correction coefficients of Roll, Pitch and Yaw,
and E represents the induced voltage generated by the relative motion between the
receiving device and the UAV. In equation (12), the front section is geometric motion
noise and the back section is geomagnetic noise.
[0058] Since the motion of the receiving coil is not a single motion, but a superposition
of two or three motions, the total correction coefficient of motion noise is formed by
multiplying the motion noise correction coefficients of Roll, Pitch and Yaw.
[0059] In order to further verify the effectiveness of the method for inhibiting the motion
noise of the electrical source semi-airbome transient electromagnetic method, the
influence degree of motion noise and the noise inhibition effect are verified by
experimental simulation and measured data respectively.
[0060] Embodiment 1
[0061] According to the expression of geomagnetic field influence, the parameters of
geomagnetic field in a certain place in China can be substituted, and the magnetic
induction intensity is 52508.7nT, declination is-3.39 ', inclination is 52.53 ', Atis Is, and the normalized voltage diagram of each receiving device affected by geomagnetic
field changes with angle is obtained, as shown in fig.5. It can be seen from fig. 5 that
there are two motion modes (Roll and Pitch) of receiving device, and the influence of
geomagnetic field is positively correlated with angle. In Roll motion, only Y- device and
Z- device are affected by geomagnetic field, and X- device has no change in effective
receiving area due to Roll motion. In Roll motion, the influence of geomagnetic field
changes with the angular period which is 2 . The extreme value of Y- device affected by
y=arctan ' 2rc geomagnetic field is at I , and the extreme value of Z- device is at
=arctan ) +2dc SB'e--z In the Pitch motion, the Y- device is not affected by the a = arctan - '"- +2r geomagnetic field, the extreme value of the X- device is ataB, a = artan B'"- , +2r and the extreme value of the Z- device is at B,,_2 , wherein Bter-x,
Bter-7 and Ber-z represent the affected values of X-, Y- and Z- devices affected by
geomagnetic field respectively. When the receiving coil is changed by a small angle, Z
device has stronger ability to resist the interference of geomagnetic field than X- device
and Y- device. From the amplitude point of view, the motion of Roll and Pitch has a
serious influence on the late period of response attenuation curve.
[0062] In this embodiment, one-dimensional forward response in a uniform half-space of
1002m is used for analysis. With the 1000m emission source, 10A emission current,
500m offset, and 30m flight altitude, the normal response (namely, the receiving device
does not move relative to the UAV) and the response when the receiving coil Roll at an
angle of 5 degrees (without the influence of geomagnetic field) are obtained, as shown in
fig. 6. It can be seen from fig. 6(a) that in Y- device, the most obvious influence of Roll
motion is when it is affected by return current. By analyzing the relationship between
response and motion angle at 0.0001s and 0.1s, it can be seen that the affected signal
changes periodically. When affected by a small angle, the larger the angle is, the farther
away the affected signal is from the normal signal. It can be seen from fig. 6(b) that in the
Z- device, the response after 5-degree Roll movement is greatly affected in the early
stage, and the existence of Roll makes the response suddenly change from positive value
to negative value in the early stage. In addition, no matter the early or late time, the response will eventually appear negative with the change of angle, which indicates that when the negative sign appears in the measured data, it may be caused by motion noise.
[0063] When the Pitch motion of the receiving coil occurs, it can be seen from fig. 7(a)
that the X- device has a false return current phenomenon, and its influence in the late
stage is far greater than that in the early stage. It can be seen from fig. 7(b) that the Z
device is slightly more affected than the X- device in the early stage. As can be seen from
fig. 8, when the Yaw motion occurs, the X- device also has the phenomenon of false
return current due to the negative response.
[0064] In conclusion, when there is a single form of movement, the Z- device will have a
response sign change during the Roll motion. If the X- device is affected by the coil
motion, the response must change sign at a certain angle, and then the false return current
appears, while Y- device will not appear sign change. In the change of small angle, the
influence of Z- device in the early stage is greater than that in the late stage. The place
where Y- device has the greatest influence is the time when the return current has the
greatest influence.
[0065] Embodiment 2
[0066] The method of the invention is used for field measurement in Datong, Shanxi,
China. The construction parameters are as follows: the transmitting source is laid
1000m, the transmitting current is step wave with amplitude of 10A, the effective area of
the receiving coil is 3000m2, the flight height is 40m from the ground, and the offset
distance is 500m.The angle changes of Roll, Pitch and Yaw during the flight of UAV are
shown in fig. 9(a). Especially under the condition of complex terrain, it is particularly
important to record the angle changes. The data obtained by the receiving device is subjected to motion noise inhibition, and the inversion profiles before and after noise inhibition are compared, as shown in fig. 9(b) and fig. 9(c) respectively. It can be seen from fig. 9(b) and fig. 9(c) that the inversion profile in the survey area after noise inhibition is consistent with the known drilling results, and the recognition accuracy of the target object in the survey area is obviously better than that before noise inhibition, which proves the effectiveness of the method of the present invention.
[0067] The above embodiments only describe the preferred mode of the invention, but do
not limit the scope of the invention. On the premise of not departing from the design
spirit of the invention, various modifications and improvements made by ordinary
technicians in the field to the technical scheme of the invention shall fall within the
protection scope determined by the claims of the invention.
Claims (6)
1. A method for inhibiting motion noise of electrical source semi-airborne transient
electromagnetic method is characterized by comprising the following steps.
