CN113625349B - System and method for detecting non-explosive bomb by air magnetic method - Google Patents
System and method for detecting non-explosive bomb by air magnetic method Download PDFInfo
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Abstract
A system and a method for detecting a non-explosive bomb by an air magnetic method comprise an unmanned plane platform, a magnetic detection load and a ground data processing terminal. The magnetic detection load is hoisted under the unmanned aerial vehicle platform, the structure adopts a quick-release rigid high foot rest, the unmanned aerial vehicle platform carries the magnetic detection load to carry out autonomous detection according to a planned track, and the total field magnetic diagram method and the gradient tensor method are adopted to identify and inversion position the non-explosive bomb, so that information such as existence, position and depth of the non-explosive bomb is obtained. The interference of the unmanned plane platform is reduced through the high-foot rest rigid structure and the compensation algorithm, and the safe and efficient detection of the non-explosive bomb is realized by adopting a remote unmanned operation mode.
Description
Technical Field
The invention belongs to the technical field of detection of non-explosive bullets, and particularly relates to an air magnetic method detection system and method of the non-explosive bullets.
Background
Timely detection and positioning of the non-explosive projectile is one of important links for guaranteeing the safety of a target range. At present, the magnetic detection is the most economical and effective method for detecting the ferromagnetic non-explosive bomb. The problems of low detection efficiency, poor detection capability, low automation degree, low safety, low accuracy and the like of the traditional means such as manual detection, vehicle-mounted detection and the like exist, and how to quickly and accurately position the non-explosive bomb is a difficult problem to be solved.
Disclosure of Invention
The invention aims at: aiming at the searching, identifying and positioning requirements of the non-explosive bomb, the system and the method for detecting the non-explosive bomb by the magnetic method in the air are provided, the magnetic detection load is carried on an unmanned plane platform, the detection efficiency and the personnel safety problem are fundamentally solved by adopting a remote unmanned operation mode, the safe and efficient detection of the non-explosive bomb is realized, and the detection efficiency of the non-explosive bomb in a target range is improved.
The invention comprises the following technical scheme:
in a first aspect, an air magnetic detection system for a non-explosive cartridge, comprising: the system comprises an unmanned plane platform, a magnetic detection load and a ground data processing terminal;
the magnetic detection load is hoisted under the unmanned aerial vehicle platform, and the ground data processing terminal has an unmanned aerial vehicle track planning function and a data processing function;
the unmanned plane platform is used for obtaining flying height data, differentiating RTK positioning data and attitude data and transmitting the data to the ground data processing terminal;
the magnetic detection load is used for obtaining multichannel magnetic detection data and transmitting the multichannel magnetic detection data to the ground data processing terminal;
the ground data processing terminal receives the height data, the differential RTK positioning data, the gesture data and the multichannel magnetic detection data, is used for obtaining a total field magnetic diagram and a gradient tensor diagram, judging whether the non-explosive bomb exists or not according to the total field magnetic diagram, and outputting position and depth information of the non-explosive bomb according to the gradient tensor diagram; meanwhile, the ground data processing terminal is used for planning the unmanned aerial vehicle track and uploading the track to the unmanned aerial vehicle platform.
Optionally, the unmanned aerial vehicle platform is many rotor unmanned aerial vehicle of low magnetic property, and the fuselage adopts non-magnetic structure, possesses high frequency magnetic interference's shielding structure.
Optionally, the vertical distance between the unmanned aerial vehicle platform and the magnetic detection load is not greater than the maximum wheelbase of the unmanned aerial vehicle platform and not less than 1/2 of the maximum wheelbase of the unmanned aerial vehicle platform.
Optionally, the unmanned aerial vehicle platform includes: the system comprises a flight control system, a gesture control unit, a ground range radar and a differential RTK module;
the ground range radar is used for obtaining flying height data;
the differential RTK module is used for obtaining differential RTK positioning data;
the attitude control unit is used for obtaining attitude data of the flight.
