CN115826058A - Ground-air transient electromagnetic horizontal gradient measuring method for rotor unmanned aerial vehicle - Google Patents
Ground-air transient electromagnetic horizontal gradient measuring method for rotor unmanned aerial vehicle Download PDFInfo
- Publication number
- CN115826058A CN115826058A CN202211247956.2A CN202211247956A CN115826058A CN 115826058 A CN115826058 A CN 115826058A CN 202211247956 A CN202211247956 A CN 202211247956A CN 115826058 A CN115826058 A CN 115826058A
- Authority
- CN
- China
- Prior art keywords
- data
- ground
- horizontal gradient
- aerial vehicle
- unmanned aerial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Geophysics And Detection Of Objects (AREA)
Abstract
The invention relates to a ground-air transient electromagnetic horizontal gradient measuring method for a rotor unmanned aerial vehicle, which is characterized in that a plurality of sets of aerial receiving systems based on the rotor unmanned aerial vehicle at different positions are used for simultaneously acquiring data, and single-machine actually-measured transient response data and multi-machine measured horizontal gradient data are transmitted back to a ground receiving station in real time in a data wireless transmission mode, so that the central position and boundary information of an abnormal body are obtained in real time. The ground-air transient electromagnetic horizontal gradient rapid acquisition method can realize the rapid acquisition of the ground-air transient electromagnetic horizontal gradient based on the unmanned aerial vehicle. The horizontal gradient measurement can more sensitively reflect richer and more reliable geological information such as fractures distributed in the detection area, target body boundaries and the like.
Description
Technical Field
The invention belongs to the technical field of geochemical exploration, and particularly relates to a ground-air transient electromagnetic horizontal gradient measuring method for a rotor unmanned aerial vehicle.
Background
The transient electromagnetic method is an important geophysical exploration method, and has been successfully applied to the exploration in the fields of mines, coal fields, underground water resources, national major projects, underground spaces and the like. However, under the conditions of special complex terrain areas such as deserts, swamps and high mountains and canyons, the ground transient electromagnetic method is difficult to construct, the working efficiency is extremely low, and even some areas cannot be constructed. Therefore, the ground-air transient electromagnetic method is a hot spot of current research. The ground-air transient electromagnetic method is also called semi-aviation transient electromagnetic, and is a form of transient electromagnetic device for receiving in the ground transmitting air. The semi-aviation device has the advantages of large detection depth of ground transient electromagnetism and high-efficiency measurement of full-aviation transient electromagnetism. Among the three components of the transient electromagnetic response, the vertical Z component has the advantage of reflecting the center of the target volume, and the horizontal X and Y components are more sensitive to reflecting the boundary of the target volume. However, the research of the earth-air transient electromagnetic method is mostly focused on the vertical component response at present, and the acquisition of the horizontal component data is still not mature due to the level of instrument development. Therefore, it is a challenge to obtain boundary information of the target volume by fully utilizing the vertical component response.
At present, a ground-air transient electromagnetic receiving system only acquires vertical component data generally, but the vertical component response per se has good reflection on the central position of a detection target body, is not sensitive to boundary reflection, and cannot meet the requirement on the overall control of the target body.
Disclosure of Invention
The invention aims to provide a method for measuring the ground-air transient electromagnetic horizontal gradient of a rotor unmanned aerial vehicle.
The invention provides a method for measuring ground-to-air transient electromagnetic horizontal gradient of a rotor unmanned aerial vehicle, which is characterized in that a plurality of sets of aerial receiving systems based on the rotor unmanned aerial vehicle at different positions are used for simultaneously acquiring data, and single-machine actually-measured transient response data and multi-machine measured horizontal gradient data are transmitted back to a ground receiving station in real time in a data wireless transmission mode, so that the central position and boundary information of an abnormal body are obtained in real time;
the specific method comprises the following steps:
step 1, arranging a ground-to-air transient electromagnetic ground transmitting system which comprises a generator, a rectifying source, a transmitter, a transmitting return wire and a high-precision GPS system;
step 2, setting ground emission parameters including emission frame side length, emission base frequency, turn-off time, emission current and the like according to scale, depth and attitude information of an actual detection target;
step 3, preparing a plurality of sets of aerial receiving systems carried on the rotor unmanned aerial vehicle, wherein one set of aerial receiving system comprises a rotor unmanned aerial vehicle, a receiver, an aerial induction type sensor, a high-precision GPS and a data wireless transmission device;
step 4, designing a flight route aiming at the investigation region, wherein the direction of the flight survey line is vertical to the structure trend of the investigation region, the distance of the flight survey line is 20-50m, the flight speed is 1m/S-5m/S, and the flight height is 20-100m;
step 5, the aerial receiving system flies under the control of the same flight control software, flies at the same speed according to respective designed routes after taking off successively, and keeps intervals of 5-20 m;
step 6, the aerial receiving system and the ground transmitting system utilize GPS synchronization, and data are collected in an off-time section after the falling edge of a transmitting waveform, and the superposition times are 32-128 times;
step 7, the single set of aerial receiving system measures the secondary field signal through the receiving coil, and reads the position data from the GPS, and the position data and the secondary field signal form a group of data to be stored in the same point number data file;
step 8, taking one set of aerial receiving system as a reference, calculating gradient with actually measured vertical component data of aerial receiving systems at other different positions, and forming gradient data with the position data;
step 9, transmitting the vertical component data and the horizontal gradient data of the air data back to the ground receiving station through the data wireless transmission device, continuously flying along the designed route by the air receiving system, continuously transmitting the data back to the ground receiving station, and drawing a vertical component transient response plan and horizontal gradient plan in different directions in real time;
and step 10, after all the survey line flight measurements are finished, returning to the air receiving system for landing, stopping transmitting by the ground transmitting system, and obtaining the position information of the center and the boundary of the abnormal body according to the vertical component and the horizontal gradient plane distribution map.
Further, the number of the aerial receiving systems based on the rotor wing unmanned aerial vehicle is three.
By means of the scheme, the ground-air transient electromagnetic horizontal gradient measurement method of the rotor unmanned aerial vehicle can realize the fast acquisition of the ground-air transient electromagnetic horizontal gradient based on the unmanned aerial vehicle. The horizontal gradient measurement can more sensitively reflect richer and more reliable geological information such as fractures distributed in the detection area, target body boundaries and the like.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to make the technical solutions of the present invention practical in accordance with the contents of the specification, the following detailed description is given of preferred embodiments of the present invention with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic view of ground-to-air transient electromagnetic horizontal gradient data acquisition of a rotor unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of data interaction of an airborne transient electromagnetic system according to an embodiment of the present invention.
Detailed Description
The following detailed description of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
The embodiment provides a rotor unmanned aerial vehicle ground-to-air transient electromagnetic horizontal gradient measuring method, which comprises the steps of simultaneously collecting a plurality of sets of unmanned aerial vehicle aerial collecting systems at different positions, then calculating gradients of the simultaneously collected data at different positions according to a certain direction through data wireless transmission, and obtaining the horizontal gradient of transient response at the position. The horizontal gradient can be converted into a gradient in a certain direction according to actual needs, so that boundary information of the target body is provided. The data wireless transmission technology is utilized to transmit the single machine actual measurement transient response data and the multi-machine measurement horizontal gradient data back to the ground receiving station in real time, so that the center position and boundary information of the abnormal body can be obtained in real time, and the geological exploration requirement is met.
The ground-to-air transient electromagnetic horizontal gradient measuring system of the rotor unmanned aerial vehicle comprises a ground transmitting system, a ground receiving station and a plurality of sets of aerial receiving systems (see attached figure 1) based on the rotor unmanned aerial vehicle.
The ground emission system has the function of emitting a primary magnetic field on the ground to excite an underground target body to generate a secondary induction magnetic field. The ground transmitting system comprises a generator, a rectifying source, a transmitter and a transmitting return wire laid on the ground. Wherein the generator produces 220V alternating current. The rectification source mainly has the function of converting alternating current supplied by the generator into direct current voltage and adjusting the direct current voltage according to actual needs. The function of the GPS is time service synchronization. The transmitter transmits the direct-current voltage of the rectification source in a loop arranged on the ground according to the bipolar square wave, so that a primary field is generated in the underground medium and further a secondary field is generated by excitation.
The transient electromagnetic horizontal gradient measuring system based on the rotor unmanned aerial vehicle comprises a plurality of (> 3) sets of aerial receiving systems, and the system has the main function of measuring the horizontal gradient of a secondary induction magnetic field generated by an underground target body. The aerial receiving system comprises a rotor unmanned aerial vehicle, a transient electromagnetic receiver, an inductive sensor (vertical component), a data wireless transmission system and a GPS. The rotor unmanned aerial vehicle is mainly used for carrying a receiver and a sensor to realize rapid measurement; the transient electromagnetic receiver mainly measures a transient response vertical component through an induction type sensor; the data wireless transmission system mainly realizes data interaction among a plurality of air receiving systems; the function of the GPS is to synchronize positioning and time service.
The ground receiving station downloads vertical component original data actually measured by each aerial receiver and horizontal gradient data in different directions formed after interaction of multiple sets of receiver actually measured data in real time through a wireless transmission device, and position and boundary information of a target geologic body below an aerial measuring point coverage area is obtained in time for an operator.
A ground-to-air transient electromagnetic horizontal gradient measurement method for a rotor unmanned aerial vehicle comprises the following basic steps:
s1, preparing a ground-to-air transient electromagnetic ground Transmitting System (TS) which comprises a generator (5 KW), a rectifying source, a transmitter (4.8 kW), a transmitting return line (800 m multiplied by 800 m) and a high-precision GPS system (1 mu S);
s2, setting ground emission parameters including emission frame side length, emission base frequency, turn-off time, emission current and the like according to information such as scale, depth, occurrence and the like of an actual detection target; wherein, the emission fundamental frequency is 25Hz, the turn-off time is 80 mus, and the emission current is 15A;
s3, preparing a plurality of sets of Receiving Systems (RS) carried on the rotor unmanned aerial vehicle, wherein one set of receiving system mainly comprises a rotor unmanned aerial vehicle (RU), a Receiver (RE), an air induction type sensor (RX), a high-precision GPS and a data wireless transmission system (RD); in this embodiment, 3 sets of receiving systems (RS 1, RS2, and RS 3) mounted on the unmanned gyroplane are prepared.
And S4, designing a flight path aiming at the investigation region, wherein the direction of the flight measurement line is vertical to the structure trend of the investigation region, the distance of the flight measurement line is generally 20-50m, the flight speed is 1m/S-5m/S, and the flight height is 20-100m. In the embodiment, the direction of the flight measuring line is set to be south-north, the length of the flight measuring line is 800m, the distance between adjacent measuring lines is 20m, the flying speed is 3m/S, and the flying height is 30m.
And S5, the aerial receiving systems (RS 1, RS2, RS3, 8230; and the like) fly under the control of the same flight control software, and fly at the same speed according to respective designed routes after successive takeoff. Each at a distance of 5-20 m. In the embodiment, the hollow receiving systems RS1, RS2 and RS3 fly under the control of the same flight control software, and take off successively, wherein the RS1 and RS2 fly at the interval of 20m in front of each other, the RS1 and RS3 fly at the interval of 20m in left and right, and the three systems fly at the same speed.
And S6, the receiving system and the transmitting system acquire data in an off-time period after the falling edge of the transmitting waveform by using GPS synchronization, and the superposition times are 32-128 times. The number of times of superimposition is 32 in this embodiment.
And S7, measuring a secondary field signal by the single set of receiver (RS 1) through the receiving coil, reading position data from a GPS (global positioning system) of a receiving system, and storing the position data and the secondary field signal into a group of data (RSZ 1) in the same point number data file. In this embodiment, the hollow receiving systems RS1, RS2, and RS3 respectively collect vertical component transient responses, and form a set of data (RSZ 1, RSZ2, and RSZ 3) at the position with the spatial position recorded by the GPS, and respectively store the data in a data file.
S8, with one set of aerial receiving system (RS 1) as a reference, calculating gradient with other different position receiving systems (RS 2, RS3, \8230;) actually measured vertical component data and forming gradient data (RSG 12, RSG13, \8230;) with position data. In this embodiment, with RS1 as a reference, the gradient is calculated with the actually measured vertical component data of RS2 and RS3, respectively, and the calculated gradient and the RS1 position data constitute gradient data (RSG 12, RSG 13) along the survey line direction and the vertical survey line direction.
S9, transmitting the aerial data vertical component data (RSZ 1, RSZ2, RSZ3 \8230;) and the horizontal gradient data (RSG 12, RSG13, \8230;) back to the ground receiving station through the data wireless transmission device (RD). In the embodiment, the vertical component data (RSZ 1, RSZ2, RSZ 3) and the horizontal gradient data (RSG 12, RSG 13) of the air data are transmitted back to the ground receiving station through the data wireless transmission device (RD). The system continuously flies along the designed route, continuously transmits data back to the ground receiving station, and draws a vertical component transient response plan and horizontal gradient plan in different directions in real time.
And S10, after all the survey line flight measurements are finished, returning to the air Receiving System (RS) for landing. In this embodiment, after all the survey line flight measurements are completed, the aerial receiving systems (RS 1, RS2, RS 3) return to landing, and the ground transmitting system stops transmitting. And obtaining the center and boundary positions of the landslide area according to the vertical component and the horizontal gradient plane distribution map, thereby achieving the geological purpose.
The invention can ensure the accuracy of the horizontal gradient calculation result by utilizing a high-precision positioning technology; by a high-precision synchronous acquisition technology, the consistency of data acquired by a plurality of sets of receivers participating in gradient calculation on acquisition time can be ensured; real-time interaction of measured data of multiple sets of systems can be guaranteed through a data wireless transmission technology; through the real-time gradient calculation among a plurality of sets of data acquisition systems, more obvious information such as boundaries, fractures and the like can be obtained.
The method is based on the GPS synchronization technology, and carries out gradient calculation on a plurality of sets of air transient electromagnetic system actual measurement curves at different positions, so that boundary information is reflected more sensitively and accurately, and the central position and the boundary information of the target body are acquired in real time.
According to the invention, multiple sets of aerial systems are used for simultaneous acquisition, so that horizontal gradient data in different directions can be acquired in real time, and the position and boundary information of a target body can be obtained through rapid measurement.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (2)
1. A method for measuring ground-to-air transient electromagnetic horizontal gradient of a rotor unmanned aerial vehicle is characterized in that a plurality of sets of aerial receiving systems based on the rotor unmanned aerial vehicle at different positions are used for simultaneously collecting data, single-machine measured transient response data and multi-machine measured horizontal gradient data are transmitted back to a ground receiving station in real time in a data wireless transmission mode, and therefore the central position and boundary information of an abnormal body are obtained in real time;
the specific method comprises the following steps:
step 1, arranging a ground-to-air transient electromagnetic ground transmitting system which comprises a generator, a rectifying source, a transmitter, a transmitting return wire and a high-precision GPS system;
step 2, setting ground emission parameters including emission frame side length, emission base frequency, turn-off time, emission current and the like according to scale, depth and attitude information of an actual detection target;
step 3, preparing a plurality of sets of aerial receiving systems carried on the rotor unmanned aerial vehicle, wherein one set of aerial receiving system comprises a rotor unmanned aerial vehicle, a receiver, an aerial induction type sensor, a high-precision GPS and a data wireless transmission device;
step 4, designing a flight route aiming at the investigation region, wherein the direction of the flight survey line is vertical to the structure trend of the investigation region, the distance of the flight survey line is 20-50m, the flight speed is 1m/S-5m/S, and the flight height is 20-100m;
step 5, the aerial receiving system flies under the control of the same flight control software, flies at the same speed according to respective designed routes after taking off successively, and keeps intervals of 5-20 m;
step 6, the aerial receiving system and the ground transmitting system utilize GPS synchronization, and data are collected in an off-time section after the falling edge of a transmitting waveform, and the superposition times are 32-128 times;
step 7, the single set of aerial receiving system measures the secondary field signal through the receiving coil, and reads the position data from the GPS, and the position data and the secondary field signal form a group of data to be stored in the same point number data file;
step 8, taking one set of aerial receiving system as a reference, calculating gradient with actually measured vertical component data of aerial receiving systems at other different positions, and forming gradient data with the position data;
step 9, transmitting the vertical component data and the horizontal gradient data of the air data back to the ground receiving station through the data wireless transmission device, continuously flying along the designed route by the air receiving system, continuously transmitting the data back to the ground receiving station, and drawing a vertical component transient response plan and horizontal gradient plan in different directions in real time;
and step 10, after all the survey line flight measurements are finished, returning to the air receiving system for landing, stopping transmitting by the ground transmitting system, and obtaining the position information of the center and the boundary of the abnormal body according to the vertical component and the horizontal gradient plane distribution map.
