CN104808250B - A kind of aeromagnetics detection device and method based on unmanned plane - Google Patents
A kind of aeromagnetics detection device and method based on unmanned plane Download PDFInfo
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- CN104808250B CN104808250B CN201510216301.2A CN201510216301A CN104808250B CN 104808250 B CN104808250 B CN 104808250B CN 201510216301 A CN201510216301 A CN 201510216301A CN 104808250 B CN104808250 B CN 104808250B
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Abstract
The present invention relates to a kind of aeromagnetics detection device and method based on unmanned plane, including aeromagnetics instrument system, unmanned plane during flying platform, airborne data acquisition system, Airborne GPS alignment system；The aeromagnetics instrument system, including for measuring the resultant field magnetometer in magnetic field of the earth and for measuring UAV Attitude three-component magnetometer；The airborne data acquisition system includes main control module, resultant field magnetometer acquisition module, three-component magnetometer acquisition module, GPS module, A/D capture cards, state display module and memory module.It is an advantage of the invention that not needing large-scale someone's aircraft, aeromagnetic detection cost is reduced, is suitably applied land and beach shallow sea border land magnetic survey that car and boat can not reach, has that cost is low and an advantage such as security height.
Description
Technical field
The present invention relates to a kind of aeromagnetics detection device and method based on unmanned plane, belong to geophysical exploration technology
Field.
Background technology
Aeromagnetics detection is that earth's magnetic field is detected by the magnetometer installed aboard, obtains the magnetic in earth's magnetic field
Property parameter, one kind side for judging geological condition or judging target prospecting area is analyzed by being calculated fetched data, into figure
Method.Traditional aeromagnetics detection device needs to use on manned general aviation aircraft, and operating cost is high, and needs specialty
Pilot operated, limited by conditions such as weather, landform, machineries, the safety of personnel is on the hazard.In addition, during operation
Between limited by night, it is difficult to carry out all weather operations；Operation territory restriction is larger, it is difficult to as research vessel carries out ocean and island
Small island magnetic survey.
The content of the invention
It is an object of the invention in place of overcome the deficiencies in the prior art, there is provided a kind of aeromagnetics based on unmanned plane is visited
Apparatus and method are surveyed, without large-scale someone's aircraft, reduce aeromagnetic detection cost.
Detection device of the present invention, including aeromagnetics instrument system, unmanned plane during flying platform, on-board data collection system
System, Airborne GPS alignment system.
The aeromagnetics instrument system, including resultant field magnetometer and three-component magnetometer, the resultant field magnetometer are used to survey
Magnetic field of the earth is measured, three-component magnetometer is used to measure UAV Attitude.
The resultant field magnetometer measures earth magnetic resultant field.Due to being influenceed by unmanned plane magnetic field itself, resultant field magnetometer
The earth magnetic resultant field measured includes unmanned plane magnetic interference.Unmanned plane magnetic field to measure earth magnetic resultant field interference and nobody
The flight attitude of machine is closely related.The flight attitude of the three-component magnetometer measurement unmanned plane, these data is sent to airborne
Data collecting system.
The airborne data acquisition system includes main control module, resultant field magnetometer acquisition module, the collection of three-component magnetometer
Module, GPS module, A/D capture cards, state display module and memory module；Resultant field magnetometer acquisition module is resultant field magnetometer
Power supply is provided, the order of main control module is sent to resultant field magnetometer, the data of resultant field magnetometer are transferred to main control module；Three
Component magnetometer acquisition module provides power supply for three-component magnetometer, the order of main control module is sent to three-component magnetometer,
The data of three-component magnetometer are transferred to main control module；GPS data are transferred to main control module by GPS module；A/D capture cards
Four road analog inputs are digitized and are transferred to main control module；Main control module is to resultant field magnetometer and three-component magnetometer
It is controlled, receives resultant field magnetometer, three-component magnetometer, GPS, four road analog input data and be recorded in memory module；
Main control module includes automatic magnetic compensation module, and what main control module received that resultant field magnetometer measures simultaneously includes unmanned plane magnetic interference
Earth magnetic resultant field data and the unmanned plane during flying direction that measures of three-component magnetometer and attitude data；Main control module is contained certainly
Dynamic magnetic compensation module removes resultant field magnetic according to the unmanned plane during flying direction that three-component magnetometer measures and attitude data real-time resolving
Unmanned plane magnetic interference is included included in the earth magnetic resultant field data that power instrument measures, the data record after disturbing will be removed
Exported in real time in hard disk and by data-out port；The various status information of equipment of state display module real-time display.