And the flight control system performs height control according to the height data obtained by the ground range radar and the differential RTK positioning data obtained by the differential RTK module, so as to realize a stability augmentation mode.
Optionally, in the stability augmentation mode, the unmanned aerial vehicle platform flight height error is not greater than 10% of the flight height.
Optionally, the magnetic detection load is an array formed by a plurality of triaxial vector magnetic sensors, three measuring axes of the triaxial vector magnetic sensors are orthogonal in pairs, so that measurement of three components of a magnetic field is realized, and the triaxial vector magnetic sensors are arranged on a structural member of a non-magnetic material to form the array;
the magnetic detection data acquired by the magnetic detection load comprises magnetic field total field information and gradient vector magnetic information.
Optionally, the single-sensor orthogonality error of the magnetic detection load triaxial vector magnetic sensor is less than 0.1 °; the consistency error of the directions of three measuring axes of the magnetic detection load different triaxial vector magnetic sensors is smaller than 0.1 degrees.
Optionally, the ground data processing terminal includes: unmanned aerial vehicle track planning software, magnetic interference compensation software, magnetic signal analysis and identification software;
unmanned aerial vehicle track planning software plans unmanned aerial vehicle tracks, generates 'bow' -shaped reciprocating straight-line tracks, and the tracks are organized and the target area range is traversed;
the magnetic interference compensation software carries out compensation processing on the multichannel magnetic detection data according to the gesture data, and outputs the compensated data to the magnetic signal analysis and recognition software, so that the magnetic interference in the compensated data is reduced to below 1 nT;
the magnetic signal analysis and identification software receives the compensated data transmitted by the magnetic interference compensation software, processes the compensated data, and meanwhile, according to the height data, differential RTK positioning data and gesture data, adopts a total field magnetic diagram method and a gradient tensor method to identify and inversion position the non-explosive bomb, and obtains the condition, position and depth information of the non-explosive bomb.
In a second aspect, a method for performing magnetic detection in the air of a non-explosive bomb using the system according to the first aspect, comprising the steps of:
equipment unfolding is carried out outside the safety distance of the non-explosive bomb, and a magnetic detection load is installed below the unmanned aerial vehicle platform;
the ground data processing terminal plans the unmanned aerial vehicle track and uploads the track to the unmanned aerial vehicle platform;
carrying magnetic detection load on the unmanned aerial vehicle platform to carry out automatic flight detection according to the unmanned aerial vehicle track, and simultaneously, transmitting differential RTK positioning data and attitude data of the unmanned aerial vehicle platform and multichannel magnetic detection data framing of the magnetic detection load back to a ground data processing terminal in real time;
the ground data processing terminal receives and stores framing data in real time;
the ground data processing terminal performs magnetic compensation processing, data screening processing and region interpolation processing on the frame data, then performs magnetic signal analysis and identification processing to obtain a total field magnetic diagram and a gradient tensor diagram, judges whether the non-explosive bomb exists or not according to the total field magnetic diagram, and outputs position and depth information of the non-explosive bomb according to the gradient tensor diagram.
The unmanned aerial vehicle track specifically comprises:
before approaching the upper part of the detection area, controlling the unmanned plane platform to go to the detection area; the flying speed is greater than or equal to 5m/s;
after reaching the upper part of the detection area, the flying height of the unmanned plane platform is reduced to 1-2 meters from the ground, the flying speed is less than or equal to 3m/s, and meanwhile, the detection area is subjected to 'bow' -shaped reciprocating detection;
after the detection of the detection area is completed, the unmanned aerial vehicle increases the flying height and returns to drop to the starting point.
Compared with the prior art, the invention has the following advantages:
1) The invention describes an air magnetic method detection system and method for a non-explosive bomb, wherein a magnetic detection load is carried on an unmanned plane platform to remotely and automatically detect the non-explosive bomb, so that the detection efficiency is high, and the safety of personnel is ensured.
