CN116027441B - Aviation mobile MT weak signal three-component receiving device and control method - Google Patents
Aviation mobile MT weak signal three-component receiving device and control method Download PDFInfo
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Abstract
The invention discloses an aviation mobile MT weak signal three-component receiving device and a control method thereof, wherein the device comprises the following steps: the receiving module is hung below the unmanned aerial vehicle and used for collecting geomagnetic data; a plurality of first gyroscopes configured to the drone; a second gyroscope configured to a receiving module; the control module is configured to acquire data of a plurality of first gyroscopes as first posture data and acquire data of a second gyroscope as second posture data; magnetic induction data is acquired, and the magnetic induction data is corrected according to the first posture data and the second posture data. According to the aviation mobile MT weak signal three-component receiving device and the control method, magnetic induction data are corrected through the relative positions of the unmanned aerial vehicle and receiving equipment and the gesture of the unmanned aerial vehicle, so that the magnetic induction data are effectively improved, passive detection of the geomagnetic field is realized, the detection depth is not limited by active detection, and the detection depth is greatly improved.
Description
Technical Field
The invention relates to geophysical prospecting technology, in particular to an aviation mobile MT weak signal three-component receiving device and a control method.
Background
In the living space of people, an electromagnetic field which is constantly changed exists widely, the traditional ground magnetotelluric is an electromagnetic exploration method which takes natural alternating electromagnetic fields such as solar wind, earth thunder and the like as field sources, electric field and magnetic field components are observed on the ground to research underground electric structures, the ground magnetotelluric is less affected by interference, and the requirement on a receiving device is low. Along with the improvement of requirements such as engineering construction technology and efficiency, electromagnetic method geophysical prospecting gradually goes into unmanned aerial vehicle aviation electromagnetism transition from ground. At present, traditional unmanned aerial vehicle aviation electromagnetism is an active field, namely, the ground is used for transmitting a workshop source, and receiving equipment is used for receiving data in the air. The aviation mobile MT is a method for collecting a natural electric field on the ground and collecting a natural magnetic field in the air, and has the advantages of wide application range (suitable for large-area plains, complex mountain areas and the like), more convenient use, large exploration depth, higher resolution ratio and the like compared with the active fields such as semi-aviation electromagnetism and the like.
Because the natural magnetic field signal is weak and is collected in the air, the natural magnetic field signal is unstable, and the requirement on the aviation mobile MT receiving device is extremely high. Therefore, the development of a novel special weak signal receiving device system for aviation mobile MT mounting has important significance for promoting the development of aviation geophysical prospecting.
In the prior art, teng Fei et al in the design of a three-component coil sensor for electromagnetic detection in a half aviation frequency domain published by geophysical science, the article designs and develops a three-component hollow coil sensor capable of being used for electromagnetic detection in the half aviation frequency domain, and three groups of mutually perpendicular receiving coils are adopted to respectively receive magnetic field signals of three components.
Wang Hao et al, in the automation and instrumentation publication of aviation transient electromagnetic three-component air-core coil sensor design, designed and developed a three-component inductive air-core coil sensor that can be used for aviation transient electromagnetic, the sensor being designed as three mutually perpendicular coils.
The patent of China with the application number of 202111580806.9 discloses a magnetic source ground-air transient electromagnetic three-component measurement system and a measurement method, and relates to a magnetic source ground-air transient electromagnetic three-component measurement system and a measurement method.
In the prior art, active detection is adopted for electromagnetic detection of geomagnetism, the basic principle is that signals are actively transmitted through aviation equipment and received for detection by signals transmitted from the earth, the method is widely applied to the earth prospecting detection, but the penetration depth of the signals actively transmitted on the ground is limited, so that the detection depth is shallower; meanwhile, the signal transmitting equipment is required to be carried, so that the design is generally complex, the weight is large, and the requirements on the aircraft are relatively high.
Disclosure of Invention
In order to at least overcome the above-mentioned drawbacks of the prior art, it is an object of the present application to provide.
