CN108072906B - Distributed magnetic detection magnetic target identification method - Google Patents

Distributed magnetic detection magnetic target identification method Download PDF

Info

Publication number
CN108072906B
CN108072906B CN201611016321.6A CN201611016321A CN108072906B CN 108072906 B CN108072906 B CN 108072906B CN 201611016321 A CN201611016321 A CN 201611016321A CN 108072906 B CN108072906 B CN 108072906B
Authority
CN
China
Prior art keywords
magnetic
unmanned aerial
aerial vehicle
target
anomaly
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201611016321.6A
Other languages
Chinese (zh)
Other versions
CN108072906A (en
Inventor
秦杰
王春娥
王同雷
魏晓虹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Automation Control Equipment Institute BACEI
Original Assignee
Beijing Automation Control Equipment Institute BACEI
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Automation Control Equipment Institute BACEI filed Critical Beijing Automation Control Equipment Institute BACEI
Priority to CN201611016321.6A priority Critical patent/CN108072906B/en
Publication of CN108072906A publication Critical patent/CN108072906A/en
Application granted granted Critical
Publication of CN108072906B publication Critical patent/CN108072906B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
    • G01V3/081—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices the magnetic field is produced by the objects or geological structures
    • 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
    • G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
    • G01V3/087—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices the earth magnetic field being modified by the objects or geological structures

Landscapes

  • Remote Sensing (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Geology (AREA)
  • Environmental & Geological Engineering (AREA)
  • Electromagnetism (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Geophysics (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Measuring Magnetic Variables (AREA)
  • Geophysics And Detection Of Objects (AREA)

Abstract

The invention belongs to the magnetic detection technology, and particularly discloses a distributed magnetic detection magnetic target identification method. The traditional detection mode of taking optical pump magnetic strength as a sensitive unit and a single machine is improved into a networking detection mode of taking atomic magnetic strength as a sensitive unit and multiple unmanned aerial vehicles, so that the detection capability of the detection system on weak signals can be improved, and the magnetic anomaly detection efficiency and the positioning accuracy can be improved by utilizing multi-machine networking.