2) According to the invention, the data is framed in real time in the detection process of the non-explosive bomb air magnetic method detection system, the magnetic detection data is matched with the RTK positioning data and the unmanned aerial vehicle attitude data in real time, the data matching error can be reduced, and the non-explosive bomb positioning result is more accurate.
3) The non-explosive bomb air magnetic method detection system adopts a quick-dismantling high-foot stand structure, so that magnetic detection load is far away from the unmanned aerial vehicle platform, and meanwhile, the unmanned aerial vehicle platform is subjected to a magnetic shielding structure and a low magnetic design, so that the interference of the unmanned aerial vehicle platform is effectively reduced.
4) The method for detecting the non-explosive bomb by the air magnetic method adopts a total field magnetic diagram method and a gradient tensor method to carry out multidimensional processing on magnetic detection data, fully utilizes detection information and has higher accuracy of recognition results.
Drawings
FIG. 1 is a schematic diagram of a system of the present invention;
FIG. 2 is a track layout of the present invention;
FIG. 3 is a graph of the detection results of the present invention.
Detailed Description
Aiming at the limitations of the existing detection of the nonexplosive bomb, the invention provides an air magnetic method detection system and method of the nonexplosive bomb, which consists of an unmanned plane platform, a magnetic detection load and a ground data processing terminal, and can be used for quickly searching and detecting a target area according to a task issuing instruction, so as to realize quick identification and positioning of the nonexplosive bomb in a task range.
The invention relates to an air magnetic method detection system of a non-explosive bomb, which comprises the following steps: unmanned aerial vehicle platform, magnetism detection load and ground data processing terminal.
The magnetic detection load and the unmanned aerial vehicle platform adopt a structural form which is distributed vertically, the magnetic detection load is hoisted under the unmanned aerial vehicle platform, and the structure adopts a quick-dismantling rigid high foot rest, so that the magnetic detection load is far away from the unmanned aerial vehicle platform. The ground data processing terminal has unmanned aerial vehicle track planning function and data processing function;
the vertical distance between the unmanned plane platform and the magnetic detection load is not more than the maximum wheelbase of the unmanned plane platform and not less than 1/2 of the maximum wheelbase of the unmanned plane platform.
The unmanned aerial vehicle platform is low magnetic characteristic many rotor unmanned aerial vehicle, and the fuselage adopts non-magnetic structure such as carbon fiber, plastics, possesses shielding structure of high frequency magnetic interference such as motor.
Unmanned aerial vehicle platform possesses and increases steady mode, and unmanned aerial vehicle platform includes: the system comprises a flight control system, a gesture control unit, a ground range radar and a differential RTK module;
the ground range radar is used for obtaining flying height data, and the height is defined as the distance between the bottom end of the high foot rest and the ground;
the differential RTK module is used for obtaining differential RTK positioning data;
the attitude control unit is used for obtaining attitude data of the flight.
The flight control system of the unmanned aerial vehicle platform performs height control on the unmanned aerial vehicle platform according to the height data obtained by the ground range radar and the differential RTK positioning data obtained by the differential RTK module, a stability augmentation mode is realized, the flight height error of the unmanned aerial vehicle platform in the stability augmentation mode is not more than 10% of the flight height, and the unmanned aerial vehicle platform can carry magnetic detection load to perform low-altitude ground-imitating flight (the flight height is 1-2 meters).
The magnetic detection load is an array formed by a plurality of triaxial vector magnetic sensors, three measuring shafts of the triaxial vector magnetic sensors are orthogonal in pairs, three components of a magnetic field are measured, the triaxial vector magnetic sensors are arranged on non-magnetic high-strength light-weight structural members such as carbon fiber rods and high-strength plastics to form the array, and the array is stable in structure and not easy to deform. The magnetic detection load can synchronously acquire multichannel magnetic detection data, and the magnetic detection data comprises magnetic field total field information and gradient vector magnetic information. In order to conveniently acquire gradient vector magnetic information, three measuring axes of each triaxial vector magnetic sensor on a magnetic detection load are consistent in direction.