In a first aspect, an embodiment of the present application provides an airborne mobile MT weak signal three-component receiving apparatus, including:
unmanned plane;
the receiving module is configured to be hung below the unmanned aerial vehicle through a bearing knob rope and collect geomagnetic data; the receiving module comprises x-component magnetic bars, y-component magnetic bars and z-component magnetic bars which are arranged in a pairwise orthogonal mode;
a plurality of first gyroscopes disposed in the unmanned aerial vehicle;
a second gyroscope configured to the receiving module;
the control module is configured to acquire data of a plurality of first gyroscopes as first posture data and acquire data of the second gyroscopes as second posture data;
and acquiring magnetic induction data output by the x-component magnetic rod, the y-component magnetic rod and the z-component magnetic rod, and correcting the magnetic induction data according to the first posture data and the second posture data.
When the embodiment of the application is implemented, the inventor finds that the main reason for adopting active detection in the prior art is that the signal of the deep bottom layer is weak, so that geomagnetic passive detection has high requirements on test precision; meanwhile, the interference of the detection equipment and the unmanned aerial vehicle to the geomagnetic passive detection equipment is not easy to eliminate. This portion of the interference is eliminated in the embodiments of the present application. Specifically, the embodiment of the application discards the conventional design of the three orthogonal coils, and adopts the magnetic rod with smaller influence on the environment magnetic field to detect the magnetic field, so that the space occupied by the magnetic rod is smaller, and the influence of any one of the three orthogonal magnetic rods on the magnetic field is smaller when the three orthogonal magnetic rods are used.
Meanwhile, the inventor finds that the unmanned aerial vehicle gesture has a great influence on the interference sent by the unmanned aerial vehicle, mainly in the interference of the change of the motor rotation speed of the unmanned aerial vehicle, and when the unmanned aerial vehicle is used as an interference source, the influence of the unmanned aerial vehicle interference on the receiving module is also influenced by the position relation between the receiving module and the unmanned aerial vehicle; in the embodiment of the present application, it is adopted that the magnetic induction data is corrected with the first posture data and the second posture data.
The first gesture data is collected through a first gyroscope configured in the unmanned aerial vehicle, the first gyroscope can be a gesture gyroscope of the unmanned aerial vehicle, the first gesture data which can be obtained by the first gyroscope comprises data which can possibly influence electromagnetism, such as speed, acceleration, rough position and inclination angle of the unmanned aerial vehicle, and the rotating speed conditions of the unmanned aerial vehicle motor are greatly different under different gestures. The second gesture data are collected through a second gyroscope arranged on the receiving module, and the main data are speed, acceleration and approximate position.
In a specific use process, when the unmanned aerial vehicle carries the receiving module to fly in the air, the receiving module is often not positioned under the unmanned aerial vehicle due to various reasons such as inertia, wind resistance and the like, the position of the receiving module needs to be positioned through the second gyroscope, the specific mode is generally to perform secondary integration on acceleration data acquired by the second gyroscope, and under the condition of determining an aviation, the position of the receiving module can be accurately determined through the positioning mode; the position of the same unmanned aerial vehicle can also be determined through the first gyroscope, and the position is more accurate compared with GPS or Beidou positioning. After the position and the gesture of the unmanned aerial vehicle are determined through the first gesture data, the position relation between the receiving device and the unmanned aerial vehicle is determined through the second gesture data, so that the magnetic field influence of the unmanned aerial vehicle related equipment on the receiving device can be accurately obtained, and the magnetic induction data collected by the receiving device are accurately corrected. According to the embodiment of the application, the magnetic induction data are corrected through the relative positions of the unmanned aerial vehicle and the receiving equipment and the gesture of the unmanned aerial vehicle, so that the magnetic induction data are effectively improved, the passive detection of the geomagnetic field is realized, the detection depth is not limited by active detection, and the detection depth is greatly improved.
In one possible implementation, the control module is further configured to:
inputting the first posture data and the second posture data into a first correction model configured in the control module, and receiving first correction data output by the first correction model; the first correction data are influence data generated by the electromagnetic field of the unmanned aerial vehicle in the magnetic induction data;
inputting the magnetic induction data into a second correction model, and receiving second correction data output by the second correction model; the second correction data is influence data generated by the x-component magnetic rod, the y-component magnetic rod and the z-component magnetic rod in the magnetic induction data;
and correcting the magnetic induction data according to the first correction data and the second correction data.