Description

Distributed magnetic detection magnetic target identification method
Technical Field
The invention belongs to a magnetic detection technology, and particularly relates to a magnetic detection magnetic target identification method based on multi-unmanned aerial vehicle configuration networking.
Background
The geomagnetic field generally changes regularly and slowly along with time and space, and when a magnetic substance exists, the magnetic field of the substance and the magnetic field induced under the geomagnetic field are superposed on the geomagnetic field, so that the geomagnetic field is abnormal in a certain area. A large amount of metal mineral products are stored in earth land and sea, underwater military equipment such as submarines, mines and the like are mainly made of metal materials, and magnetic substances in the metal materials can cause the abnormity of the surrounding geomagnetic field. Therefore, the detection and identification of the magnetic substance are realized by detecting and identifying the geomagnetic field abnormal information, the application in the fields of resource exploration, underwater target detection and the like is wide, and the method is a key core technology which needs to be promoted urgently in national economic development and national defense construction.
The traditional magnetic detection system identifies a magnetic target, mostly adopts an optical pump magnetometer as a magnetic field measuring unit, and fixes the optical pump magnetometer at the tail part of a large-sized organic machine so as to realize the detection and identification of magnetic anomaly signals. The optical pump magnetometer has high noise and is difficult to sense weak magnetic anomaly signals, so that the detection and identification of weak signal magnetic anomaly targets are limited; meanwhile, a single large-scale man-machine is adopted for flight detection, when the area of a region needing to be searched is large, the large-scale man-machine needs to fly repeatedly, and detection, identification and positioning of magnetic abnormal signals can be realized until the large-scale man-machine flies over the top of a magnetic target. Therefore, the traditional magnetic target identification method of the magnetic detection system has the defects of low detection efficiency, easy loss of moving targets and the like, and limits the related application of the method in the fields of national economic development and national defense construction.
Disclosure of Invention
The invention aims to provide a distributed magnetic detection magnetic target identification method which is high in detection efficiency and not easy to lose a moving target.
The technical scheme of the invention is as follows:
a distributed magnetic detection magnetic target identification method comprises the following steps:
1) respectively measuring the local magnetic field intensity by using N unmanned aerial vehicles carrying atomic magnetometers;
2) carrying out magnetic compensation processing on the measured values of the magnetic field intensity of all the places to obtain the magnetic anomaly signal measurement results (B) of N unmanned aerial vehiclesc1,Bc2,…,BcN)；
3) Judging the measurement result of the magnetic abnormal signal to find the magnetic abnormal signal;
4) determining the magnetic moment of the magnetic anomaly target and the position of the magnetic anomaly target relative to the first unmanned aerial vehicle, specifically
a) Establishing a magnetic field intensity calculation model detected by a first unmanned aerial vehicle;
Figure BDA0001156306190000021
wherein,
Figure BDA0001156306190000022
the magnetic field strength detected for the first unmanned aerial vehicle;
Figure BDA0001156306190000023
the magnetic moment of the magnetic anomaly target relative to the first unmanned aerial vehicle is obtained;
Figure BDA0001156306190000024
the position of the magnetic anomaly target relative to the first unmanned aerial vehicle is determined;
b) establishing a magnetic field intensity calculation model detected by the Nth unmanned aerial vehicle of the second and third …;
wherein,
Figure BDA0001156306190000026
the position difference between the second frame unmanned aerial vehicle and the first frame unmanned aerial vehicle is … N;the magnetic field strengths detected by the second and third … Nth drones respectively;
Figure BDA0001156306190000028
the positions of the magnetic anomaly target relative to the Nth unmanned aerial vehicle of the second and third … racks respectively;
Figure BDA0001156306190000029
magnetic moments of the magnetic anomaly target relative to the second and third frames …, respectively, of the nth frame drone; mu.s0Air permeability;
c) measuring the magnetic anomaly signal (B) obtained in step 1)c1,Bc2,…,BcN) Incorporated into the above-mentioned calculation model
Figure BDA0001156306190000031
Resolving the equation set to obtain multiple sets
Figure BDA0001156306190000032
And
Figure BDA0001156306190000033
the solution of (1).
In the above-mentioned method for identifying a distributed magnetic probe magnetic target, in step 3), when the variation of the magnetic field strength is greater than 20pT, it is determined that a magnetic abnormal target exists in the area.
In the above-mentioned method for identifying a distributed magnetic probe magnetic target, step d) is performed after step c) of step 3) for each group
Figure BDA0001156306190000034
And
Figure BDA0001156306190000035
respectively carrying out statistical analysis on the solutions, and obtaining respective average value and variance, so that the magnetic moment of the magnetic anomaly target and the position distribution condition of the magnetic anomaly target relative to each unmanned aerial vehicle can be finally obtained.
The invention has the following remarkable effects: the method for identifying the magnetic target of the magnetic detection system is improved from the traditional mode of taking the optical pump magnetic strength as a sensitive unit and a single machine detection mode to a mode of taking the atomic magnetic strength limited by special performance as a sensitive unit and a multi-frame unmanned aerial vehicle configuration networking detection mode, so that the detection capability of the detection system on weak signals can be improved, and the magnetic anomaly detection efficiency and the positioning accuracy can be improved by utilizing multi-machine networking.
The atomic magnetometer is used as a magnetic field measuring unit, and magnetic anomaly signal testing and identification are carried out by utilizing a multi-unmanned aerial vehicle configuration networking mode so as to realize high-efficiency identification and high-precision positioning of the magnetic anomaly signals; after the multiple unmanned aerial vehicles respectively detect the magnetic anomaly signals, fusion processing is carried out on the signals by adopting a target characteristic information fusion technology so as to obtain the final magnetic target signal position.
Drawings
Fig. 1 is a schematic diagram of a networked detection of multiple unmanned aerial vehicles;
fig. 2 is a flow chart of distributed magnetic detection target information processing.
Detailed Description
The invention is further illustrated by the accompanying drawings and the detailed description.
As shown in fig. 1, a multi-unmanned aerial vehicle networking mode is adopted for magnetic anomaly signal detection and identification, and an atomic magnetometer is used as a magnetic field measurement unit, so that high-efficiency identification and high-precision positioning of magnetic anomaly signals are realized.
In the aspect of the performance of the atomic magnetometer, the noise peak value of the adopted atomic magnetometer is required to be less than or equal to 10pT so as to distinguish magnetic anomaly signals with the amplitude value of more than 10 pT.
In the aspect of networking unmanned aerial vehicle performance, the number of the unmanned aerial vehicles requiring the networking is 3 or 5, and the unmanned aerial vehicle networking can adopt an equidistant arrangement parallel flight mode, an equal-height triangular array arrangement mode, an equal-height star array arrangement mode and the like.
In the aspect of magnetic anomaly signal identification, the identification of magnetic anomaly signals is based on magnetic field comparison and matching of magnetic target characteristics, and after multiple unmanned aerial vehicles detect the magnetic anomaly signals respectively, fusion processing (as shown in fig. 2) is carried out on the signals by adopting a target characteristic information fusion technology so as to obtain final information such as magnetic target signal positions.
Based on the hardware requirements and the method, the process of detecting and identifying the magnetic anomaly target comprises the following steps: firstly, preliminarily performing magnetic anomaly characteristic simulation analysis on a magnetic target of the type according to the type of the magnetic target to be detected to obtain a theoretical model of a magnetic anomaly target signal; secondly, adopting a multi-unmanned aerial vehicle network, respectively carrying high-performance atomic magnetometers, and carrying out flight detection on the basis of a certain configuration; when a plurality of unmanned aerial vehicles respectively test the magnetic anomaly signals, information fusion processing is carried out on the magnetic anomaly signals in real time, the characteristics of the signals are comprehensively judged, the magnetic anomaly signal information is extracted and compared and matched with a previously established magnetic anomaly target theoretical model, so that the identification and the positioning of the magnetic anomaly target are realized.
The specific operation steps are as follows:
1) respectively measuring the local magnetic field intensity by using N unmanned aerial vehicles carrying atomic magnetometers to obtain measured values;
2) the position and attitude information of the N unmanned aerial vehicles are combined to carry out magnetic compensation processing on the measured values of the magnetic field intensity, the influences caused by carrier magnetic interference and environmental magnetic interference are filtered,obtaining the magnetic anomaly signal measurement results (B) of N unmanned planesc1,Bc2,…,BcN)；
3) Judging the measurement result of the magnetic abnormal signal to find the magnetic abnormal signal;
when the magnetic field intensity change is more than 20pT, the area is considered to have a magnetic abnormal target;
4) determining the magnetic moment of the magnetic anomaly target and the position of the magnetic anomaly target relative to the first unmanned aerial vehicle, wherein the specific method is
a) Establishing a magnetic field intensity calculation model detected by a first unmanned aerial vehicle;
taking the detection of N unmanned planes as an example, suppose the magnetic moment of the magnetic anomaly target relative to the first unmanned plane is
Figure BDA0001156306190000051
The position of the magnetic anomaly target relative to the first unmanned aerial vehicle is
Figure BDA0001156306190000052
The strength of the magnetic field detected by the first drone may be expressed as
Figure BDA0001156306190000053
b) Establishing a magnetic field intensity calculation model detected by the Nth unmanned aerial vehicle of the second and third …;
suppose that the position difference between the second and third … N drones and the first drone is
Figure BDA0001156306190000054
Figure BDA0001156306190000055
The magnetic moments of the magnetic anomaly target relative to the second rack and the third rack … and the Nth rack of the unmanned aerial vehicle are respectively
Figure BDA0001156306190000056
Figure BDA0001156306190000057
The magnetic field strength detected by the second and third … drones is expressed as
Figure BDA0001156306190000058
Wherein, mu0＝4π×10-7And is air permeability.
c) Measuring the magnetic anomaly signal (B) obtained in step 1)c1,Bc2,…,BcN) Incorporated into the above-mentioned calculation model
Figure BDA0001156306190000059
Resolving the equation set to obtain multiple sets
Figure BDA00011563061900000510
And
Figure BDA00011563061900000511
the solution of (1);
d) for each group
Figure BDA00011563061900000512
And
Figure BDA00011563061900000513
respectively carrying out statistical analysis on the solutions, and obtaining respective average value and variance, so that the magnetic moment of the magnetic anomaly target and the position distribution condition of the magnetic anomaly target relative to each unmanned aerial vehicle can be finally obtained.
The noise peak value of the adopted atomic magnetometer is less than or equal to 20pT, and the magnetic anomaly signal with the amplitude value larger than 20pT can be distinguished;
the number of the unmanned aerial vehicles of the adopted networking is more than 3 or 3, and the unmanned aerial vehicle networking can adopt an equidistant arrangement parallel flight mode, an equal-height triangular array arrangement mode and an equal-height star array arrangement mode.

Claims (3)

1. A distributed magnetic detection magnetic target identification method is characterized by comprising the following steps:
1) respectively measuring the local magnetic field intensity by using N unmanned aerial vehicles carrying atomic magnetometers;
2) carrying out magnetic compensation processing on the measured values of the magnetic field intensity of all the places to obtain the magnetic anomaly signal measurement results (B) of N unmanned aerial vehiclesc1,Bc2,…,BcN)；
3) Judging the measurement result of the magnetic abnormal signal to find the magnetic abnormal signal;
4) determining the magnetic moment of the magnetic anomaly target and the position of the magnetic anomaly target relative to the first unmanned aerial vehicle, specifically
a) Establishing a magnetic field intensity calculation model detected by a first unmanned aerial vehicle;
wherein,the magnetic field strength detected for the first unmanned aerial vehicle;
Figure FDA0001156306180000013
the magnetic moment of the magnetic anomaly target relative to the first unmanned aerial vehicle is obtained;
Figure FDA0001156306180000014
the position of the magnetic anomaly target relative to the first unmanned aerial vehicle is determined;
b) establishing a magnetic field intensity calculation model detected by the Nth unmanned aerial vehicle of the second and third …;
wherein,
Figure FDA0001156306180000016
the position difference between the second frame unmanned aerial vehicle and the first frame unmanned aerial vehicle is … N;the magnetic field strengths detected by the second and third … Nth drones respectively;
Figure FDA0001156306180000018
the positions of the magnetic anomaly target relative to the Nth unmanned aerial vehicle of the second and third … racks respectively;
Figure FDA0001156306180000019
magnetic moments of the magnetic anomaly target relative to the second and third frames …, respectively, of the nth frame drone; mu.s0Air permeability;
c) measuring the magnetic anomaly signal (B) obtained in step 1)c1,Bc2,…,BcN) Incorporated into the above-mentioned calculation model
Figure FDA0001156306180000021
Resolving the equation set to obtain multiple sets
Figure FDA0001156306180000022
And
Figure FDA0001156306180000023
the solution of (1).
2. A distributed magnetic survey magnetic target identification method as claimed in claim 1, characterized by: in the step 3), when the magnetic field intensity change is more than 20pT, the region is considered to have a magnetic abnormal target.
3. A distributed magnetic probe magnetic target identification method as claimed in claim 1 wherein in said step 3):
step c) is followed by step d) for each group
Figure FDA0001156306180000024
And
Figure FDA0001156306180000025
respectively carrying out statistical analysis on the solutions, and obtaining respective average value and variance, so that the magnetic moment of the magnetic anomaly target and the position distribution condition of the magnetic anomaly target relative to each unmanned aerial vehicle can be finally obtained.
CN201611016321.6A 2016-11-18 2016-11-18 Distributed magnetic detection magnetic target identification method Active CN108072906B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611016321.6A CN108072906B (en) 2016-11-18 2016-11-18 Distributed magnetic detection magnetic target identification method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611016321.6A CN108072906B (en) 2016-11-18 2016-11-18 Distributed magnetic detection magnetic target identification method

Publications (2)

Publication Number Publication Date
CN108072906A CN108072906A (en) 2018-05-25
CN108072906B true CN108072906B (en) 2020-01-10

Family

ID=62160558

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611016321.6A Active CN108072906B (en) 2016-11-18 2016-11-18 Distributed magnetic detection magnetic target identification method

Country Status (1)

Country Link
CN (1) CN108072906B (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111060972A (en) * 2018-10-17 2020-04-24 北京自动化控制设备研究所 Heterogeneous platform-based target positioning method for magnetic detection system
CN111060980A (en) * 2018-10-17 2020-04-24 北京自动化控制设备研究所 Distributed sea wave magnetic interference compensation method
CN110646857B (en) * 2019-09-12 2021-06-08 北京自动化控制设备研究所 Underwater magnetic target distributed searching method
CN112415613B (en) * 2020-11-18 2022-11-11 北京自动化控制设备研究所 Multi-machine cluster magnetic target positioning method and aerial cluster heterogeneous platform using same
CN112946766B (en) * 2021-01-26 2022-04-01 汕头大学 Group intelligence-based land mine detection method and system
CN113359192B (en) * 2021-06-04 2022-06-10 北京中科导控科技有限公司 Weak magnetic anomaly target detection and positioning method