The orthogonality of the magnetic detection load triaxial vector magnetic sensor is required to be corrected, and the single-sensor orthogonality error after correction is smaller than 0.1 degrees; the magnetic detection load corrects the consistency of the three measuring axis directions of each triaxial vector magnetic sensor, and the consistency error of the three measuring axis directions of different triaxial vector magnetic sensors after correction is smaller than 0.1 degrees.
When the non-explosive detection operation is carried out, the differential RTK positioning data, the attitude data, the height data and the multichannel magnetic detection data of the magnetic detection load of the unmanned plane platform are synchronously framed to output framing data, and the framing data is transmitted back to the ground data processing terminal through data transmission.
The ground data processing terminal includes: unmanned aerial vehicle track planning software, magnetic interference compensation software, magnetic signal analysis and identification software;
unmanned aerial vehicle track planning software plans unmanned aerial vehicle tracks, generates 'bow' -shaped reciprocating straight-line tracks, and the tracks are organized and the target area range is traversed;
the magnetic interference compensation software carries out compensation processing on the multichannel magnetic detection data according to the unmanned aerial vehicle attitude data in the framing data, and outputs compensated data to the magnetic signal analysis and recognition software, so that the magnetic interference in the compensated data is reduced to below 1 nT;
and processing the compensated data by using magnetic signal analysis and recognition software, and carrying out recognition and inversion positioning of the non-explosive by adopting a total field magnetic diagram method and a gradient tensor method to obtain information about the existence, position and depth of the non-explosive.
The high foot rest upper end of quick detach rigidity is connected with unmanned aerial vehicle, and the lower extreme is connected with magnetism detection load, and the junction adopts quick detach mechanism, can dismantle fast, possesses the structure of locking simultaneously, and unmanned aerial vehicle platform and magnetism detection load form the rigid connection body after the lock is dead, and the high foot rest adopts the line mode of landing, increases unmanned aerial vehicle landing area, improves unmanned aerial vehicle stability of taking off and land.
An air magnetic method detection method of a non-explosive bomb comprises the following steps:
equipment unfolding is carried out outside the safety distance of the non-explosive bomb, and a magnetic detection load is installed below the unmanned aerial vehicle platform;
the ground data processing terminal plans the unmanned aerial vehicle track and uploads the track to the unmanned aerial vehicle platform;
carrying a magnetic detection load on the unmanned aerial vehicle platform, carrying out automatic flight detection according to a planned track, and transmitting differential RTK positioning data and attitude data of the unmanned aerial vehicle platform and multichannel magnetic detection data framing of the magnetic detection load back to a ground data processing terminal in real time;
the ground data processing terminal receives and stores framing data in real time;
after the unmanned aerial vehicle platform is returned, the ground data processing terminal carries out magnetic compensation processing, data screening processing and region interpolation processing on the frame data, then carries out magnetic signal analysis and identification processing to obtain a total field magnetic diagram and a gradient tensor diagram, judges whether the non-explosive bomb exists or not according to the total field magnetic diagram, and outputs information such as the position, the depth and the like of the non-explosive bomb according to the gradient tensor diagram;
and finally outputting the result of the detection of the current non-explosive bomb through comprehensive analysis.
The unmanned aerial vehicle flight path is that the flying height is reduced to 1-2 meters above the ground clearance by the speed of more than or equal to 5m/s and the height exceeds the height of an obstacle on the path of the forward detection area and quickly flies to the upper part of the detection area, then the ground clearance is slowly flown to carry out 'bow' -shaped reciprocating detailed detection on the detection area at the speed of less than or equal to 3m/s, and after the detection is finished, the unmanned aerial vehicle is lifted to the height and quickly flies back to land.
The data screening process specifically comprises the following steps: according to the unmanned aerial vehicle attitude data in the framing data, the data is intercepted and deleted when the unmanned aerial vehicle makes a large maneuver, and the unmanned aerial vehicle does not participate in magnetic signal analysis and recognition.
As shown in fig. 1, the unmanned aerial vehicle platform is a platform carrying detection equipment, and in the embodiment, a six-rotor electric unmanned aerial vehicle is selected as the platform carrying detection equipment, and the six-rotor electric unmanned aerial vehicle has the functions of route planning and autonomous flight, and performs remote unmanned autonomous operation according to a route planned by a ground data processing terminal; the six-rotor electric unmanned aerial vehicle has a stability augmentation mode, the stability augmentation mode starts the fusion positioning of the ground range radar and the RTK, the flying height error is less than or equal to 0.2m in the stability augmentation mode, and the six-rotor electric unmanned aerial vehicle can carry detection load to perform low-altitude ground-imitating flying (the flying height is 1-2 meters).
The ground range radar adopts a millimeter wave radar, an electromagnetic wave signal is emitted towards the ground through an antenna emission surface, the emitted signal is received by an antenna receiving surface after being reflected by the ground, the ground flight height of the unmanned aerial vehicle can be calculated in real time according to the time difference between the emitted signal and the received signal, the range is 0.1-50 m, and the typical range accuracy is +/-0.02 m.
When the unmanned aerial vehicle has a pitch angle gamma (positive value indicates head-up), the distance detected by the radar is converted into vertical height, and the height correction can be realized through a trigonometric function relationship, namely H=S×cos (alpha+gamma), wherein alpha is an installation angle.
The unmanned aerial vehicle carries with the RTK positioning system and adopts HNS628 high-precision positioning orientation board card to carry out equipment customization integration, and the antenna adopts HWA-PT-A300 unmanned aerial vehicle antenna, and this antenna is light in weight, small, is applicable to unmanned aerial vehicle installation, and horizontal positioning error is 1cm, and vertical positioning error is 2cm.
And (3) performing height control on the unmanned aerial vehicle by taking the height data of the ground range radar and the RTK positioning data as references, and ensuring that the ground height is kept unchanged in the flight process, thereby realizing the ground-imitating flight function.
In the embodiment, the magnetic detection load adopts a magnetic sensor array and consists of four three-axis vector fluxgate sensors, and the four fluxgate sensors form a plane quadrilateral array through a carbon fiber rod and a high-strength plastic structural member, so that the structural strength is ensured, and the magnetic interference and the weight are reduced. Gradient vector magnetic information in the space of the detection range can be detected, and the distribution of the total field of the magnetic field can be obtained through calculation. In order to conveniently acquire gradient vector magnetic information, three measuring axes of each triaxial vector magnetic sensor on a magnetic detection load are consistent in direction.
In order to realize measurement of three components of a magnetic field, an orthogonal measurement coordinate system is formed by three magnetic probes in the three-axis fluxgate sensor. However, due to the limitations of the processing technology and the installation level, the measurement coordinate system formed by the three magnetic probes must have errors, and the three magnetic probes forming the measurement coordinate system cannot be completely orthogonal. The error is calibrated in a standard magnetic field laboratory, and the single-sensor orthogonality error after calibration is less than 0.1 degrees. The magnetic detection load corrects the consistency of the three measuring axis directions of each triaxial vector magnetic sensor, and the consistency error of the three measuring axis directions of each triaxial vector magnetic sensor after correction is smaller than 0.1 degrees.
In the embodiment, 4 'T' -shaped carbon fiber rods are adopted by the unmanned aerial vehicle platform and magnetic detection load connection structure, the upper ends of the long rods are connected with unmanned aerial vehicle arms, the lower ends of the long rods are connected with carbon fiber cross rods of magnetic detection loads, the connection parts adopt quick-release mechanisms, the unmanned aerial vehicle platform and the magnetic detection loads form a rigid connection body after the unmanned aerial vehicle platform is locked, the unmanned aerial vehicle platform is arranged above, the magnetic detection loads are distributed in parallel, and the distance between the unmanned aerial vehicle body and the magnetic detection loads is 80cm. Short rods of the T-shaped carbon fiber rods are grounded, the landing area of the unmanned aerial vehicle is increased, and the lifting stability of the unmanned aerial vehicle is improved.
The method for suppressing and compensating the interference magnetic field of the unmanned aerial vehicle comprises the following steps of:
modeling magnetic interference generated by an unmanned aerial vehicle at a fluxgate sensor as
Wherein u is i (t) is the direction cosine of the geomagnetic field in the unmanned aerial vehicle coordinate system,is u i (t) derivative with respect to time, p i ，a ij And b ij The compensation coefficients of constant magnetic interference, induced magnetic interference and eddy current magnetic interference are respectively.
And constructing a magnetic shielding structure to compensate magnetic interference generated by dynamic current of the unmanned aerial vehicle-mounted electrical equipment, and then solving a correlation coefficient in a magnetic interference model by utilizing a feedforward algorithm. The magnetic compensation value, compensation and check flight are required to be carried out on days of good weather, small wind speed (< 5 m/s), good visibility and static magnetism, and meanwhile, magnetic daily change observation is carried out, so that daily change correction is carried out.
The ground data processing terminal comprises unmanned aerial vehicle track planning software, magnetic interference compensation software and magnetic signal analysis and identification software. Unmanned aerial vehicle track planning software plans unmanned aerial vehicle track, generates "bow" font reciprocating straight line track, and track constitution target area scope is shown as the figure 2. The magnetic interference compensation software compensates magnetic detection data according to the unmanned aerial vehicle attitude data in the framing data, and outputs the compensated data, so that the magnetic interference in the compensated data is reduced to below 1 nT. And processing the compensated data by using magnetic signal analysis and recognition software, and carrying out recognition and inversion positioning of the non-explosive by adopting a total field magnetic diagram method and a gradient tensor method to obtain information such as existence, position, depth and the like of the non-explosive.
And after receiving the coordinates of the detection area, carrying out track planning on unmanned aerial vehicle track planning software, wherein the unmanned aerial vehicle carries magnetic detection load and autonomously detects according to the track. Because of the danger of the nonexploited bomb, the equipment is unfolded at the position 300 meters away from the detection area, the take-off landing point of the unmanned aerial vehicle is set, the linear flight path is set, the unmanned aerial vehicle rapidly goes to the detection area, and the height of the unmanned aerial vehicle is set to exceed the highest obstacle in the path. After reaching the detection area, the flying height is reduced, linear reciprocating detection is performed (the straight line can form any included angle with the north direction), the density of the flight path can be specifically selected according to the magnetic characteristics of the non-explosive bomb so as not to miss the non-explosive bomb, the flight path should be compiled into the whole detection area (a typical traversing path is linear reciprocating detection along the north-south direction, and linear reciprocating complementary detection along the east-west direction if complementary detection is needed), and the detection speed is set to be low (less than or equal to 3 m/s). After the detection area is completed, the return voyage is started, the return voyage speed can be set to be faster (more than or equal to 5 m/s), and the height should be set to exceed the highest obstacle in the path. Taking a certain detection track as an example. The flying speed of the vehicle going to the detection area is set to be 6m/s, the height of the vehicle passing through the earth surface is set to be 5m, the flying speed of the straight reciprocating track in the detection area is set to be 2m/s, the height is 1m, the track interval is 1m, the flying speed of the vehicle returning is set to be 6m/s, the height of the vehicle passing through the obstacle is set to be 6m, the height is set to be 10m, and the execution time of the flying task is less than 5 minutes.
And screening detected data, wherein the detected data are framing data, and each frame of data comprises attitude data, position data and multichannel magnetic detection data of the unmanned aerial vehicle. And screening the data according to the pitch and roll angle ranges in the attitude data of the unmanned aerial vehicle, and when the pitch and roll angles in the frame data of a certain frame exceed +/-5 degrees, discarding the frame and not participating in the later data processing. All sets of frame data within the detection area are screened, and the screened data are used for identifying and positioning the non-explosive bombs.
The magnetic signal analysis and identification software processes the screened magnetic data: and adopting a total field magnetic map method and a gradient tensor method, wherein the total field magnetic map result and the gradient tensor result are shown in figure 3, and combining the two processing results to obtain the position and depth of the non-explosive bomb, and combining satellite positioning data to form position coordinate information so as to complete the underground target detection task.
The work flow of the non-explosive detection operation is as follows:
1) Equipment unfolding is carried out outside the safety distance of the non-explosive bomb, and a magnetic detection load is installed below the unmanned aerial vehicle platform;
2) The ground data processing terminal plans the unmanned aerial vehicle track and uploads the track to the unmanned aerial vehicle platform;
3) Carrying a magnetic detection load on the unmanned aerial vehicle platform, carrying out automatic flight detection according to a planned track, and transmitting differential RTK positioning data and attitude data of the unmanned aerial vehicle platform and multichannel magnetic detection data framing of the magnetic detection load back to a ground data processing terminal in real time;
4) The ground data processing terminal receives and stores framing data in real time;
5) After the unmanned aerial vehicle platform returns, the ground data processing terminal performs magnetic compensation operation, data screening operation and region interpolation operation on the frame data, then performs magnetic signal analysis and identification to obtain a total field magnetic diagram and a gradient tensor diagram, judges whether the non-explosive bomb exists or not according to the total field magnetic diagram, and outputs information such as the position, depth and the like of the non-explosive bomb according to the gradient tensor diagram;
6) And finally outputting the result of the detection of the current non-explosive bomb through comprehensive analysis.
What is not described in detail in the present specification belongs to the known technology of those skilled in the art.
Claims (5)
1. An in-air magnetic detection system for a non-explosive cartridge, comprising: the system comprises an unmanned plane platform, a magnetic detection load and a ground data processing terminal;
the magnetic detection load and the unmanned aerial vehicle platform are in a vertically distributed structure, the magnetic detection load is hoisted under the unmanned aerial vehicle platform, and the structure adopts a quick-dismantling rigid high-foot stand, so that the magnetic detection load is far away from the unmanned aerial vehicle platform; the ground data processing terminal has unmanned aerial vehicle track planning function and data processing function;
the unmanned plane platform is used for obtaining flying height data, differentiating RTK positioning data and attitude data and transmitting the data to the ground data processing terminal;
the magnetic detection load is used for obtaining multichannel magnetic detection data and transmitting the multichannel magnetic detection data to the ground data processing terminal;
the ground data processing terminal receives the height data, the differential RTK positioning data, the gesture data and the multichannel magnetic detection data, is used for obtaining a total field magnetic diagram and a gradient tensor diagram, judging whether the non-explosive bomb exists or not according to the total field magnetic diagram, and outputting position and depth information of the non-explosive bomb according to the gradient tensor diagram; meanwhile, the ground data processing terminal is used for planning the flight path of the unmanned aerial vehicle and uploading the flight path to the unmanned aerial vehicle platform;
the unmanned aerial vehicle platform includes: the system comprises a flight control system, a gesture control unit, a ground range radar and a differential RTK module;
the ground range radar is used for obtaining flying height data;
the differential RTK module is used for obtaining differential RTK positioning data;
the attitude control unit is used for obtaining the attitude data of the flight;
the flight control system performs height control according to the height data obtained by the ground range radar and the differential RTK positioning data obtained by the differential RTK module, so as to realize a stability augmentation mode;
the vertical distance between the unmanned plane platform and the magnetic detection load is not more than the maximum wheelbase of the unmanned plane platform and not less than 1/2 of the maximum wheelbase of the unmanned plane platform;
in the stability augmentation mode, the flight height error of the unmanned plane platform is not more than 10% of the flight height;
the magnetic detection load is an array formed by a plurality of triaxial vector magnetic sensors, three measuring axes of the triaxial vector magnetic sensors are orthogonal to each other, three components of a magnetic field are measured, and the triaxial vector magnetic sensors are arranged on a structural member of a non-magnetic material to form the array;
the magnetic detection data acquired by the magnetic detection load comprise magnetic field total field information and gradient vector magnetic information;
the unmanned aerial vehicle platform is many rotor unmanned aerial vehicle of low magnetic property, and the fuselage adopts non-magnetic structure, possesses the shielding structure of high frequency magnetic interference.