2. The method of claim 1, wherein the number of aerial receiving systems based on the unmanned rotorcraft is three.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211247956.2A CN115826058A (en) | 2022-10-12 | 2022-10-12 | Ground-air transient electromagnetic horizontal gradient measuring method for rotor unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211247956.2A CN115826058A (en) | 2022-10-12 | 2022-10-12 | Ground-air transient electromagnetic horizontal gradient measuring method for rotor unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115826058A true CN115826058A (en) | 2023-03-21 |
Family
ID=85524645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211247956.2A Pending CN115826058A (en) | 2022-10-12 | 2022-10-12 | Ground-air transient electromagnetic horizontal gradient measuring method for rotor unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115826058A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117107600A (en) * | 2023-10-23 | 2023-11-24 | 四川高速公路建设开发集团有限公司 | Tunnel pavement detection system and method |
-
2022
- 2022-10-12 CN CN202211247956.2A patent/CN115826058A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117107600A (en) * | 2023-10-23 | 2023-11-24 | 四川高速公路建设开发集团有限公司 | Tunnel pavement detection system and method |
| CN117107600B (en) * | 2023-10-23 | 2023-12-19 | 四川高速公路建设开发集团有限公司 | Tunnel pavement detection system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104597506B (en) | The air-ground electromagnetic exploration method of frequency domain | |
| CN104749640B (en) | Multi-source multi-frequency ground-air electromagnetic detection emission method | |
| CN111257951B (en) | Ground-air short-offset electromagnetic detection system and multi-source emission signal separation method | |
| CN101661111B (en) | Method for performing seismograph control and data transmission by using short message and short message control and transmission type cableless seismograph | |
| CN110471117A (en) | A kind of aviation electromagnetic detection system and method | |
| CN109814161B (en) | Aviation magnetic resonance underground water detection device and method | |
| CN110579768B (en) | Method for designing power line-patrol route of fixed-wing unmanned aerial vehicle laser radar | |
| CN102176003B (en) | Optimization design method for aerial survey parameter of airborne laser radar | |
| CN110554437A (en) | Mine field multi-source information synchronous detection system | |
| CN109556673A (en) | A kind of earthwork calculation amount method and system based on unmanned plane | |
| CN110231526A (en) | Civil air navigation aids active Electromagnetic environment assessment system and its appraisal procedure | |
| CN105301663A (en) | Time-frequency electromagnetic exploration data air acquisition device and system | |
| CN107478244A (en) | The unmanned plane check system and method for a kind of instrument-landing-system | |
| CN103576205A (en) | Land and air transient electromagnetism exploring method based on combined magnetism source technology | |
| CN109270579A (en) | Transient electromagnetic reception device for small-sized more rotor low latitudes unmanned plane | |
| CN115826058A (en) | Ground-air transient electromagnetic horizontal gradient measuring method for rotor unmanned aerial vehicle | |
| CN114910968A (en) | Orthogonal source frequency domain ground-air electromagnetic dip divergence detection and imaging method and system | |
| CN201514489U (en) | Short message type no-cable seismograph | |
| CN106772642B (en) | The nuclear magnetic resonance that a kind of earth electric field excites visits water system and outdoor operation method | |
| CN112505787B (en) | Coal seam roof water electromagnetic method perspective exploration system and method | |
| CN102466814B (en) | Wireless remote sensing seismograph system | |
| CN110082697A (en) | A kind of method and apparatus for demarcating lightning location system performance parameter | |
| CN114114432B (en) | Unmanned aerial vehicle-based frequency domain multi-frequency electromagnetic detection system and method | |
| CN110501748B (en) | Semi-aviation transient electromagnetic receiving probe attitude correction system and method | |
| CN113885560B (en) | Unmanned aerial vehicle cluster ground-air transient electromagnetic measurement method suitable for landslide rapid investigation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |