CN114994770A - Receiving system for frequency domain ground-air electromagnetic detection - Google Patents
Receiving system for frequency domain ground-air electromagnetic detection Download PDFInfo
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- G—PHYSICS
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- 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
- G01V3/10—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 using induction coils
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention relates to the technical field of geophysical nondestructive exploration, in particular to a receiving system for frequency domain ground-air electromagnetic detection.
Description
Technical Field
The invention relates to the technical field of geophysical nondestructive exploration, in particular to a receiving system for frequency domain ground-air electromagnetic detection.
Background
Along with the rapid and continuous development of economy, the problems of resources and energy sources are increasingly outstanding, the demand of underground exploration is increased year by year along with the increase of the exploration demand of the resources and the energy sources, and the traditional geophysical exploration method has low detection efficiency and is difficult to meet the demand of rapid exploration of large areas of the resources, so that a device and construction with high efficiency and high quality can be realized in areas with complex geological conditions, a ground-air frequency domain electromagnetic method is combined with an unmanned aerial vehicle flight platform, the double advantages of high-power emission of a ground electromagnetic method and rapid non-contact acquisition of an aeroelectromagnetic method are combined, the device and the method can enter the areas with complex terrain to carry out large-depth resource exploration and become a hotspot of research of the geophysical electromagnetic method in recent years, and the method is favorable for carrying out large-depth underground structure fine detection in areas such as high and cold areas, gobi deserts, hilly areas, mountain areas, dense vegetation, water areas and the like, compared with the ground and aviation electromagnetic methods, the method is more economical, safe and convenient, and therefore has wide market prospect and application value.
Chinese patent 201510039201 discloses a frequency domain ground-air electromagnetic prospecting method, which adopts the working mode of ground emission and aerial reception of electromagnetic wave signals, extracts the frequency spectrum of the signals and explains the underground electrical structure by inversion of a full-area apparent resistivity method, and is a novel electromagnetic prospecting method. The transmitting system working on the ground transmits multi-frequency pseudo-random waves to the underground through multiple cascades, and signals with multiple frequencies can be obtained by exciting once, so that the detection efficiency is greatly improved. The receiving system is carried on the aircraft, measures the magnetic field in the air above the measuring area, can adapt to the environment with complex ground surface structure, simultaneously weakens the static effect caused by the influence of the near field, and expands the detection range of electromagnetic exploration. The system can correct and compensate the measured magnetic field component under the condition of measuring a plurality of magnetic field components, and the resolution capability of the magnetic field measurement is improved. The method is suitable for deep detection of the region with severe surface conditions, and has the characteristics of wide detection range, large detection depth, high detection efficiency and the like.
Chinese patent 201710491480 discloses a method and a device for synchronously measuring the three-dimensional attitude of an earth-air electromagnetic detection coil, relating to the technical field of experimental devices of the earth-air electromagnetic method. By means of the system and the device, the attitude measurement work of the receiving coil in real time and synchronous with the electromagnetic transmitting system in the ground-air electromagnetic detection can be completed. The use of the device can eliminate the error caused by the sudden change of the coil attitude, so that the actual geological structure can be more effectively reflected by the data processing work in the later period. The method can perform effective qualitative analysis on general attitude observation, and is low in cost and easy to use.
Although the frequency domain ground-air electromagnetic prospecting method can greatly improve the detection efficiency, the problem of dynamic noise of the sensor is not solved, and the detection precision needs to be improved. A method for correcting the attitude is provided in the method and the device for synchronously measuring the three-dimensional attitude of the ground-air electromagnetic detection coil to eliminate errors, the changing attitude less than 0.1 degree can not be measured, dynamic noise is still mixed in effective signals and can not be separated, and the motion noise can not be thoroughly inhibited during data processing.
Disclosure of Invention
The invention aims to provide a receiving system for frequency domain ground-air electromagnetic detection, which aims to solve the technical problem of dynamic noise of an electromagnetic sensor in a frequency domain ground-air electromagnetic exploration method.
The present invention is achieved in such a way that,
the receiving system comprises a receiving coil sensor, a receiver and a dynamic noise suppression module, wherein the receiving coil sensor is in a circular ring shape, the dynamic noise suppression module is connected to the circular ring at equal intervals, the other ends of the three dynamic noise suppression modules are connected to the receiver in a gathering mode, the receiver is suspended on an unmanned gyroplane, and the dynamic noise suppression module adjusts the natural frequency and the amplitude of the natural frequency of the receiving coil sensor by adjusting the elastic coefficient and the damping coefficient of the dynamic noise suppression module.
Further, the three dynamic noise suppression modules and the receiving coil sensor form an axisymmetric conical structure.
Further, the dynamic noise suppression module comprises a spring system and a damping system which are connected in parallel with the same axis, the damping system comprises a first cylinder, a second cylinder with the diameter smaller than that of the first cylinder is coaxially arranged on the first cylinder, the two ends of the damping system are respectively connected with a lifting ring, one lifting ring is connected to the receiving coil sensor, one lifting ring is connected to the receiver through a nylon rope, and the spring system is sleeved on the first cylinder and the second cylinder.
Further, the natural frequency of the receive coil sensor and the amplitude at the natural frequency are changed by adjusting the elastic damping coefficient of the dynamic noise suppression module such that the natural frequency of the receive coil sensor does not overlap with the transmit frequency and the effective receive signal frequency.
Furthermore, the receiving coil sensor comprises an annular coil framework, an induction coil and a coil preamplifier, wherein the induction coil is formed by winding enameled wires on the outer side of the coil framework in a layered mode and forms a differential structure, the output end of the induction coil is connected with the receiving coil preamplifier, the receiving coil preamplifier is connected with a receiver through a shielding stranded cable, and a built-in power supply of the receiver can supply power to the receiver and the receiving coil preamplifier.
Further, the coil skeleton is made of non-conductive materials.
Compared with the prior art, the invention has the beneficial effects that:
the device reduces the dynamic noise to an ideal frequency through a spring system in the dynamic noise suppression module, and then separates the ideal frequency from the received effective frequency.
Drawings
FIG. 1 is a schematic diagram of a space-time frequency domain electromagnetic survey system
FIG. 2 is a block diagram of the receiving system of FIG. 1;
FIG. 3 is the dynamic noise suppression module of FIG. 2;
FIG. 4 is the receive coil sensor of FIG. 2;
FIG. 5 is the dynamic noise suppression module equivalent model of FIG. 3;
fig. 6 is a schematic structural diagram of a damping system according to an embodiment of the present invention.
The system comprises an unmanned gyroplane 1, a nylon rope 2, a receiving system 3, a transmitting cable 4, a transmitting system 5, a built-in power supply 31, a receiver 32, a shielded stranded cable 33, a first nylon rope 341, a second nylon rope 342, a third nylon rope 343, a dynamic noise suppression module 35, a first spring damping system 351, a second spring damping system 352, a third spring damping system 353, a first lifting ring 3511, a second lifting ring 3521, a third lifting ring 3531, a first spring system 3512, a second spring system 3522, a third spring system 3532, a first damping system 3513, a second damping system 3523, a third damping system 3533, a fifth lifting ring 3514, a sixth lifting ring 3524, a seventh lifting ring 3534, a 36 receiving coil sensor, an eighth lifting ring 361, a ninth lifting ring 362, a tenth lifting ring 363, a receiving coil preamplifier, a 365 coil skeleton 366 and an induction coil.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
Referring to fig. 1, the ground-space frequency domain detection system for the invention comprises an unmanned gyroplane 1, a receiving system 3 is mounted in a mode of hanging a nylon rope 2, a transmitting system 5 transmits a pseudo-random sequence waveform to the ground through a transmitting cable 4, and the transmitting power is controllable.
Referring to fig. 2 and 3, the receiving system includes a receiving coil sensor 36, a receiver 32, and a dynamic noise suppression module 35, the receiving coil sensor is in a ring shape, the dynamic noise suppression modules are connected to the ring shape at equal intervals, and are connected to the receiver in a convergence manner through the other ends of the three dynamic noise suppression modules, and the receiver is suspended on the unmanned gyroplane, wherein the dynamic noise suppression modules adjust the natural frequency and the amplitude at the natural frequency of the receiving coil sensor by adjusting the elastic coefficient and the damping coefficient of the dynamic noise suppression modules.
The dynamic noise suppression module 35 includes a first spring damping system 351, a second spring damping system 352 and a third spring damping system 353, and is provided with a first hanging ring 3511, a second hanging ring 3521 and a third hanging ring 3531 connected with the first hanging rope 341, the second hanging rope 342 and the third hanging rope 343, and a fifth hanging ring 3514, a sixth hanging ring 3524 and a seventh hanging ring 3534 connected with the eighth hanging ring 361, the ninth hanging ring 362 and the tenth hanging ring 363 of the receiving coil sensor 36. Forming a conical structure with a symmetrical central axis. The upper side of the receiver 32 is suspended by the receiving coil sensor through the nylon rope 2, the receiver 32 is connected with the receiving coil sensor 364 through the shielding stranded cable 33, the lower side of the receiver 32 is connected with the first spring damping system 351, the second spring damping system 352 and the third spring damping system 353 through the first nylon rope 341, the second nylon rope 342 and the third nylon rope 343, and the dynamic noise suppression module 35 can reduce the natural frequency of the receiving coil sensor 36, absorb the vibration energy of the receiving coil sensor 36 and reduce the amplitude at the natural frequency.
The dynamic noise suppression module comprises a spring system and a damping system which are coaxially connected in parallel, the damping system comprises a first cylinder, a second cylinder with the diameter smaller than that of the first cylinder is coaxially arranged on the first cylinder, the second cylinder is partially arranged in the first cylinder, damping liquid is arranged in the second cylinder, the damping size is adjusted by adjusting the damping liquid, one end of the second cylinder in the first cylinder is provided with a spring, the two ends of the damping system are respectively connected with a lifting ring, one end of the lifting ring is connected to a receiving coil sensor, one end of the lifting ring is connected to a receiver through a nylon rope, and the spring system is sleeved on the first cylinder and the second cylinder. The first spring damping system 351, the second spring damping system 352 and the third spring damping system 353 constitute three dynamic noise suppression modules.
The invention changes the natural frequency of the receiving coil sensor and the amplitude at the natural frequency by adjusting the elastic damping coefficient of the dynamic noise suppression module, so that the natural frequency of the receiving coil sensor is not overlapped with the transmitting frequency and the effective receiving signal frequency.
Referring to fig. 4, the receiving coil sensor includes an annular coil frame 365, an induction coil 366 and a coil preamplifier 364, the induction coil is formed by winding enameled wires on the outer side of the coil frame in a layered manner and forms a differential structure, the output end of the induction coil is connected with the receiving coil preamplifier, the receiving coil preamplifier is connected with a receiver through a shielded twisted cable, and a power supply 31 in the receiver can supply power to the receiver and the receiving coil preamplifier. The coil framework is made of non-conductive materials.
The receiving coil sensor is connected with a first spring damping system 351, a second spring damping system 352 and a third spring damping system 353 through a hanging ring, and specifically comprises the following steps:
a fifth hoisting ring 3514 of the first spring damping system 351 is connected with an eighth hoisting ring 361 of the receiving coil sensor 36, a sixth hoisting ring 3524 of the second spring damping system 352 is connected with a ninth hoisting ring 362 of the receiving coil sensor 36, a seventh hoisting ring 3534 of the third spring damping system 353 is connected with a tenth hoisting ring 363 of the receiving coil sensor 36, a first hoisting ring 3511 of the first spring damping system 351 is connected with the first nylon rope 341, a second hoisting ring 3521 of the second spring damping system 352 is connected with the second nylon rope 342, a third hoisting ring 3531 of the third spring damping system 353 is connected with the third nylon rope 343, the first nylon rope 341, the second nylon rope 342 and the third nylon rope 343 are further connected with the receiver 32, the receiver 32 is connected with the receiving coil sensor 36 through a shielded cable 33, and finally the receiver system 3 is suspended through a nylon rope 2 led out from the unmanned rotary-wing aircraft 1;
before flight aerial survey, the natural frequency of the receiving coil sensor and the amplitude at the natural frequency are changed by adjusting the elastic damping coefficient of the dynamic noise suppression module, so that the natural frequency of the receiving coil sensor is not overlapped with the transmitting frequency and the effective receiving signal frequency, specifically:
adjusting the elastic coefficient and the damping coefficient 3513 of a first spring system 3512 of a first spring damping system 351, adjusting the elastic coefficient and the damping coefficient of a first damping system 3523 of a second spring damping system 3522 of a second spring damping system 352, adjusting the elastic coefficient and the damping coefficient of a third spring system 3532 of a third spring damping system 353, suspending the unmanned gyroplane 1 from the receiving system 3 in the air, collecting the dynamic noise of the receiving coil sensor 36 by the receiving system 3, analyzing and determining the frequency spectrum characteristic and the resonance point of the dynamic noise, and ensuring that the natural mechanical vibration frequency of the receiving coil sensor 36 does not overlap with the transmitting frequency and the effective receiving signal frequency.
During detection, a transmitting system cable 4 is arranged 2-5 kilometers away from a receiving system 3, two electrodes are deeply buried underground and then are connected with a transmitting system 5 in series, the transmitting system 5 can transmit pseudo-random sequence waveforms of 3 frequency, 5 frequency, 7 frequency and 9 frequency, a power supply of the transmitting system 5 generates 380V alternating current by a generator and then is converted into direct current with controllable voltage through AC-DC, and proper transmitting frequency and transmitting voltage are selected according to detection requirements;
when the unmanned gyroplane 1 flies according to a set flight path of a detection area, the axial direction of the receiving coil sensor 36 is vertical to the ground and receives a secondary magnetic field signal generated by the detection area in real time, the receiving coil sensor 36 can vibrate during flying in the air, the induction coil 366 of the receiving coil sensor can cut off a geomagnetic induction line to generate dynamic noise with the same vibration frequency, the vibration amplitude and the vibration frequency in the pitching and rolling directions can be reduced through the dynamic noise suppression module 35, the energy generated by vibration is weakened, the frequency migration of the motion noise is realized, the motion noise is separated from an effective frequency magnetic field signal, and the detection capability of the receiving coil sensor 36 is improved;
the receiving coil sensor 36 transmits data to the receiver 32 in real time through the shielded twisted cable 33, and the receiver 32 converts analog signals into digital signals and stores the signals into the receiver 32; after the flight aerial survey task is completed, extracting data collected by the receiver 32, preliminarily analyzing the data spectrum characteristic and the signal-to-noise ratio, and determining whether to change the output power of the transmitting system 5; if the signal-to-noise ratio of the acquired signal is low, the transmitting power can be increased, and the flight aerial survey task can be completed in the detection process; storing all data, and analyzing the data by a data processor to obtain a frequency domain electromagnetic effective signal; frequency domain electromagnetic data are plotted to form an apparent resistivity map.
The invention also provides a frequency domain ground-air electromagnetic detection method, which comprises the following steps:
calculating the frequency band range of the transmitting current main frequency by using a skin depth formula according to the exploration depth range;
adjusting the elastic coefficient and damping coefficient of the dynamic noise suppression module of the receiving coil sensor, and reducing the natural frequency f and the amplitude at the natural frequency of the receiving coil sensor to enable the natural frequency f and the amplitude to be equal to the transmitting fundamental frequency f o1 No aliasing occurs;
the transmitting system transmits according to the transmitting frequency and the transmitting voltage;
the unmanned gyroplane flies according to a set flight path of a detection area, and the axial direction of a receiving coil sensor is vertical to the ground and receives a secondary magnetic field signal generated by the detection area in real time;
and extracting data collected by the receiver, preliminarily analyzing the spectral characteristics and the signal-to-noise ratio of the data, and determining whether to change the output power of the transmitting system.
Before flight aerial survey, a lifting ring of the dynamic noise suppression module is connected with a lifting ring of the receiving coil sensor, the receiver 32 is connected with the receiving coil sensor 36 through a shielding stranded cable 33, and finally the receiver system 3 is suspended through a nylon rope 2 led out from the unmanned gyroplane 1.
Referring to fig. 5, before flight aerial survey, the elastic coefficient of the spring system and the damping coefficient of the damping system of the dynamic noise suppression module are adjusted, taking the vertical direction as an example, the acceleration of the Z component receiving coil sensor is a, the mass is m, and the vibration frequency is f, in order to simplify the mathematical model of the system, the dynamic noise suppression module 35 is regarded as a whole, the mathematical model thereof is a spring mass damping system, and the motion differential equation of the forced vibration of the system can be summarized as
The response equation of the system is
c damping coefficient of the dynamic noise suppression module 35, k elastic coefficient of the dynamic noise suppression module 35, and the natural mechanical frequency of the receiving coil sensor 36 are
Since the mass of the coil sensor is determined, the natural frequency of the receiving coil sensor 36 can be lowered by lowering the spring constant k.
Damping ratio of the system is
The damping coefficient c of the dynamic noise suppression module 35 can be increased moderately to increase the damping ratio of the system.
The unmanned gyroplane 1 suspends the receiving system 3 and hovers in the air, the receiving system 3 collects the dynamic noise of the receiving coil sensor 36, and the frequency spectrum characteristic and the resonance point of the dynamic noise are analyzed and determined, so that the natural mechanical vibration frequency of the receiving coil sensor 36 is ensured not to be overlapped with the transmitting frequency and the effective receiving signal frequency.
According to the exploration depth range, determining the frequency band range of the main frequency of the emission current by using a skin depth formula (5):
δ is the depth of investigation, ρ is the uniform half-space resistivity, f o For the emission angular frequency, the emission fundamental frequency f o1 。
Lowering the natural frequency f of the receiver coil sensor 36 to the fundamental frequency f of transmission o1 The detection depth can be increased, the transmitting system cable 4 is arranged 2-5 kilometers away from the receiving system 3, the two electrodes are buried underground deeply and then connected with the transmitting system 5 in series, the transmitting system 5 can transmit pseudo-random sequence waveforms of 3 frequency, 5 frequency, 7 frequency and 9 frequency, a power supply of the transmitting system 5 generates 380V alternating current through a generator and then converts the alternating current into direct current with controllable voltage through AC-DC, and appropriate transmitting frequency and transmitting voltage are selected according to the detection requirement. When the unmanned gyroplane 1 flies according to a set flight path of a detection area, the axial direction of the receiving coil sensor 36 is vertical to the ground and receives a secondary magnetic field signal generated by the detection area in real time, the receiving coil sensor 36 generates vibration when flying in the air, and the induction coil 366 of the receiving coil sensor cuts off the geomagnetic induction line to generate a signal with the same vibration frequencyThe dynamic noise, which can be reduced by the dynamic noise suppression module 35, is the amplitude and frequency of the vibration in the pitch and roll directions, so as to weaken the energy generated by the vibration, realize the frequency shift of the motion noise, separate from the effective frequency magnetic field signal, and improve the detection capability of the receiving coil sensor 36.
The receiver coil sensor 36 transmits data to the receiver 32 in real time through the shielded twisted cable 33, and the receiver 32 performs conversion of analog signals to digital signals and stores the signals in the receiver 32.
After the flight aerial survey task is completed, data collected by the receiver 32 is extracted, the data spectrum characteristic and the signal-to-noise ratio are preliminarily analyzed, and whether the output power of the transmitting system 5 is changed or not is confirmed.
And storing all data, analyzing the data by a data processor to obtain a frequency domain electromagnetic effective signal, and drawing an apparent resistivity chart of the frequency domain electromagnetic data.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. The receiving system is characterized by comprising a receiving coil sensor, a receiver and dynamic noise suppression modules, wherein the receiving coil sensor is in a circular ring shape, the dynamic noise suppression modules are connected to the circular ring shape at equal intervals and are connected to the receiver in a gathering mode through the other ends of the three dynamic noise suppression modules, and the receiver is suspended on an unmanned gyroplane, wherein the dynamic noise suppression modules adjust the natural frequency and the amplitude of the natural frequency of the receiving coil sensor by adjusting the elastic coefficient and the damping coefficient of the dynamic noise suppression modules.
2. A frequency domain earth-air electromagnetic detection receiving system according to claim 1, wherein three of said dynamic noise suppression modules form an axisymmetric cone structure with said receiving coil sensor.
3. The receiving system for frequency domain ground-air electromagnetic detection according to claim 1 or 2, wherein the dynamic noise suppression module comprises a spring system and a damping system which are coaxially connected in parallel, the damping system comprises a first cylinder, a second cylinder with a diameter smaller than that of the first cylinder is coaxially arranged on the first cylinder, two ends of the damping system are respectively connected with a lifting ring, one end of the lifting ring is connected to the receiving coil sensor, the other end of the lifting ring is connected to the receiver through a nylon rope, and the spring system is sleeved on the first cylinder and the second cylinder.
4. A frequency domain earth-air electromagnetic detection receiving system according to claim 3, wherein the natural frequency of the receiving coil sensor and the amplitude at the natural frequency are changed by adjusting the elastic damping coefficient of the dynamic noise suppression module so that the natural frequency of the receiving coil sensor does not overlap with the transmission frequency and the effective received signal frequency.
5. The receiving system for frequency domain ground-air electromagnetic detection according to claim 1, wherein the receiving coil sensor comprises an annular coil frame, an induction coil and a coil preamplifier, the induction coil is formed by winding enameled wires on the outer side of the coil frame in a layered mode and forms a differential structure, the output end of the induction coil is connected with the receiving coil preamplifier, the receiving coil preamplifier is connected with a receiver through a shielded twisted cable, and a power supply arranged in the receiver can supply power to the receiver and the receiving coil preamplifier.
6. A frequency domain earth-air electromagnetic detection receiving system as claimed in claim 1, wherein said bobbin is a non-conductive material.
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