CN108802839A - Caesium optical pumping magnetic survey method based on fixed-wing unmanned plane - Google Patents
Caesium optical pumping magnetic survey method based on fixed-wing unmanned plane Download PDFInfo
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- 230000003287 optical effect Effects 0.000 title claims abstract description 55
- 229910052792 caesium Inorganic materials 0.000 title claims abstract description 54
- TVFDJXOCXUVLDH-UHFFFAOYSA-N caesium atom Chemical compound [Cs] TVFDJXOCXUVLDH-UHFFFAOYSA-N 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000005086 pumping Methods 0.000 title claims abstract description 19
- 238000012360 testing method Methods 0.000 claims abstract description 48
- 238000012545 processing Methods 0.000 claims abstract description 13
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- 239000000523 sample Substances 0.000 claims description 13
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 8
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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
- G01V3/40—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for measuring magnetic field characteristics of the earth
Abstract
The caesium optical pumping magnetic survey method based on fixed-wing unmanned plane that the invention discloses a kind of, presetting test passes standard carry out unmanned plane performance test and establish the signal contact of ground control station and unmanned plane if test passes；If unqualified, unmanned plane performance test is re-started；After unmanned plane reaches measurement height, magnetic compensation coefficient calculating is carried out；After the completion of magnetic compensation, the navigation data of magnetic data and laser ceilometer, GPS, IMU measurement that caesium optical pumped magnetometer measures is transmitted to data acquisition box by serial ports respectively；After data acquisition box receives corresponding magnetic data and navigation data, transmits it to field data pretreatment system and carry out data processing；And data carry out aeromagnetic method explanation to treated.The present invention improves measurement accuracy, working efficiency and flight safety, reduces unmanned plane weight, volume and cost.
Description
Technical field
The present invention relates to field of geophysical exploration, and in particular to a kind of caesium optical pumping magnetic survey side based on fixed-wing unmanned plane
Method.
Background technology
Aerogeophysical survey is one kind of geophysical prospecting method, it is existed by the special geophysical prospecting equipment equipped on unmanned plane
The variation of various geophysical fields, research and a kind of physical prospecting side for finding subsurface geological structure and mineral products are detected during navigation
Method.Airborne magnetic prospecting is the exploration means of current comparative maturity, and the manned machine of multi-functional large works before, and flying height exists
1000 meters or more, have speed fast, not by the limitation in surface condition (such as sea, rivers, lakes, desert), large area work accuracy ratio
It is more uniform, it can be the relatively difficult district work of some orographic conditions the advantages that.It especially automatically controls and electronic computation technology
Development, make airborne geophysical prospecting synthesization, to improve airborne geophysical prospecting observe data calculating and arrangement speed and explanation push away
Disconnected level effectively promotes the development of airborne geophysical prospecting.
After unmanned rotary wing aircraft significantly develops, the aeromagnetic method equipment of UAV flight starts to occur, it is
During World War II a kind of quickly mine and the method for geologic survey, main method are looked for using what development of remote sensing was got up
There are aeromagnetic method, Airborne Radioactivity method, aeroelectrical method, airborne gravity method etc..
Aeromagnetic method is mainly used to exploration and has magnetic mineral reserve, such as magnetic iron ore；Flying height when mine locating is generally 50
~200 meters, for airborne geophysical prospecting with series of advantages compared with the methods of prospecting for ore deposits of ground, it can overcome various unfavorable terrain conditions gentle
The limitation of time condition, such as found in the area that extremely frigid zones, cliffy mountain, virgin forest, swampy lake personnel are difficult to reach
It mineral reserve and conducts a geological survey；Airborne geophysical prospecting speed is fast, efficient, few using labour, can obtain large area region in a short time
Detection information, also will appreciate that using airborne geophysical prospecting geophysical field different height situation of change, for explain geological phenomenon
With look for mine to provide more information.
Traditional airborne geophysical prospecting method generally use multi-rotor aerocraft, the hang time is only 20-30 minutes, every time
It is only capable of 6-8 kilometers of flight, greatly reduces working efficiency；And the flux-gate magnetometer progress magnetic that generally use measurement accuracy is low
It surveys, measurement accuracy is in 5nT or so；Moreover, traditional airborne geophysical prospecting method is of high cost, safety is low, and measurement error is big, is not easy
Realization fast, accurately measures.
Invention content
Based on this, in view of the above-mentioned problems, it is necessary to propose that measurement accuracy, working efficiency and flight safety can be improved in one kind
Property, reduce unmanned plane weight, the caesium optical pumping magnetic survey method based on fixed-wing unmanned plane of volume and cost.
The technical scheme is that：
A kind of caesium optical pumping magnetic survey method based on fixed-wing unmanned plane, includes the following steps：
A, presetting test passes standard carries out unmanned plane performance test and enters step b if test passes；If not conforming to
Lattice then reenter step a, carry out unmanned plane performance test；
B, the signal contact of ground control station and unmanned plane is established, state of flight is monitored；And before unmanned plane takes off, to magnetic
Examining system carries out the setting of magnetic survey parameter；
C, after unmanned plane reaches measurement height, magnetic compensation coefficient calculating is carried out；
D, after the completion of magnetic compensation, the magnetic survey for including magnetic field intensity and three-component magnetic field intensity that caesium optical pumped magnetometer is measured
Data are transmitted to data acquisition box by serial ports；Meanwhile measure GPS, IMU and laser ceilometer includes terrain clearance, sea
Degree of lifting, latitude and longitude coordinates, heading and flight attitude navigation data data acquisition box is transmitted to by serial ports；
E, after data acquisition box receives corresponding magnetic data and navigation data, field data pretreatment system is transmitted it to
System carries out data processing；
F, will treated data transmission to data interpretation system, carry out aeromagnetic method explanation.
As advanced optimizing for said program, the step a includes magnetic disturbance testing procedure when being not powered on：
A101, nonmagnetic frame is carried at stable magnetic field, the unmanned plane for not installing magnetometer is placed on the nonmagnetic frame；
A102, caesium optical pumped magnetometer and flux-gate magnetometer at unmanned plane Handpiece Location are installed respectively, measure the position
Magnetic field value in the case of being not powered on；
A103, unmanned plane is removed, the position is measured with caesium optical pumped magnetometer and flux-gate magnetometer respectively at same position
The standard Magnetic Field value set；
The standard Magnetic Field value of the magnetic field value and step a103 of a104, comparison step a102, if comparison result meet it is presetting
Test passes standard, then enter step a105, conversely, then unqualified；
A105, caesium optical pumped magnetometer and flux-gate magnetometer at head certain position are installed respectively in unmanned plane, survey
Measure the magnetic field value in the case of the position is not powered on；
The standard Magnetic Field value of the magnetic field value and step a103 of a106, comparison step a105, if comparison result meet it is presetting
Test passes standard, then magnetic disturbance test passes in the case of being not powered on, conversely, then unqualified.
As advanced optimizing for said program, the step a further includes magnetic disturbance testing procedure when being powered：
A201, nonmagnetic frame is carried at stable magnetic field, the unmanned plane for not installing magnetometer is placed on the nonmagnetic frame,
And it is powered to unmanned plane；
A202, caesium optical pumped magnetometer and flux-gate magnetometer at unmanned plane Handpiece Location are installed respectively, measure the position
Magnetic field value in the case of energization；
A203, unmanned plane is removed, the position is measured with caesium optical pumped magnetometer and flux-gate magnetometer respectively at same position
The standard Magnetic Field value set；
The standard Magnetic Field value of the magnetic field value and step a203 of a204, comparison step a202, if comparison result meet it is presetting
Test passes standard, then enter step a205, conversely, then unqualified；
A205, caesium optical pumped magnetometer and flux-gate magnetometer at head certain position are installed respectively in unmanned plane, survey
Measure the magnetic field value in the case of the position is powered；
The standard Magnetic Field value of the magnetic field value and step a203 of a206, comparison step a205, if comparison result meet it is presetting
Test passes standard, then magnetic disturbance test passes in the case of being powered, conversely, then unqualified.
As advanced optimizing for said program, magnetic disturbance test when the step a further includes unmanned vehicle engine operating
Step：
A301, nonmagnetic frame is carried at stable magnetic field, the unmanned plane for not installing magnetometer is placed on the nonmagnetic frame,
And start the engine of unmanned plane；
A302, caesium optical pumped magnetometer and flux-gate magnetometer at unmanned plane Handpiece Location are installed respectively, measure the position
Magnetic field value under engine operating conditions；
A303, unmanned plane is removed, the position is measured with caesium optical pumped magnetometer and flux-gate magnetometer respectively at same position
The standard Magnetic Field value set；
The standard Magnetic Field value of the magnetic field value and step a303 of a304, comparison step a302, if comparison result meet it is presetting
Test passes standard, then enter step a305, conversely, then unqualified；
A305, caesium optical pumped magnetometer and flux-gate magnetometer at head certain position are installed respectively in unmanned plane, survey
Measure the magnetic field value under the position engine operating conditions；
The standard Magnetic Field value of the magnetic field value and step a303 of a306, comparison step a305, if comparison result meet it is presetting
Test passes standard, then magnetic disturbance test passes under engine operating conditions, conversely, then unqualified.
As advanced optimizing for said program, the step a further includes field magnetic disturbance testing procedure：
A401, when be not powered on, be powered and engine operating conditions under test passes after, select optimum position peace
Fill flux-gate magnetometer；
Control unmanned plane acquires the data of a hour in the air in a402, region small in magnetic interference and stabilization；
A403, judge whether the quality of data of acquisition is qualified, if it is, field magnetic disturbance test passes；If it is not, then
The probe length for extending flux-gate magnetometer, reenters step a402.
As advanced optimizing for said program, the step b includes the following steps：
Foundation include flight control system, control system, the ground base stations Ci Bian, field data pretreatment system and data solution
The ground control station of release system；Wherein, flight control system is used to preset the line of flight of unmanned plane, and monitors state of flight in real time；
Control system in ground is used for before unmanned plane takes off, and the setting of magnetic survey parameter is carried out to geomagnetic survey system；The ground base stations Ci Bian are by identical
Base station magnetometer composition or formed using the EREV-1+ proton magnetometers for having high-precision and having 1Hz sample rates；Field
Data pretreatment is used to carry out format conversion, merging, data processing and defeated to the magnetic data and navigation data of acquisition
Go out；Data interpretation system is used to carry out geologic interpretation to the data of processing.
As advanced optimizing for said program, the step c includes the following steps：
C101, the land for carrying out magnetic compensation coefficient calculate, and obtain the magnetic compensation coefficient on land；
C102, when unmanned plane enters compensation flight range, then keep present level to be put down along north and south course line and thing course line
Straight shuttle flight；
C103, foundation two quadrangle magnetic compensations by reference point centered on as a reference point with unmanned plane current location
Course line；The course in one of quadrangle magnetic compensation course line is the course of east, south, west, north four, another quadrangle magnetic compensation boat
The course of line is the southeast, northeast, northwest, southwestern four courses；
C104, roll, pitching and the compensation flight waved are completed on each course line successively, wherein flight attitude amplitude
Ranging from ± (6 ° -7 °), and average heading drift angle is kept to be not more than ± 2 °.
As advanced optimizing for said program, the step e includes the following steps：
E101, setting include the parameter of time zone, ellipsoid system, projection zone and central meridian；
E102, day change data, Air Diary and the magnetic data and navigation data acquired are imported, and data is carried out
Format conversion；
E103, data merging, the data after processing merging are carried out, and exported.
The beneficial effects of the invention are as follows：
1, the test that magnetic disturbance is distributed in the case of each to unmanned plane reduces influence of the magnetic disturbance to magnetic survey, ensures magnetic survey
The accuracy and validity of data.
2, ground control station realizes the monitoring to unmanned plane during flying state, ensures that unmanned plane can carry out autonomous flight, and
Ensure the safety of flight.
3, magnetic compensation flight is carried out, magnetic compensation coefficient is calculated, keeps the data of acquisition truer, perfect, further increase magnetic
The accuracy and validity of measured data.
4, using fixed-wing unmanned plane, the flight time can be up to 120 minutes, and each flying distance can reach 200 public affairs
In more than, greatly improve work efficiency.
5, using caesium optical pumped magnetometer, have the characteristics that miniaturization, have high frequency sampling functions, use frequency for 2S-
100Hz, measurement accuracy can be increased to 0.8nT or more.
6, flight cost in caesium optical pumping magnetic survey technology transplant to unmanned fixed wing aircraft, will be greatly reduced, and big
Improve flight safety greatly.
7, the material and structure for improving caesium optical pumped magnetometer, greatly reduce weight and volume.
Description of the drawings
Fig. 1 is the flow chart of the caesium optical pumping magnetic survey method based on fixed-wing unmanned plane described in the embodiment of the present invention；
Fig. 2 is the Acquisition Circuit figure of data acquisition box described in the embodiment of the present invention；
Fig. 3 is the flow chart that magnetic data described in the embodiment of the present invention is handled.
Specific implementation mode
The embodiment of the present invention is described in detail below in conjunction with the accompanying drawings.
Embodiment
As shown in Figure 1, a kind of caesium optical pumping magnetic survey method based on fixed-wing unmanned plane, unmanned plane uses canard unmanned plane,
Have the characteristics that low magnetic, have a smooth flight, cruise duration is long, electronic, parachuting, failure rate is low and cruising speed is moderate, use
The mode of preposition carrying is combined with magnetometer, and (fuselage material is low to unmanned plane magnetic interference minimum itself when due to preposition carrying
Magnetic material, interference source are mainly engine, and steering engine and engine are removed, and measurement of magnetic field are carried out, it can be found that magnetic interference is most
Big factor), the stability of magnetometer is also most strong；Before detection, the test that magnetic disturbance is distributed in the case of progress is each, wherein：
When being not powered on, magnetic disturbance test is as follows：
A101, nonmagnetic frame is carried at stable magnetic field, the unmanned plane for not installing magnetometer is placed on the nonmagnetic frame；
A102, caesium optical pumped magnetometer and flux-gate magnetometer at unmanned plane Handpiece Location are installed respectively, measure the position
Magnetic field value in the case of being not powered on；
A103, unmanned plane is removed, the position is measured with caesium optical pumped magnetometer and flux-gate magnetometer respectively at same position
The standard Magnetic Field value set；
The standard Magnetic Field value of the magnetic field value and step a103 of a104, comparison step a102, if comparison result meet it is presetting
Test passes standard, then enter step a105, conversely, then unqualified；
A105, caesium optical pumped magnetometer and flux-gate magnetometer at head certain position are installed respectively in unmanned plane, survey
Measure the magnetic field value in the case of the position is not powered on；
The standard Magnetic Field value of the magnetic field value and step a103 of a106, comparison step a105, if comparison result meet it is presetting
Test passes standard, then magnetic disturbance test passes in the case of being not powered on, conversely, then unqualified.
When energization, magnetic disturbance test is as follows：
A201, nonmagnetic frame is carried at stable magnetic field, the unmanned plane for not installing magnetometer is placed on the nonmagnetic frame,
And it is powered to unmanned plane；
A202, caesium optical pumped magnetometer and flux-gate magnetometer at unmanned plane Handpiece Location are installed respectively, measure the position
Magnetic field value in the case of energization；
A203, unmanned plane is removed, the position is measured with caesium optical pumped magnetometer and flux-gate magnetometer respectively at same position
The standard Magnetic Field value set；
The standard Magnetic Field value of the magnetic field value and step a203 of a204, comparison step a202, if comparison result meet it is presetting
Test passes standard, then enter step a205, conversely, then unqualified；
A205, caesium optical pumped magnetometer and flux-gate magnetometer at head certain position are installed respectively in unmanned plane, survey
Measure the magnetic field value in the case of the position is powered；
The standard Magnetic Field value of the magnetic field value and step a203 of a206, comparison step a205, if comparison result meet it is presetting
Test passes standard, then magnetic disturbance test passes in the case of being powered, conversely, then unqualified.
When unmanned vehicle engine operates, magnetic disturbance test is as follows：
A301, nonmagnetic frame is carried at stable magnetic field, the unmanned plane for not installing magnetometer is placed on the nonmagnetic frame,
And start the engine of unmanned plane；
A302, caesium optical pumped magnetometer and flux-gate magnetometer at unmanned plane Handpiece Location are installed respectively, measure the position
Magnetic field value under engine operating conditions；
A303, unmanned plane is removed, the position is measured with caesium optical pumped magnetometer and flux-gate magnetometer respectively at same position
The standard Magnetic Field value set；
The standard Magnetic Field value of the magnetic field value and step a303 of a304, comparison step a302, if comparison result meet it is presetting
Test passes standard, then enter step a305, conversely, then unqualified；
A305, caesium optical pumped magnetometer and flux-gate magnetometer at head certain position are installed respectively in unmanned plane, survey
Measure the magnetic field value under the position engine operating conditions；
The standard Magnetic Field value of the magnetic field value and step a303 of a306, comparison step a305, if comparison result meet it is presetting
Test passes standard, then magnetic disturbance test passes under engine operating conditions, conversely, then unqualified.
Field magnetic disturbance test is as follows：
A401, when be not powered on, be powered and engine operating conditions under test passes after, select optimum position peace
Fill flux-gate magnetometer；
Control unmanned plane acquires the data of a hour in the air in a402, region small in magnetic interference and stabilization；
A403, judge whether the quality of data of acquisition is qualified, if it is, field magnetic disturbance test passes；If it is not, then
The probe length for extending flux-gate magnetometer, reenters step a402.
The magnetic disturbance test carried out in the above case, the purpose is to reduce unmanned vehicle engine, steering engine and circuit to the greatest extent
The interference that the equipment belts such as system come；Secondly, to ensure flight safety, meet aerodynamic principle, need to carry out air force
Analog detection is learned, before practical flight, carries out wind tunnel test.
Then establish include flight control system, control system, the ground base stations Ci Bian, field data pretreatment system and number
According to the ground control station of solution release system；
Wherein, flight control system is used to preset the line of flight of unmanned plane, and monitors state of flight in real time；
Control system in ground is used for before unmanned plane takes off, and the setting of magnetic survey parameter is carried out to geomagnetic survey system；
The ground base stations Ci Bian be made of identical base station magnetometer or using have high-precision and have 1Hz sample rates
EREV-1+ proton magnetometers composition；
Field data pretreatment system is used to carry out format conversion, merging, number to the magnetic data and navigation data of acquisition
According to processing and output；
Data interpretation system is used to carry out geologic interpretation to the data of processing.
Designed unmanned plane, both wings are 5.8 meters wide, and fuselage grows 3.6 meters, and take-off weight is more than 35 kilograms, detected per sortie
Area is more than 60 square kilometres, can once fill 4 fuel tanks, and aerial flight endurance is more than 4 hours, it is ensured that Altitude Regions data are adopted
Collection needs；Drone flying height can cover 50 meters -1000 meters of terrestrial space, have both flexibility and the high-precision of unmanned plane
The high sensitivity of caesium optical pumped magnetometer；The present invention is using the caesium optical pumped magnetometer minimized, to extraneous changes of magnetic field response speed
Soon, signal bandwidth is up to 1Khz or more, and high sensitivity, signal is continuously exported, need not strictly be oriented, especially suitable flat in movement
It is used on platform, Cs atom Larmor frequency f0 can be locked by the phase lock circuitry in optical pumping probe electronics component, and export frequency
Rate is the signal of f0；By measuring Larmor frequency value, the intensity of external magnetic field can be calculated；
Ground control station is established, can plan the line of flight of unmanned plane, and monitored in real time to unmanned plane in-flight,
Ground control station is related to unmanned plane type, has following functions：
1, flight control system presets course line, can import the flight profile, mission profile editted, ensures that unmanned plane can independently be flown
Row；
2, real-time state of flight monitoring can be carried out between unmanned plane, ensured the flight safety of unmanned plane, be provided simultaneously with
The automatic function of being protected with parachute of making a return voyage in danger；
3, flight control system and flying instrument are for emergency danger-avoiding function, when less than setting height, automatic deployment protection.
After unmanned plane enters compensation flight range, high-precision magnetic survey compensation meter is carried out using high-precision fluxgate magnetometer
It calculates：
C101, the land for carrying out magnetic compensation coefficient calculate, and obtain the magnetic compensation coefficient on land；
C102, when unmanned plane enters compensation flight range, then keep present level to be put down along north and south course line and thing course line
Straight shuttle flight；
C103, foundation two quadrangle magnetic compensations by reference point centered on as a reference point with unmanned plane current location
Course line；The course in one of quadrangle magnetic compensation course line is the course of east, south, west, north four, another quadrangle magnetic compensation boat
The course of line is the southeast, northeast, northwest, southwestern four courses；
C104, roll, pitching and the compensation flight waved are completed on each course line successively, wherein flight attitude amplitude
Ranging from ± (6 ° -7 °), and average heading drift angle is kept to be not more than ± 2 °.
The background magnetic field of unmanned plane includes the eddy current magnetism three of unmanned plane remanent magnetism, unmanned plane induced field and unmanned plane
Point；When unmanned plane cruises, unmanned plane background magnetic field can be divided into frozen composition and varying component, and the size of wherein frozen composition is general
Within the scope of 10~100nT, the size of varying component is 1nT~3nT ranges, when the compensating gain to unmanned plane background magnetic field reaches
To 10 times, signal digital filtering is added, is identified to flying background magnetic field and magnetic field of the goal, it can be by unmanned plane background magnetic after compensation
The varying component of field interference will drop to 0.24nT or less, it is ensured that effective detection to 400 meters or more Remote sensing targets；
To seek magnetic compensation coefficient, the land for first carrying out magnetic compensation coefficient calculates, and obtains the magnetic compensation coefficient on land；Then, in magnetic field
The uniform ground of environment, four typical directions of East, West, South, North (magnetic heading), each direction do respectively roll, pitching and
Motor-driven, each motor-driven duration about 40S is waved, motor-driven angle is ± (6 ° -7 °)；Meanwhile acquiring external magnetic field strength, flight
Posture, height and GPS position information compensate flight in specific direction, can will be in unmanned plane interference source mathematical model
Certain cancellations, gradually solve whole magnetic compensation coefficients；Each action of compensation flight is not required for absolutely meeting angle
Requirement avoid suddenly big or suddenly small maneuver as long as action is uniform, it is the most advantageous to solving magnetic compensation coefficient.
After the completion of magnetic compensation, data acquisition box acquisition includes the magnetic data of magnetic field intensity and three-component magnetic field intensity, with
And include the navigation data of terrain clearance, height above sea level, latitude and longitude coordinates, heading and flight attitude；The data acquisition box
Acquisition Circuit figure as shown in Fig. 2, differential frequency circuit using FPGA as core, coordinate analog multiplier, filter constitute, by high stable
It spends constant temperature crystal and frequency reference is provided, the frequency signal of optical pumping probe output is modulated on power supply, is demodulated by signal
Sinusoidal signal, signal after difference frequency is filtered, inputs FPGA after shaping, is counted, there is following function module in FPGA：
Difference frequency counter：The function of difference frequency counter is to generate 1 and input signal difference 1KHz according to input frequency signal
The signal of left and right, gives difference frequency, the Shaping Module of front end；Since the variation in the earth magnetic field to be observed is slow, variation in 1 second
Absolute value does not exceed hundreds of nT, and difference frequency signal update in 1 second is primary；Due to the poor very little of difference frequency signal and probe signal,
Generated after analog multiplier and frequency signal and difference frequency signal frequency then differ greatly, it is easy to be detached with filter；
Sampling controller：It signals according to the sample frequency of setting；
Basic counter：Basic counter free-running operation counts the signal after difference frequency；
Sample counter：After sampling controller sends out sampled signal, the value of basic counter, which latches, enters sample counter,
It is read by external bus；
Interrupt control unit：Every time after sampling, interrupt control unit sends out interrupt requests, and sampling meter is read by external bus
Sample magnitude in number device.
After data transmission to field data pretreatment system, data processing is carried out, has format conversion, magnetic data
Merge with navigation data, data filtering, Attitude Correction, diurnal correction, vacuates, data deletion, divides the functions such as survey line, according to figure
Process flow shown in 3 is integrated and is recorded to magnetic data.
Finally, aeromagnetic method explanation is carried out to processing data using data interpretation system, which is maturation
Geophysical data interpretation software, have complete aeromagnetic method explanation module.
Specific implementation mode of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.
Claims (8)
1. a kind of caesium optical pumping magnetic survey method based on fixed-wing unmanned plane, which is characterized in that include the following steps：
A, presetting test passes standard carries out unmanned plane performance test and enters step b if test passes；If unqualified,
Step a is then reentered, unmanned plane performance test is carried out；
B, the signal contact of ground control station and unmanned plane is established, state of flight is monitored；And before unmanned plane takes off, to magnetic survey system
System carries out the setting of magnetic survey parameter；
C, after unmanned plane reaches measurement height, magnetic compensation coefficient calculating is carried out；
D, after the completion of magnetic compensation, the magnetic data for including magnetic field intensity and three-component magnetic field intensity that caesium optical pumped magnetometer is measured
It is transmitted to data acquisition box by serial ports；Meanwhile measure GPS, IMU and laser ceilometer includes terrain clearance, height above sea level
Degree, latitude and longitude coordinates, heading and flight attitude navigation data data acquisition box is transmitted to by serial ports；
E, after data acquisition box receives corresponding magnetic data and navigation data, transmit it to field data pretreatment system into
Row data processing；
F, will treated data transmission to data interpretation system, carry out aeromagnetic method explanation.
2. the caesium optical pumping magnetic survey method according to claim 1 based on fixed-wing unmanned plane, which is characterized in that the step
A includes magnetic disturbance testing procedure when being not powered on：
A101, nonmagnetic frame is carried at stable magnetic field, the unmanned plane for not installing magnetometer is placed on the nonmagnetic frame；
A102, caesium optical pumped magnetometer and flux-gate magnetometer at unmanned plane Handpiece Location are installed respectively, measure the position and does not lead to
Magnetic field value in the case of electricity；
A103, unmanned plane is removed, the position is measured with caesium optical pumped magnetometer and flux-gate magnetometer respectively at same position
Standard Magnetic Field value；
The standard Magnetic Field value of the magnetic field value and step a103 of a104, comparison step a102, if comparison result meets presetting test
Criterion of acceptability then enters step a105, conversely, then unqualified；
A105, caesium optical pumped magnetometer and flux-gate magnetometer are installed respectively at head certain position in unmanned plane, measuring should
Position be not powered in the case of magnetic field value；
The standard Magnetic Field value of the magnetic field value and step a103 of a106, comparison step a105, if comparison result meets presetting test
Criterion of acceptability, then magnetic disturbance test passes in the case of being not powered on, conversely, then unqualified.
3. the caesium optical pumping magnetic survey method according to claim 2 based on fixed-wing unmanned plane, which is characterized in that the step
A further includes magnetic disturbance testing procedure when being powered：
A201, nonmagnetic frame is carried at stable magnetic field, the unmanned plane for not installing caesium optical pumped magnetometer is placed in the nonmagnetic frame
On, and be powered to unmanned plane；
A202, caesium optical pumped magnetometer and flux-gate magnetometer at unmanned plane Handpiece Location are installed respectively, measure position energization
In the case of magnetic field value；
A203, unmanned plane is removed, the position is measured with caesium optical pumped magnetometer and flux-gate magnetometer respectively at same position
Standard Magnetic Field value；
The standard Magnetic Field value of the magnetic field value and step a203 of a204, comparison step a202, if comparison result meets presetting test
Criterion of acceptability then enters step a205, conversely, then unqualified；
A205, caesium optical pumped magnetometer and flux-gate magnetometer are installed respectively at head certain position in unmanned plane, measuring should
Magnetic field value in the case of the energization of position；
The standard Magnetic Field value of the magnetic field value and step a203 of a206, comparison step a205, if comparison result meets presetting test
Criterion of acceptability, then magnetic disturbance test passes in the case of being powered, conversely, then unqualified.
4. the caesium optical pumping magnetic survey method according to claim 3 based on fixed-wing unmanned plane, which is characterized in that the step
Magnetic disturbance testing procedure when a further includes unmanned vehicle engine operating：
A301, nonmagnetic frame is carried at stable magnetic field, the unmanned plane for not installing caesium optical pumped magnetometer is placed in the nonmagnetic frame
On, and start the engine of unmanned plane；
A302, caesium optical pumped magnetometer and flux-gate magnetometer at unmanned plane Handpiece Location are installed respectively, measure the position and starts
Magnetic field value under machine working order；
A303, unmanned plane is removed, the position is measured with caesium optical pumped magnetometer and flux-gate magnetometer respectively at same position
Standard Magnetic Field value；
The standard Magnetic Field value of the magnetic field value and step a303 of a304, comparison step a302, if comparison result meets presetting test
Criterion of acceptability then enters step a305, conversely, then unqualified；
A305, caesium optical pumped magnetometer and flux-gate magnetometer are installed respectively at head certain position in unmanned plane, measuring should
Magnetic field value under the engine operating conditions of position；
The standard Magnetic Field value of the magnetic field value and step a303 of a306, comparison step a305, if comparison result meets presetting test
Criterion of acceptability, then magnetic disturbance test passes under engine operating conditions, conversely, then unqualified.
5. the caesium optical pumping magnetic survey method according to claim 4 based on fixed-wing unmanned plane, which is characterized in that the step
A further includes field magnetic disturbance testing procedure：
A401, when be not powered on, be powered and engine operating conditions under test passes after, select optimum position install magnetic
Open gate magnetometer；
Control unmanned plane acquires the data of a hour in the air in a402, region small in magnetic interference and stabilization；
A403, judge whether the quality of data of acquisition is qualified, if it is, field magnetic disturbance test passes；If it is not, then extending
The probe length of flux-gate magnetometer reenters step a402.
6. the caesium optical pumping magnetic survey method according to claim 1 based on fixed-wing unmanned plane, which is characterized in that the step
B includes the following steps：
Foundation include flight control system, control system, the ground base stations Ci Bian, field data pretreatment system and data are explained and are
The ground control station of system；Wherein, flight control system is used to preset the line of flight of unmanned plane, and monitors state of flight in real time；Ground control
System is used for before unmanned plane takes off, and the setting of magnetic survey parameter is carried out to geomagnetic survey system；The ground base stations Ci Bian are by identical base
Magnetometer of standing is formed or is formed using the EREV-1+ proton magnetometers for having high-precision and having 1Hz sample rates；Field data
Pretreatment system is used to carry out format conversion, merging, data processing and output to the magnetic data and navigation data of acquisition；Number
It is used to carry out geologic interpretation to the data of processing according to solution release system.
7. the caesium optical pumping magnetic survey method according to claim 1 based on fixed-wing unmanned plane, which is characterized in that the step
C includes the following steps：
C101, the land for carrying out magnetic compensation coefficient calculate, and obtain the magnetic compensation coefficient on land；
C102, when unmanned plane enters compensation flight range, then keep present level to make along north and south course line and thing course line straight past
Return flight；
C103, foundation two quadrangle magnetic compensation course lines by reference point centered on as a reference point with unmanned plane current location；
The course in one of quadrangle magnetic compensation course line is the course of east, south, west, north four, another quadrangle magnetic compensation course line
Course is the southeast, northeast, northwest, southwestern four courses；
C104, roll, pitching and the compensation flight waved are completed on each course line successively, wherein flight attitude amplitude range
For ± (6 ° -7 °), and average heading drift angle is kept to be not more than ± 2 °.
8. the caesium optical pumping magnetic survey method according to claim 1 based on fixed-wing unmanned plane, which is characterized in that the step
E includes the following steps：
E101, setting include the parameter of time zone, ellipsoid system, projection zone and central meridian；
E102, day change data, Air Diary and the magnetic data and navigation data acquired are imported, and format is carried out to data
Conversion；
E103, data merging, the data after processing merging are carried out, and exported.
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