Preferably, the resultant field magnetometer in aeromagnetics instrument system is the CS-3 high sensitivity caesiums of SCINTREX companies production
Optical pumped magnetometer.
Preferably, the three-component magnetometer in aeromagnetics instrument system is the Mag629 magnetic fluxs of Bartington companies production
Door magnetometer.
The unmanned plane during flying platform, it is rotor unmanned helicopter or fixed-wing unmanned plane.
Preferably, unmanned plane during flying platform is Shandong Weifang Tianxiang airline V750 depopulated helicopters, and unmanned plane is continued a journey
Time is not less than 4 hours.
Preferably, Airborne GPS alignment system is Novetal OEMV1.
Detection method of the present invention, using following magnetic survey step：
（1）By compensation flight survey line and magnetic survey line coordinates typing unmanned aerial vehicle onboard system；
（2）The running parameters such as the sample rate of aeromagnetics instrument system are set, work of starting shooting；Data collecting system start work
Make；
（3）After unmanned plane takes off and reaches intended height, magnetic compensation flight is carried out first；Compensation flight survey line is generally
One square closure frame, complete to sidewinder during flight, wave and three kinds of compulsory exercises of pitching, airborne data acquisition system reality
When resolve unmanned plane magnetic interference parameter；
（4）After the completion of unmanned plane after magnetic compensation flight, start to cruise by magnetic survey survey line, within the endurance time
Realize that signal magnetic field detects incessantly；During magnetic survey, airborne data acquisition system receives and records the collection of resultant field magnetometer
Comprising unmanned plane interference earth magnetic resultant field data and three-component magnetometer collection UAV Attitude data, according to magnetic force
The unmanned plane magnetic interference parameter of acquisition is resolved during compensation flight, magnetic force is carried out to the earth resultant field data of resultant field magnetic force collection
Compensation, unmanned plane magnetic disturbance is removed, obtains glitch-free earth magnetic resultant field data；
（5）Unmanned plane makes a return voyage after set detection mission is completed, landed；During execution task, earth station can basis
Order unmanned plane at any time is required to return, land；
（6）Complete assigned tasks, shutdown；Assigned tasks are not yet completed, next leg magnetic is carried out after unmanned plane fuel up
Power detects.
It is an advantage of the invention that not needing large-scale someone's aircraft, aeromagnetic detection cost is reduced, is suitably applied car and boat not
The land that can be reached and beach shallow sea border land magnetic survey, have that cost is low and an advantage such as security height.
Brief description of the drawings
Fig. 1 is the system layout schematic diagram of the present invention.
Fig. 2 is airborne data acquisition system structure composition block diagram.
Embodiment
In order that technical scheme is more clearly understood, the present invention is done with specific embodiment below in conjunction with the accompanying drawings
Further elaborate.Obviously, described embodiment is only the part of the embodiment of the present invention, rather than whole realities
Apply example.Based on the embodiment in the present invention, those of ordinary skill in the art are obtained under the premise of creative work is not made
Every other embodiment, belong to the scope of protection of the invention.
Using unmanned plane as aerial magnetometer and the sporting flying carrier of task system, realize the remote control of system or independently walk
Row aeromagnetics detects.Its lift power set is pressed as the unmanned plane during flying platform for carrying unmanned plane aeromagnetics detection system
Fixed-wing unmanned plane and rotary wings unmanned plane can be divided into（Depopulated helicopter）Two classes.
It is described in detail below using rotary wings unmanned plane as specific embodiment（As shown in Figure 1）：
（1）It is Shandong Weifang Tianxiang airline V750 depopulated helicopters from unmanned aerial vehicle platform, unmanned plane cruising time
Not less than 4 hours；
（2）Airborne data acquisition system and Airborne GPS alignment system are arranged in ventral.Airborne GPS alignment system is
Novetal OEMV1。
（3）In aeromagnetics instrument system, resultant field magnetometer is the CS-3 high sensitivity caesium optical pumpings of SCINTREX companies production
Magnetometer, three axial vector magnetometers are the Mag629 flux-gate magnetometers of Bartington companies production.Resultant field magnetometer and three
Axial vector magnetometer is horizontally arranged at depopulated helicopter center both sides in a manner of depopulated helicopter is substantially symmetrical about its central axis, and air tasking is held
The signal of row system layout is as shown in Figure 2；
（4）To weaken the magnetic ambient interferences of unmanned plane, between optical pumped magnetometer and unmanned plane, three axial vector magnetometers and nothing
Connected between man-machine with magnetic spy bar；Magnetic spy bar has certain length and intensity, and the size design of magnetic spy bar needs to avoid nothing
Man-machine resonant frequency；
（5）Laizhou Bay of Bohai Sea seabeach is selected as survey area；
（6）By compensation flight survey line and magnetic survey line coordinates typing unmanned aerial vehicle onboard system；
（7）Compensation flight survey line is designed as a square closure frame；Magnetic survey survey line 28, survey line total length
500km；
（8）Design the flying height 300m, flying speed 90km/h of unmanned plane；
（9）After unmanned plane takes off and reaches intended height, magnetic compensation flight is carried out first.Side is completed during flight
Roll, wave and record magnetic force and location data in real time with three kinds of compulsory exercises of pitching, data acquisition processing system, real-time resolving nobody
Machine magnetic interference parameter；；
（10）After the completion of unmanned plane after magnetic compensation flight, start to cruise by magnetic survey survey line, in the endurance time
300km survey line task can be completed；During magnetic survey, airborne data acquisition system receives and records the collection of resultant field magnetometer
Comprising unmanned plane interference earth magnetic resultant field data and three-component magnetometer collection UAV Attitude data, according to magnetic force
The unmanned plane magnetic interference parameter of acquisition is resolved during compensation flight, magnetic force is carried out to the earth resultant field data of resultant field magnetic force collection
Compensation, unmanned plane magnetic disturbance is removed, obtains glitch-free earth magnetic resultant field data.
（11）After unmanned plane completes 300km survey line task, make a return voyage, land；
（12）Fuel oil is supplemented to unmanned plane；
（13）Unmanned plane takes off, and completes to make a return voyage after remaining 200km surveys line task, lands；
（14）After the completion of unmanned plane aeromagnetic detection, magnetic data is downloaded to computer, handled using professional software.
The present invention is only illustrated with above-described embodiment, and structure, setting and its connection of each part are all to have become
Change, on the basis of technical solution of the present invention, all improvement carried out according to the principle of the invention to individual part and equivalents,
It should not exclude outside protection scope of the present invention.
Claims (3)
- A kind of 1. aeromagnetics detection device based on unmanned plane, it is characterised in that including：Aeromagnetics instrument system, unmanned plane Flying platform, airborne data acquisition system, Airborne GPS alignment system；Between optical pumped magnetometer and unmanned plane, three axial vector magnetic force Connected between instrument and unmanned plane with magnetic spy bar；Magnetic spy bar has certain length and intensity, and the size design of magnetic spy bar needs Avoid the resonant frequency of unmanned plane；The aeromagnetics instrument system, including for measuring the resultant field magnetometer and use in magnetic field of the earth In the three-component magnetometer of measurement UAV Attitude；The airborne data acquisition system, including main control module, resultant field magnetometer are adopted Collect module, three-component magnetometer acquisition module, GPS module, A/D capture cards, state display module and memory module；Resultant field magnetic force Instrument acquisition module provides power supply for resultant field magnetometer, the order of main control module is sent to resultant field magnetometer, by resultant field magnetometer Data be transferred to main control module；Three-component magnetometer acquisition module provides power supply, by main control module for three-component magnetometer Order is sent to three-component magnetometer, the data of three-component magnetometer is transferred into main control module；GPS module is by GPS data It is transferred to main control module；A/D capture cards are digitized to four road analog inputs and are transferred to main control module；Main control module pair Resultant field magnetometer and three-component magnetometer are controlled, and receive resultant field magnetometer, three-component magnetometer, gps data and four road moulds Analog quantity input data is simultaneously recorded in memory module；Main control module includes automatic magnetic compensation module, and main control module receives resultant field simultaneously The unmanned plane that the earth magnetic resultant field data comprising unmanned plane magnetic interference and three-component magnetometer that magnetometer measures measure flies Line direction and attitude data；The unmanned plane during flying side that automatic magnetic compensation module contained by main control module measures according to three-component magnetometer Unmanned plane magnetic field to included in the earth magnetic resultant field data measured with attitude data real-time resolving, removal resultant field magnetometer Interference, the data record removed after disturbing is exported in hard disk and by data-out port in real time；State display module is real-time Show various status information of equipment；After unmanned plane takes off and reaches intended height, magnetic compensation flight, compensation flight are carried out first Survey line is that a square closes frame, completes to sidewinder during flight, waves and three kinds of compulsory exercises of pitching, on-board data collection System real-time resolving unmanned plane magnetic interference parameter；After unmanned plane completes magnetic compensation flight, start to patrol by magnetic survey survey line Boat, signal magnetic field detection incessantly is realized within the endurance time；During magnetic survey, airborne data acquisition system receives simultaneously Record the collection of resultant field magnetometer the earth magnetic resultant field data comprising unmanned plane interference and the collection of three-component magnetometer nobody Machine attitude data, the unmanned plane magnetic interference parameter of acquisition is resolved during being flown according to magnetic compensation, resultant field magnetometer is gathered Earth resultant field data carry out magnetic compensation, remove unmanned plane magnetic disturbance, obtain glitch-free earth magnetic resultant field data.
- 2. aeromagnetics detection device according to claim 1, it is characterised in that the unmanned plane during flying platform, is rotor Depopulated helicopter or fixed-wing unmanned plane.
- 3. a kind of aeromagnetics detection method based on unmanned plane, it is characterised in that comprise the following steps：（1）By compensation flight survey line and magnetic survey line coordinates typing unmanned plane during flying platform；（2）The sample rate running parameter of aeromagnetics instrument system is set, work of starting shooting；Airborne data acquisition system start work；（3）After unmanned plane takes off and reaches intended height, magnetic compensation flight is carried out first, compensation flight survey line is a pros Shape close frame, during flight complete sidewinder, wave with three kinds of compulsory exercises of pitching, airborne data acquisition system real-time resolving without Man-machine magnetic interference parameter；（4）After unmanned plane completes magnetic compensation flight, start to cruise by magnetic survey survey line, realized not within the endurance time It is interrupted magnetic field of the earth detection；During magnetic survey, airborne data acquisition system receives and records including for resultant field magnetometer collection The earth magnetic resultant field data of unmanned plane interference and the UAV Attitude data of three-component magnetometer collection, fly according to magnetic compensation The unmanned plane magnetic interference parameter of acquisition is resolved between the departure date, magnetic force benefit is carried out to the earth resultant field data of resultant field magnetometer collection Repay, remove unmanned plane magnetic disturbance, obtain glitch-free earth magnetic resultant field data；（5）Unmanned plane makes a return voyage after set detection mission is completed, landed；During execution task, earth station can be as needed Order unmanned plane returns, landed at any time；（6）Complete assigned tasks, shutdown；Assigned tasks are not yet completed, next leg magnetic force is carried out after unmanned plane fuel up and is visited 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 |
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