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103424780A (en) * 2013-08-27 2013-12-04 中国航空无线电电子研究所 Aircraft magnetic environment compensation method based on induction coils
CN103559376A (en) * 2013-11-25 2014-02-05 中国舰船研究设计中心 Equivalent magnetic moment based magnetic anomaly characteristic field characterization method for submersible platform
CN104374385A (en) * 2014-10-13 2015-02-25 中国电子科技集团公司第四十一研究所 Submarine magnetic sensor array target positioning new method
CN105487129A (en) * 2016-01-06 2016-04-13 吉林大学 Ground-airborne time-domain electromagnetic data height correction method
RU162771U1 (en) * 2015-07-10 2016-06-27 Федеральное государственное бюджетное учреждение науки Государственный геологический музей им. В.И. Вернадского Российской академии наук UNMANNED AEROMAGNETIC COMPLEX (BAMK)

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9964653B2 (en) * 2011-12-21 2018-05-08 Technoimaging, Llc Method of terrain correction for potential field geophysical survey data

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103424780A (en) * 2013-08-27 2013-12-04 中国航空无线电电子研究所 Aircraft magnetic environment compensation method based on induction coils
CN103559376A (en) * 2013-11-25 2014-02-05 中国舰船研究设计中心 Equivalent magnetic moment based magnetic anomaly characteristic field characterization method for submersible platform
CN104374385A (en) * 2014-10-13 2015-02-25 中国电子科技集团公司第四十一研究所 Submarine magnetic sensor array target positioning new method
RU162771U1 (en) * 2015-07-10 2016-06-27 Федеральное государственное бюджетное учреждение науки Государственный геологический музей им. В.И. Вернадского Российской академии наук UNMANNED AEROMAGNETIC COMPLEX (BAMK)
CN105487129A (en) * 2016-01-06 2016-04-13 吉林大学 Ground-airborne time-domain electromagnetic data height correction method

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
Using unmanned aerial vehicle-borne magnetic sensors to detect and locate improvised explosive devices and unexploded ordnance;Hoke S. Trammell III， et al.;《PROCEEDINGS OF SPIE》;20051231;第963-971页 *
无人机航空磁测技术在多宝山整装勘查区的应用试验;胥值礼，等;《物探化探计算技术》;20160731;第501-506页 *

Also Published As

Publication number Publication date
CN108072906A (en) 2018-05-25

Similar Documents

Publication Publication Date Title
CN108072906B (en) Distributed magnetic detection magnetic target identification method
CN109425906B (en) Magnetic anomaly detection vector magnetic target identification method
CN112415613B (en) Multi-machine cluster magnetic target positioning method and aerial cluster heterogeneous platform using same
Stolz et al. Superconducting sensors and methods in geophysical applications
CN108072910B (en) A kind of distribution magnetic anomaly detection system environment magnetic compensation method
EP1839074B1 (en) Method of seismic signal processing
CN105091880B (en) A kind of method of tracing and positioning based on scalar sensors array remote magnetic target under water
CN110751077B (en) Optical remote sensing picture ship detection method based on component matching and distance constraint
CN111399066B (en) Method for processing scalar magnetic anomaly gradient signal based on orthogonal basis function
CN110427878A (en) A kind of sudden and violent signal recognition method of Rapid Radio and system
Sui et al. Correction of a towed airborne fluxgate magnetic tensor gradiometer
CN111220932B (en) Unmanned aerial vehicle magnetic interference calibration method and distributed magnetic anomaly detection system
CN113359192B (en) Weak magnetic anomaly target detection and positioning method
CN112344925A (en) Underwater target correlation detection positioning method based on normalized magnetic moment
CN116879961A (en) XGBoost-based magnetic dipole target positioning method
CN114166892B (en) Loaded rock sample damage self-potential imaging method based on network parallel electrical method
CN110646857B (en) Underwater magnetic target distributed searching method
CN111060972A (en) Heterogeneous platform-based target positioning method for magnetic detection system
CN109298391A (en) A kind of fixed-site source location system, method and application
RU2380720C2 (en) Method for detection of azimuthal and elevation bearings of radiation sources with improved efficiency
CN103926585B (en) A kind of based on cognitive collaborative detection network Gamma fluctuating target detection method
CN105486943B (en) The measurement method in electronic component interference magnetic field under a kind of complex environment
CN114779352B (en) Geologic body survey system based on air-ground-well multi-dimensional electromagnetic method
CN112630546B (en) Magnetic interference ground semi-physical simulation method for unmanned aerial vehicle and system using same
CN112418178B (en) Unmanned aerial vehicle intelligent detection method and system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant