CN104808250A - Aerial magnetic force detection device and aerial magnetic force detection method based on unmanned aerial vehicle - Google Patents
Aerial magnetic force detection device and aerial magnetic force detection method based on unmanned aerial vehicle Download PDFInfo
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- CN104808250A CN104808250A CN201510216301.2A CN201510216301A CN104808250A CN 104808250 A CN104808250 A CN 104808250A CN 201510216301 A CN201510216301 A CN 201510216301A CN 104808250 A CN104808250 A CN 104808250A
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Abstract
The invention relates to an aerial magnetic force detection device and an aerial magnetic force detection method based on an unmanned aerial vehicle. The aerial magnetic force detection device comprises an aerial magnetometer system, an unmanned aerial vehicle flying platform, an onboard data collection system and an onboard GPS (global positioning system). The aerial magnetometer system comprises a total-field magnetometer and a three-component magnetometer, wherein the total-field magnetometer is used for measuring earth magnetic fields and the three-component magnetometer is used for measuring attitudes of the unmanned aerial vehicle. The onboard data collection system comprises a master control module, a total-field magnetometer collection module, a three-component magnetometer collection module, a GPS module, an A/D (analog to digital) collection card, a state display module and a storage module. The aerial magnetic force detection device and the aerial magnetic force detection method have the advantages that large manned aerial vehicles are not needed, aeromagnetic survey cost is reduced, the device and the method are applicable to magnetic force detection of the borderland, where vehicles and ships cannot reach, between land and shallow sea, and low cost, high safety and the like are achieved.
Description
Technical field
The present invention relates to a kind of aeromagnetics sniffer based on unmanned plane and method, belong to technical field of geophysical exploration.
Background technology
Aeromagnetics detection detects terrestrial magnetic field by installing magnetometer aboard, obtains the magnetic parameter of terrestrial magnetic field, and by calculating fetched data, one-tenth figure analyzes a kind of method judging geological condition or judge target prospecting area.Traditional aeromagnetics sniffer needs to use on manned general aviation aircraft, and operating cost is high, and needs the pilot of specialty to operate, and by the restriction of the conditions such as weather, landform, machinery, the safety of personnel is on the hazard.In addition, the activity duration is subject to restriction at night, is difficult to carry out all weather operations; The restriction of operation region is comparatively large, is difficult to along with research ship carries out ocean and island magnetic survey.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art part, a kind of aeromagnetics sniffer based on unmanned plane and method are provided, have people's aircraft without the need to large-scale, reduce airborne magnetic survey cost.
Sniffer of the present invention, comprises aeromagnetics instrument system, unmanned plane during flying platform, airborne data acquisition system, Airborne GPS positioning system.
Described aeromagnetics instrument system, comprises resultant field magnetometer and three-component magnetometer, and described resultant field magnetometer is for measuring magnetic field of the earth, and three-component magnetometer is for measuring UAV Attitude.
Earth magnetic resultant field measured by described resultant field magnetometer.Due to the impact by the magnetic field of unmanned plane own, the earth magnetic resultant field that resultant field magnetometer records comprises unmanned plane magnetic interference.The flight attitude of unmanned plane magnetic field to the interference and unmanned plane of measuring earth magnetic resultant field is closely related.The flight attitude of unmanned plane measured by described three-component magnetometer, and these data are delivered to airborne data acquisition system.