In one possible implementation, the generating of the first correction model includes:
flying the unmanned aerial vehicle suspended with the receiving module in an electromagnetic shielding room, acquiring first posture data and second posture data as first sample data, and acquiring magnetic induction data as second sample data;
performing time sequence alignment on the first sample data and the second sample data to form sample pair data;
generating the first correction model for the data training neural network model through a plurality of groups of samples; the input data of the first correction model are first posture data and second posture data, and the output data of the first correction model are first correction data.
In one possible implementation, the magnetic induction data includes first magnetic induction data output by the x-component magnetic rod, second magnetic induction data output by the y-component magnetic rod, and third magnetic induction data output by the z-component magnetic rod;
the generating of the second correction model includes:
configuring the receiving module in a geomagnetic simulation room;
adjusting the geomagnetic field intensity and the geomagnetic field direction in the geomagnetic simulation chamber, and acquiring first magnetic induction data, second magnetic induction data and third magnetic induction data as actually measured magnetic induction data;
decomposing the geomagnetic field intensity and the geomagnetic field direction to correspond to three orthogonal directions according to the positions of the x-component magnetic rod, the y-component magnetic rod and the z-component magnetic rod to form reference magnetic induction data;
calculating the difference between the actually measured magnetic induction data and the reference magnetic induction data to form difference data, and forming a sample pair by the difference data and the corresponding actually measured magnetic induction data;
forming a second correction model for the training neural network model through the sample pair; the input data of the second correction model is magnetic induction data, and the output data is second correction data; the second correction data is magnetic field interference data generated by the x-component magnetic rod, the y-component magnetic rod and the z-component magnetic rod under the condition of the current magnetic induction data.
In one possible implementation, the control module is further configured to:
and eliminating the first correction data and the second correction data from the magnetic induction data to finish correction.
In one possible implementation, the receiving module further includes a six-way connector, a first center of gravity balance bar, and a second center of gravity balance bar;
the z-component magnetic rod is vertically arranged at the bottom of the six-way connector; the x-component magnetic rod, the y-component magnetic rod, the first gravity center balance rod and the second gravity center balance rod are horizontally arranged on the side face of the six-way connector, the x-component magnetic rod and the second gravity center balance rod are symmetrical along the center point of the six-way connector, and the y-component magnetic rod and the first gravity center balance rod are symmetrical along the center point of the six-way connector;
when the receiving module is hung below the unmanned aerial vehicle through the bearing knob rope, the first gravity center balance rod and the second gravity center balance rod keep the gravity center of the receiving module balanced until the z-component magnetic rod is vertical.
In one possible implementation, the unmanned aerial vehicle further comprises a platform bracket arranged below the unmanned aerial vehicle; the control module is arranged on the platform support, and is electrically connected with the x-component magnetic rod through a connecting wire, and the y-component magnetic rod and the z-component magnetic rod.
In a second aspect, an embodiment of the present application provides a control method of an aviation mobile MT weak signal three-component receiving device, where the control method is executed by the control module; the control method comprises the following steps:
acquiring data of a plurality of first gyroscopes as first attitude data, and acquiring data of a second gyroscope as second attitude data;
and acquiring magnetic induction data output by the x-component magnetic rod, the y-component magnetic rod and the z-component magnetic rod, and correcting the magnetic induction data according to the difference between the first posture data and the second posture data.
In one possible implementation, correcting the magnetic induction data according to the difference between the first and second pose data includes:
inputting the first posture data and the second posture data into a first correction model configured in the control module, and receiving first correction data output by the first correction model; the first correction data are influence data generated by the electromagnetic field of the unmanned aerial vehicle in the magnetic induction data;
inputting the magnetic induction data into second correction data, and receiving the second correction data output by the second correction model; the second correction data is influence data generated by the x-component magnetic rod, the y-component magnetic rod and the z-component magnetic rod in the magnetic induction data;
and correcting the magnetic induction data according to the first correction data and the second correction data.
In one possible implementation, correcting the magnetic induction data according to the first correction data and the second correction data includes:
and eliminating the first correction data and the second correction data from the magnetic induction data to finish correction.
Compared with the prior art, the invention has the following advantages and beneficial effects:
according to the aviation mobile MT weak signal three-component receiving device and the control method, magnetic induction data are corrected through the relative positions of the unmanned aerial vehicle and receiving equipment and the gesture of the unmanned aerial vehicle, so that the magnetic induction data are effectively improved, passive detection of the geomagnetic field is realized, the detection depth is not limited by active detection, and the detection depth is greatly improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention. In the drawings:
FIG. 1 is a schematic structural diagram of an embodiment of the present application;
fig. 2 is a schematic structural diagram of a receiving module according to an embodiment of the present application;
FIG. 3 is a schematic diagram of steps of a method according to an embodiment of the present application.
In the drawings, the reference numerals and corresponding part names:
the system comprises a 1-z component magnetic rod, a 2-y component magnetic rod, a 3-x component magnetic rod, a 4-first gravity center balance rod, a 5-second gravity center balance rod, a 6-six-way connector, a 7-second gyroscope, an 8-connecting wire, a 9-bearing lever knob rope, a 10-control module and an 11-unmanned aerial vehicle.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the accompanying drawings in the present application are only for the purpose of illustration and description, and are not intended to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this application, illustrates operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to the flow diagrams and one or more operations may be removed from the flow diagrams as directed by those skilled in the art.
In addition, the described embodiments are only some, but not all, of the embodiments of the present application. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.
In order to facilitate the explanation of the foregoing three-component receiving device for weak signals of an airborne mobile MT, please refer to fig. 1 and fig. 2, a schematic structural diagram of the three-component receiving device for weak signals of an airborne mobile MT is provided. Comprising the following steps:
unmanned plane;
the receiving module is configured to be hung below the unmanned aerial vehicle through a bearing knob rope and collect geomagnetic data; the receiving module comprises x-component magnetic bars, y-component magnetic bars and z-component magnetic bars which are arranged in a pairwise orthogonal mode;
a plurality of first gyroscopes disposed in the unmanned aerial vehicle;
a second gyroscope configured to the receiving module;
the control module is configured to acquire data of a plurality of first gyroscopes as first posture data and acquire data of the second gyroscopes as second posture data;
and acquiring magnetic induction data output by the x-component magnetic rod, the y-component magnetic rod and the z-component magnetic rod, and correcting the magnetic induction data according to the first posture data and the second posture data.
When the embodiment of the application is implemented, the inventor finds that the main reason for adopting active detection in the prior art is that the signal of the deep bottom layer is weak, so that geomagnetic passive detection has high requirements on test precision; meanwhile, the interference of the detection equipment and the unmanned aerial vehicle to the geomagnetic passive detection equipment is not easy to eliminate. This portion of the interference is eliminated in the embodiments of the present application. Specifically, the embodiment of the application discards the conventional design of the three orthogonal coils, and adopts the magnetic rod with smaller influence on the environment magnetic field to detect the magnetic field, so that the space occupied by the magnetic rod is smaller, and the influence of any one of the three orthogonal magnetic rods on the magnetic field is smaller when the three orthogonal magnetic rods are used.
Meanwhile, the inventor finds that the unmanned aerial vehicle gesture has a great influence on the interference sent by the unmanned aerial vehicle, mainly in the interference of the change of the motor rotation speed of the unmanned aerial vehicle, and when the unmanned aerial vehicle is used as an interference source, the influence of the unmanned aerial vehicle interference on the receiving module is also influenced by the position relation between the receiving module and the unmanned aerial vehicle; in the embodiment of the present application, it is adopted that the magnetic induction data is corrected with the first posture data and the second posture data.
The first gesture data is collected through a first gyroscope configured in the unmanned aerial vehicle, the first gyroscope can be a gesture gyroscope of the unmanned aerial vehicle, the first gesture data which can be obtained by the first gyroscope comprises data which can possibly influence electromagnetism, such as speed, acceleration, rough position and inclination angle of the unmanned aerial vehicle, and the rotating speed conditions of the unmanned aerial vehicle motor are greatly different under different gestures. The second gesture data are collected through a second gyroscope arranged on the receiving module, and the main data are speed, acceleration and approximate position.
In a specific use process, when the unmanned aerial vehicle carries the receiving module to fly in the air, the receiving module is often not positioned under the unmanned aerial vehicle due to various reasons such as inertia, wind resistance and the like, the position of the receiving module needs to be positioned through the second gyroscope, the specific mode is generally to perform secondary integration on acceleration data acquired by the second gyroscope, and under the condition of determining an aviation, the position of the receiving module can be accurately determined through the positioning mode; the position of the same unmanned aerial vehicle can also be determined through the first gyroscope, and the position is more accurate compared with GPS or Beidou positioning. After the position and the gesture of the unmanned aerial vehicle are determined through the first gesture data, the position relation between the receiving module and the unmanned aerial vehicle is determined through the second gesture data, so that the magnetic field influence of the receiving module by the unmanned aerial vehicle related equipment can be accurately obtained, and the magnetic induction data collected by the receiving module can be accurately corrected. According to the embodiment of the application, the magnetic induction data are corrected through the relative positions of the unmanned aerial vehicle and the receiving equipment and the gesture of the unmanned aerial vehicle, so that the magnetic induction data are effectively improved, the passive detection of the geomagnetic field is realized, the detection depth is not limited by active detection, and the detection depth is greatly improved.
In one possible implementation, the control module is further configured to:
inputting the first posture data and the second posture data into a first correction model configured in the control module, and receiving first correction data output by the first correction model; the first correction data are influence data generated by the electromagnetic field of the unmanned aerial vehicle in the magnetic induction data;
inputting the magnetic induction data into a second correction model, and receiving second correction data output by the second correction model; the second correction data is influence data generated by the x-component magnetic rod, the y-component magnetic rod and the z-component magnetic rod in the magnetic induction data;
and correcting the magnetic induction data according to the first correction data and the second correction data.
When the embodiment of the application is implemented, the magnetic field influence generated by the unmanned aerial vehicle is corrected through the first correction model, and the first correction model can adopt any model capable of making a decision. Based on the thought, a specific model can be carried out by adopting a common neural network model or a random forest model and other schemes, and the first correction model is preferably used for making decisions by adopting the neural network model because a large amount of high-dimensional data is not involved.
Likewise, the second correction model can also be any model capable of making a decision, and for the influence of the three component magnetic rods on the magnetic field, the basic principle is that the magnetic rod body is used as a magnetic conductor and the magnetic rod coil is used as the magnetic conductor; in principle, since the three component magnetic bars are orthogonal in pairs, the mutual influence is generally smaller, but in practical use, the magnetic induction linear density is very low due to weak geomagnetic field, and the magnetic bars generate a certain amount of magnetic field interference although the interference is much smaller than that generated by pure coil detection; the three component magnetic bars need to be arranged on the same position, so that the influence of the magnetic bars in any direction on the magnetic field can be expanded to other magnetic bars within a certain range, and the detection of the interference is performed through a second correction model in the embodiment of the application; for the second correction model, the reasons for influencing the interference generated by each magnetic rod mainly comprise the current magnetic field strength and the magnetic rod related parameters, in order to reduce the data dimension of the decision model, the magnetic rod related parameters need to be standardized here, that is, the magnetic rod corresponding to the data used for training the model and the magnetic rod for actual detection should be consistent in the magnetic rod related parameters, including but not limited to the magnetic rod material, the size, the coil material, the number of turns, the coil spacing and the like. After eliminating the influence of the parameters of the magnetic rod, the influence of the magnetic rod in actual use can be screened by optimizing the neural network model to train the decision model. After the calculation of the second correction data and the first correction data is completed, the second correction data and the first correction data are removed from the magnetic induction data, so that the data cleaning of the magnetic induction data can be completed, and higher detection precision is achieved.
In one possible implementation, the generating of the first correction model includes:
flying the unmanned aerial vehicle suspended with the receiving module in an electromagnetic shielding room, acquiring first posture data and second posture data as first sample data, and acquiring magnetic induction data as second sample data;
performing time sequence alignment on the first sample data and the second sample data to form sample pair data;
generating the first correction model for the data training neural network model through a plurality of groups of samples; the input data of the first correction model are first posture data and second posture data, and the output data of the first correction model are first correction data.
When the embodiment of the application is implemented, in order to obtain the influence of accurate unmanned aerial vehicle flight on magnetic induction data, a mode of flying in an electromagnetic shielding room is adopted to obtain a sample, wherein the unmanned aerial vehicle is required to cruise, turn to, accelerate and decelerate and other operations so as to obtain different flight attitudes and different relative positions, and then training of a neural network model is carried out so as to achieve a good training result.