2. The unperforated bomb in-air magnetic detection system of claim 1, wherein: the single-sensor orthogonality error of the magnetic detection load triaxial vector magnetic sensor is smaller than 0.1 degrees; the consistency error of the directions of three measuring axes of the magnetic detection load different triaxial vector magnetic sensors is smaller than 0.1 degrees.
3. An unperforated bomb in air magnetic detection system according to claim 2, wherein: the ground data processing terminal includes: unmanned aerial vehicle track planning software, magnetic interference compensation software, magnetic signal analysis and identification software;
unmanned aerial vehicle track planning software plans unmanned aerial vehicle tracks, generates 'bow' -shaped reciprocating straight-line tracks, and the tracks are organized and the target area range is traversed;
the magnetic interference compensation software carries out compensation processing on the multichannel magnetic detection data according to the gesture data, and outputs the compensated data to the magnetic signal analysis and recognition software, so that the magnetic interference in the compensated data is reduced to below 1 nT;
the magnetic signal analysis and identification software receives the compensated data transmitted by the magnetic interference compensation software, processes the compensated data, and meanwhile, according to the height data, differential RTK positioning data and gesture data, adopts a total field magnetic diagram method and a gradient tensor method to identify and inversion position the non-explosive bomb, and obtains the condition, position and depth information of the non-explosive bomb.
4. A method of performing magnetic detection in the air of a non-explosive cartridge using a magnetic detection system in the air of a non-explosive cartridge as claimed in claim 3, comprising the steps of:
equipment unfolding is carried out outside the safety distance of the non-explosive bomb, and a magnetic detection load is installed below the unmanned aerial vehicle platform;
the ground data processing terminal plans the unmanned aerial vehicle track and uploads the track to the unmanned aerial vehicle platform;
carrying magnetic detection load on the unmanned aerial vehicle platform to carry out automatic flight detection according to the unmanned aerial vehicle track, and simultaneously, transmitting differential RTK positioning data and attitude data of the unmanned aerial vehicle platform and multichannel magnetic detection data framing of the magnetic detection load back to a ground data processing terminal in real time;
the ground data processing terminal receives and stores framing data in real time;
the ground data processing terminal performs magnetic compensation processing, data screening processing and region interpolation processing on the frame data, then performs magnetic signal analysis and identification processing to obtain a total field magnetic diagram and a gradient tensor diagram, judges whether the non-explosive bomb exists or not according to the total field magnetic diagram, and outputs position and depth information of the non-explosive bomb according to the gradient tensor diagram.
5. The method for performing air magnetic detection of a non-explosive bomb according to claim 4, wherein the unmanned aerial vehicle flight path is specifically:
before approaching the upper part of the detection area, controlling the unmanned plane platform to go to the detection area; the flying speed is greater than or equal to 5m/s;
after reaching the upper part of the detection area, the flying height of the unmanned plane platform is reduced to 1-2 meters from the ground, the flying speed is less than or equal to 3m/s, and meanwhile, the detection area is subjected to 'bow' -shaped reciprocating detection;
after the detection of the detection area is completed, the unmanned aerial vehicle increases the flying height and returns to drop to the starting point.
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