Si. Setting observation points and detection depths, according to which a transmitting
source and a receiving device are arranged, wherein the receiving device is arranged on
flight equipment.
S2. Acquiring the measured voltage signals of the electrical source semi-airbome
transient electromagnetic field in three directions of X, Y and Z through the receiving
device, and calculating the motion noise of the receiving device according to the
measured voltage signals and the flight offset angle of the flight equipment.
S3. Inhibiting the motion noise according to the calculation result.
2. The method for inhibiting motion noise of electrical source-space transient
electromagnetic method according to claim 1 is characterized in that the motion noise
includes geometric motion noise and geomagnetic noise.
3. The method for inhibiting the motion noise of electrical source semi-airbome transient
electromagnetic method according to claim 1 or claim 2 is characterized in that the
receiving device comprises three devices, namely X-, Y- and Z-, and the motion noise is
generated by the relative motion between the receiving device and the flight equipment.
4. The method according to claim 3 is characterized in that the relative motion between
the receiving device and the flight equipment includes three forms: Roll, Pitch and Yaw.
5. The method for inhibiting the motion noise of electrical source semi-airborne transient
electromagnetic method according to claim 4 is characterized in that when the receiving
device rolls, the relationship between the voltage x, V VY and Vz in the receiving coil of
X-device, Y-device and Z-device before the movement and the voltage x, and
Vz in the receiving coil of X-device, Y-device and Z-device after movement is shown in
equations 3-5,
Vx =Vx ................................ . 3
V = cosyV--sin V ......... 4
V =cos V - zE)+sinyV ... .5
8 8 wherein, y is the Roll offset angle, ;' and Yz respectively represent the induced
voltage generated in Y-axis direction and Z-axis direction by motion when the motion
offset angle is y.
When the receiving device moves in pitch, the relationship between the voltage V,
V and V in the receiving coil of X-device, Y-device and Z-device before the
movement and the voltage V, V and V in the receiving coil of X-device, Y
device and Z-device after movement is shown in equations 6-8,
V =cos a - e) +sin aV ............... 6
V V .................................... 7
Vz = cos a V- )- sin aV ............... 8
wherein a is the pitch offset angle, Qx and az respectively represent the induced
voltage generated in X-axis direction and Z-axis direction by motion when the motion
offset angle is a.
When the receiving device moves in yaw, the relationship between the voltageV,
and Vz in the receiving coil of X-device, Y-device and Z-device before the
movement and the voltage V, and in the receiving coil of X-device, Y
device and Z-device after movement is shown in equations 9-11,
V = cos fV +sin V ............ 9
V = cos §V -sinV ................ 10
V =v.................. 11 Z 2
wherein P is Yaw offset angle.
6. The method for inhibiting motion noise of electrical source semi-airborne transient
electromagnetic method according to claim 4 is characterized in that the voltage
relationship in the receiving coil of the receiving device before and after motion is shown
in equation 12,
V =ARollPi aw T- P ..... 12
wherein V represents the voltage in the receiving coil before movement, V represents
the voltage in the receiving coil after motion, AR, APitch and Ayaw respectively represent
the motion noise correction coefficients of Roll, Pitch and Yaw, 6 represents the induced
voltage generated by the relative motion between the receiving device and the UAV, and
P represents the type of receiving device, wherein P is (1,0,0), (0,1,0) and (0,0,1)
respectively representing X-device, Y- device and Z- device.
-1/9-
Fig. 1
-2/9-
Fig. 2
-3/9-
Fig. 3
（a）
（c） -4/9-
Fig. 4 （b）
（a） -5/9-
Fig. 5 （b）
（b） （a） -6/9-
Fig. 6
（a）
（b） -7/9-
Fig. 7
（b） （a） -8/9-
Fig. 8
(b) （a） -9/9-
Fig. 9 （c）
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113655532A (en) * | 2021-09-03 | 2021-11-16 | 山东大学 | Method and system for removing motion noise of non-full-time semi-aviation transient electromagnetic data |
| CN113768487A (en) * | 2021-08-02 | 2021-12-10 | 深圳市晨北科技有限公司 | User body fat detection method and device, computer device and medium |
| CN115356774A (en) * | 2022-08-12 | 2022-11-18 | 中国科学院地质与地球物理研究所 | Semi-aviation electromagnetic detection device and method based on coaxial coplanar mutual reference coil group |
-
2020
- 2020-08-24 AU AU2020101956A patent/AU2020101956A4/en not_active Ceased
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113768487A (en) * | 2021-08-02 | 2021-12-10 | 深圳市晨北科技有限公司 | User body fat detection method and device, computer device and medium |
| CN113655532A (en) * | 2021-09-03 | 2021-11-16 | 山东大学 | Method and system for removing motion noise of non-full-time semi-aviation transient electromagnetic data |
| CN115356774A (en) * | 2022-08-12 | 2022-11-18 | 中国科学院地质与地球物理研究所 | Semi-aviation electromagnetic detection device and method based on coaxial coplanar mutual reference coil group |
| CN115356774B (en) * | 2022-08-12 | 2023-05-23 | 中国科学院地质与地球物理研究所 | Semi-aviation electromagnetic detection device and method based on coaxial coplanar mutual reference coil set |
| US11860332B1 (en) | 2022-08-12 | 2024-01-02 | Institute Of Geology And Geophysics, Chinese Academy Of Sciences | Semi-airborne electromagnetic survey device and method based on coaxial coplanar mutual reference coil assembly |
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