Described airborne data acquisition system comprises main control module, resultant field magnetometer acquisition module, three-component magnetometer acquisition module, GPS module, A/D capture card, state display module and memory module; Resultant field magnetometer acquisition module provides power supply, the order of main control module is sent to resultant field magnetometer, the data of resultant field magnetometer is transferred to main control module for resultant field magnetometer; Three-component magnetometer acquisition module provides power supply, the order of main control module is sent to three-component magnetometer, the data of three-component magnetometer is transferred to main control module for three-component magnetometer; The data of GPS are transferred to main control module by GPS module; A/D capture card carries out digitizing to four road analog inputs and is transferred to main control module; Main control module controls resultant field magnetometer and three-component magnetometer, receives resultant field magnetometer, three-component magnetometer, GPS, four road analog input data be recorded in memory module; Main control module comprises automatic magnetic compensation module, and main control module receives earth magnetic resultant field data comprising unmanned plane magnetic interference that resultant field magnetometer records and the unmanned plane during flying direction that three-component magnetometer records and attitude data simultaneously; The unmanned plane during flying direction that the contained magnetic compensation module automatically of main control module records according to three-component magnetometer and attitude data real-time resolving, remove comprise in the earth magnetic resultant field data that resultant field magnetometer records comprise unmanned plane magnetic interference, the data after removing interference are recorded in hard disk and are exported by data-out port in real time; State display module shows various status information of equipment in real time.
Preferably, the resultant field magnetometer in aeromagnetics instrument system is the CS-3 high sensitivity caesium optically pumped magnetometer that SCINTREX company produces.
Preferably, the three-component magnetometer in aeromagnetics instrument system is the Mag629 flux-gate magnetometer that Bartington company produces.
Described unmanned plane during flying platform is rotor unmanned helicopter or fixed-wing unmanned plane.
Preferably, unmanned plane during flying platform is Weifang, Shandong Tianxiang airline V750 depopulated helicopter, and unmanned plane is not less than 4 hours cruising time.
Preferably, Airborne GPS positioning system is Novetal OEMV1.
Detection method of the present invention, adopts following magnetic survey step:
(1) by compensation flight survey line and magnetic survey line coordinates typing unmanned aerial vehicle onboard system;
(2) running parameters such as the sampling rate of aeromagnetics instrument system are set, start work; Data acquisition system (DAS) start work;
(3) unmanned plane takes off and after arriving intended height, first carries out magnetic compensation flight; Compensate flight survey line to be generally a square and to close frame, complete during flying and sidewinder, wave and pitching three kinds of compulsory exercises, airborne data acquisition system real-time resolving unmanned plane magnetic interference parameter;
(4) unmanned plane complete after magnetic compensation flight after, start to cruise by magnetic survey survey line, realize within the flying power time incessantly signal magnetic field detection; During magnetic survey, airborne data acquisition system receives and records the earth magnetic resultant field data comprising unmanned plane interference of resultant field magnetometer collection and the UAV Attitude data of three-component magnetometer collection, according to the unmanned plane magnetic interference parameter resolving acquisition during magnetic compensation flight, magnetic compensation is carried out to the earth resultant field data of resultant field magnetic force collection, remove unmanned plane magnetic interference, obtain glitch-free earth magnetic resultant field data;
(5) unmanned plane makes a return voyage, lands after completing set detection mission; In mission period, land station can return, land by order unmanned plane at any time as required;
(6) assigned tasks is completed, shutdown; Not yet complete assigned tasks, after unmanned plane fuel up, carry out next leg magnetic survey.
Advantage of the present invention does not need large-scalely have people's aircraft, reduces airborne magnetic survey cost, is applicable to being applied to land and beach shallow sea border land magnetic survey that car and boat can not arrive, has the advantages such as the low and security of cost is high.
Accompanying drawing explanation
Fig. 1 is system layout of the present invention schematic diagram.
Fig. 2 is airborne data acquisition system structure composition frame chart.
Embodiment
In order to make technical scheme of the present invention clearly understand, below in conjunction with the drawings and specific embodiments the present invention being done and further elaborating.Obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Using unmanned plane as the sporting flying carrier of airborne magnetometer and task system, realize the remote control of system or autonomous traveling aeromagnetics detection.Fixed-wing unmanned plane and rotary wings unmanned plane (depopulated helicopter) two class can be divided into by its lift propulsion system as the unmanned plane during flying platform carrying unmanned plane aeromagnetics detection system.
Below with rotary wings unmanned plane for specific embodiment is described in detail (as shown in Figure 1):
(1) select unmanned aerial vehicle platform to be Weifang, Shandong Tianxiang airline V750 depopulated helicopter, unmanned plane is not less than 4 hours cruising time;
(2) airborne data acquisition system and Airborne GPS positioning system are arranged in ventral.Airborne GPS positioning system is Novetal OEMV1.
(3) in aeromagnetics instrument system, resultant field magnetometer is the CS-3 high sensitivity caesium optically pumped magnetometer that SCINTREX company produces, and three axial vector magnetometers are the Mag629 flux-gate magnetometer that Bartington company produces.Resultant field magnetometer and three axial vector magnetometers are arranged on both sides, depopulated helicopter center with depopulated helicopter central shaft symmetric mode level, and the signal of air tasking executive system layout as shown in Figure 2;
(4) for weakening the magnetic background interference of unmanned plane, between optically pumped magnetometer with unmanned plane, three axial vector magnetometers are all connected with magnetic feeler lever with between unmanned plane; Magnetic feeler lever has certain length and intensity, and the size design of magnetic feeler lever needs the resonant frequency avoiding unmanned plane;
(5) select Laizhou Bay of Bohai Sea seabeach as survey district;
(6) by compensation flight survey line and magnetic survey line coordinates typing unmanned aerial vehicle onboard system;
(7) compensation flight survey line is designed to a square and closes frame; Magnetic survey survey line 28, survey line total length 500km;
(8) the flying height 300m of unmanned plane is designed, flying speed 90km/h;
(9) unmanned plane takes off and after arriving intended height, first carries out magnetic compensation flight.Complete during flying and sidewinder, wave and pitching three kinds of compulsory exercises, data acquisition processing system real time record magnetic force and locator data, real-time resolving unmanned plane magnetic interference parameter; ;
(10) unmanned plane complete after magnetic compensation flight after, start to cruise by magnetic survey survey line, the survey line task of 300km can be completed in the flying power time; During magnetic survey, airborne data acquisition system receives and records the earth magnetic resultant field data comprising unmanned plane interference of resultant field magnetometer collection and the UAV Attitude data of three-component magnetometer collection, according to the unmanned plane magnetic interference parameter resolving acquisition during magnetic compensation flight, magnetic compensation is carried out to the earth resultant field data of resultant field magnetic force collection, remove unmanned plane magnetic interference, obtain glitch-free earth magnetic resultant field data.
(11), after unmanned plane completes the survey line task of 300km, make a return voyage, land;
(12) fuel oil is supplemented to unmanned plane;
(13) unmanned plane takes off, and makes a return voyage, lands after completing residue 200km survey line task;
(14) after unmanned plane airborne magnetic survey completes, magnetic data is downloaded to computing machine, uses professional software process.
The present invention is only described with above-described embodiment; the structure of each parts, setting and connecting all can change to some extent; on the basis of technical solution of the present invention; all improvement of carrying out individual part according to the principle of the invention and equivalents, all should not get rid of outside protection scope of the present invention.
Claims (7)
1., based on an aeromagnetics sniffer for unmanned plane, it is characterized in that comprising aeromagnetics instrument system, unmanned plane during flying platform, airborne data acquisition system, Airborne GPS positioning system; Described aeromagnetics instrument system, comprises resultant field magnetometer for measuring magnetic field of the earth and for measuring UAV Attitude three-component magnetometer; Described airborne data acquisition system comprises main control module, resultant field magnetometer acquisition module, three-component magnetometer acquisition module, GPS module, A/D capture card, state display module and memory module; Resultant field magnetometer acquisition module provides power supply, the order of main control module is sent to resultant field magnetometer, the data of resultant field magnetometer is transferred to main control module for resultant field magnetometer; Three-component magnetometer acquisition module provides power supply, the order of main control module is sent to three-component magnetometer, the data of three-component magnetometer is transferred to main control module for three-component magnetometer; The data of GPS are transferred to main control module by GPS module; A/D capture card carries out digitizing to four road analog inputs and is transferred to main control module; Main control module controls resultant field magnetometer and three-component magnetometer, receives resultant field magnetometer, three-component magnetometer, GPS, four road analog input data be recorded in memory module; Main control module comprises automatic magnetic compensation module, and main control module receives earth magnetic resultant field data comprising unmanned plane magnetic interference that resultant field magnetometer records and the unmanned plane during flying direction that three-component magnetometer records and attitude data simultaneously; The unmanned plane during flying direction that the contained magnetic compensation module automatically of main control module records according to three-component magnetometer and attitude data real-time resolving, remove comprise in the earth magnetic resultant field data that resultant field magnetometer records comprise unmanned plane magnetic interference, the data after removing interference are recorded in hard disk and are exported by data-out port in real time; State display module shows various status information of equipment in real time.
2. aeromagnetics sniffer according to claim 1, is characterized in that described resultant field magnetometer is the CS-3 high sensitivity caesium optically pumped magnetometer that SCINTREX company produces.
3. aeromagnetics sniffer according to claim 1, is characterized in that described three-component magnetometer is the Mag629 flux-gate magnetometer that Bartington company produces.
4. aeromagnetics sniffer according to claim 1, is characterized in that described unmanned plane during flying platform, is rotor unmanned helicopter or fixed-wing unmanned plane.
5. the aeromagnetics sniffer according to claim 1 or 4, is characterized in that described unmanned plane during flying platform is Weifang, Shandong Tianxiang airline V750 depopulated helicopter.
6. aeromagnetics sniffer according to claim 1, is characterized in that described Airborne GPS positioning system is Novetal OEMV1.
7., based on an aeromagnetics detection method for unmanned plane, it is characterized in that comprising the steps:
(1) by compensation flight survey line and magnetic survey line coordinates typing unmanned aerial vehicle onboard system;
(2) running parameters such as the sampling rate of aeromagnetics instrument system are set, start work; Data acquisition system (DAS) start work;
(3) unmanned plane takes off and after arriving intended height, first magnetic compensation flight is carried out, compensating flight survey line is that a square closes frame, completes and sidewinder, wave and pitching three kinds of compulsory exercises, airborne data acquisition system real-time resolving unmanned plane magnetic interference parameter during flying;
(4) unmanned plane complete after magnetic compensation flight after, start to cruise by magnetic survey survey line, realize within the flying power time incessantly signal magnetic field detection; During magnetic survey, airborne data acquisition system receives and records the earth magnetic resultant field data comprising unmanned plane interference of resultant field magnetometer collection and the UAV Attitude data of three-component magnetometer collection, according to the unmanned plane magnetic interference parameter resolving acquisition during magnetic compensation flight, magnetic compensation is carried out to the earth resultant field data of resultant field magnetic force collection, remove unmanned plane magnetic interference, obtain glitch-free earth magnetic resultant field data;
(5) unmanned plane makes a return voyage, lands after completing set detection mission; In mission period, land station can return, land by order unmanned plane at any time as required;
(6) assigned tasks is completed, shutdown; Not yet complete assigned tasks, after unmanned plane fuel up, carry out next leg magnetic survey.
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| WO2017084073A1 (en) * | 2015-11-19 | 2017-05-26 | 深圳市大疆创新科技有限公司 | Method, device and system for detecting magnetic-field interference |
| CN108802839A (en) * | 2018-06-08 | 2018-11-13 | 北京桔灯地球物理勘探股份有限公司 | Caesium optical pumping magnetic survey method based on fixed-wing unmanned plane |
| CN108919362A (en) * | 2018-08-07 | 2018-11-30 | 哈尔滨工业大学 | Boat Magnetic Detection System and method |
| CN109100664A (en) * | 2018-06-21 | 2018-12-28 | 山东航天电子技术研究所 | A kind of measurement method of space small magnetic field |
| CN109298455A (en) * | 2018-07-31 | 2019-02-01 | 中国地质大学（武汉） | The three axis TMR magnetometers applied to unmanned plane aeromagnetic detection platform |
| CN109633763A (en) * | 2018-12-18 | 2019-04-16 | 中国电子科技集团公司第四十九研究所 | Critically magnetic mapping system and its earth magnetism mapping method based on magnetometer and GPS |
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