In one possible implementation, the magnetic induction data includes first magnetic induction data output by the x-component magnetic rod, second magnetic induction data output by the y-component magnetic rod, and third magnetic induction data output by the z-component magnetic rod;
the generating of the second correction model includes:
configuring the receiving module in a geomagnetic simulation room;
adjusting the geomagnetic field intensity and the geomagnetic field direction in the geomagnetic simulation chamber, and acquiring first magnetic induction data, second magnetic induction data and third magnetic induction data as actually measured magnetic induction data;
decomposing the geomagnetic field intensity and the geomagnetic field direction to correspond to three orthogonal directions according to the positions of the x-component magnetic rod, the y-component magnetic rod and the z-component magnetic rod to form reference magnetic induction data;
calculating the difference between the actually measured magnetic induction data and the reference magnetic induction data to form difference data, and forming a sample pair by the difference data and the corresponding actually measured magnetic induction data;
forming a second correction model for the training neural network model through the sample pair; the input data of the second correction model is magnetic induction data, and the output data is second correction data; the second correction data is magnetic field interference data generated by the x-component magnetic rod, the y-component magnetic rod and the z-component magnetic rod under the condition of the current magnetic induction data.
When the embodiment of the application is implemented, the sample sampling of the second correction model adopts the geomagnetic field intensity and direction which are regulated and simulated in a geomagnetic simulation chamber to determine the mutual influence of the x-component magnetic rod, the y-component magnetic rod and the z-component magnetic rod in different magnetic field environments; the difference data can be understood as the difference between the data acquired by the magnetic rods and the actual data when the three magnetic rods exist at the same time, namely the influence of the magnetic rods on the magnetic field.
In one possible implementation, the control module is further configured to:
and eliminating the first correction data and the second correction data from the magnetic induction data to finish correction.
In one possible implementation, the receiving module further includes a six-way connector, a first center of gravity balance bar, and a second center of gravity balance bar;
the z-component magnetic rod is vertically arranged at the bottom of the six-way connector; the x-component magnetic rod, the y-component magnetic rod, the first gravity center balance rod and the second gravity center balance rod are horizontally arranged on the side face of the six-way connector, the x-component magnetic rod and the second gravity center balance rod are symmetrical along the center point of the six-way connector, and the y-component magnetic rod and the first gravity center balance rod are symmetrical along the center point of the six-way connector;
when the receiving module is hung below the unmanned aerial vehicle through the bearing knob rope, the first gravity center balance rod and the second gravity center balance rod keep the gravity center of the receiving module balanced until the z-component magnetic rod is vertical.
In one possible implementation, the unmanned aerial vehicle further comprises a platform bracket arranged below the unmanned aerial vehicle; the control module is arranged on the platform support, and is electrically connected with the x-component magnetic rod through a connecting wire, and the y-component magnetic rod and the z-component magnetic rod.
On the basis of the foregoing, please refer to fig. 3 in combination, which is a flow chart of a method for controlling an aeronautical mobile MT weak signal three-component receiving device according to an embodiment of the present invention, the method for controlling an aeronautical mobile MT weak signal three-component receiving device may be applied to a control module in an aeronautical mobile MT weak signal three-component receiving device in fig. 1, and further, the method for controlling an aeronautical mobile MT weak signal three-component receiving device may specifically include the following steps S1-S2.
S1: acquiring data of a plurality of first gyroscopes as first attitude data, and acquiring data of a second gyroscope as second attitude data;
s2: and acquiring magnetic induction data output by the x-component magnetic rod, the y-component magnetic rod and the z-component magnetic rod, and correcting the magnetic induction data according to the difference between the first posture data and the second posture data.
In one possible implementation, correcting the magnetic induction data according to the difference between the first and second pose data includes:
inputting the first posture data and the second posture data into a first correction model configured in the control module, and receiving first correction data output by the first correction model; the first correction data are influence data generated by the electromagnetic field of the unmanned aerial vehicle in the magnetic induction data;
inputting the magnetic induction data into second correction data, and receiving the second correction data output by the second correction model; the second correction data is influence data generated by the x-component magnetic rod, the y-component magnetic rod and the z-component magnetic rod in the magnetic induction data;
and correcting the magnetic induction data according to the first correction data and the second correction data.
In one possible implementation, correcting the magnetic induction data according to the first correction data and the second correction data includes:
and eliminating the first correction data and the second correction data from the magnetic induction data to finish correction.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.
The elements described as separate components may or may not be physically separate, and it will be apparent to those skilled in the art that elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the elements and steps of the examples have been generally described functionally in the foregoing description so as to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention is essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a grid device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, randomAccess Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (9)
1. An airborne mobile MT weak signal three-component receiving apparatus, comprising:
an unmanned plane (11);
the receiving module is configured to be hung below the unmanned aerial vehicle (11) through a bearing knob rope (9) and collect geomagnetic data; the receiving module comprises x-component magnetic bars (3), y-component magnetic bars (2) and z-component magnetic bars (1) which are arranged in a pairwise orthogonal mode;
a plurality of first gyroscopes arranged on the unmanned plane (11);
a second gyroscope (7) disposed in the receiving module;
a control module (10) configured to acquire data of a plurality of the first gyroscopes as first attitude data, and acquire data of the second gyroscopes (7) as second attitude data;
acquiring magnetic induction data output by an x-component magnetic rod (3), a y-component magnetic rod (2) and a z-component magnetic rod (1), and correcting the magnetic induction data according to the first posture data and the second posture data;
the control module (10) is further configured to:
inputting the first posture data and the second posture data into a first correction model configured in the control module (10), and receiving first correction data output by the first correction model; the first correction data are influence data generated by the electromagnetic field of the unmanned aerial vehicle (11) in the magnetic induction data;
inputting the magnetic induction data into a second correction model, and receiving second correction data output by the second correction model; the second correction data are influence data generated by the x-component magnetic rod (3), the y-component magnetic rod (2) and the z-component magnetic rod (1) in the magnetic induction data;
and correcting the magnetic induction data according to the first correction data and the second correction data.
2. The airborne mobile MT weak signal three-component receiving device according to claim 1, characterized in that said control module (10) is further configured to:
and eliminating the first correction data and the second correction data from the magnetic induction data to finish correction.
3. The aviation mobile MT weak signal three-component receiving device according to claim 1, wherein said receiving module further comprises a six-way connector (6), a first center of gravity balance bar (4) and a second center of gravity balance bar (5);
the z-component magnetic rod (1) is vertically arranged at the bottom of the six-way connector (6); the x-component magnetic rod (3), the y-component magnetic rod (2), the first gravity center balance rod (4) and the second gravity center balance rod (5) are horizontally arranged on the side face of the six-way connector (6), the x-component magnetic rod (3) and the second gravity center balance rod (5) are symmetrical along the center point of the six-way connector (6), and the y-component magnetic rod (2) and the first gravity center balance rod (4) are symmetrical along the center point of the six-way connector (6);
when the receiving module is hung below the unmanned aerial vehicle (11) through the bearing knob rope (9), the first gravity center balance bar (4) and the second gravity center balance bar (5) keep the gravity center of the receiving module balanced until the z-component magnetic bar (1) is vertical.
4. The airborne mobile MT weak signal three-component receiving apparatus according to claim 1, further comprising a platform support disposed below said unmanned aerial vehicle; the control module (10) is arranged on the platform support, the control module (10) is electrically connected to the x-component magnetic rod (3) through a connecting wire (8), and the y-component magnetic rod (2) and the z-component magnetic rod (1).
5. An aviation mobile MT weak signal three-component receiving device control method applied to the receiving device according to any one of claims 1 to 4, characterized in that the control method is executed by the control module (10); the control method comprises the following steps:
acquiring data of a plurality of first gyroscopes as first attitude data, and acquiring data of a second gyroscope (7) as second attitude data;
and acquiring magnetic induction data output by the x-component magnetic rod (3), the y-component magnetic rod (2) and the z-component magnetic rod (1), and correcting the magnetic induction data according to the first posture data and the second posture data.
6. The method according to claim 5, wherein correcting the magnetic induction data based on the first and second posture data comprises:
inputting the first posture data and the second posture data into a first correction model configured in the control module (10), and receiving first correction data output by the first correction model; the first correction data are influence data generated by the electromagnetic field of the unmanned aerial vehicle (11) in the magnetic induction data;
inputting the magnetic induction data into a second correction model, and receiving second correction data output by the second correction model; the second correction data are influence data generated by the x-component magnetic rod (3), the y-component magnetic rod (2) and the z-component magnetic rod (1) in the magnetic induction data;
and correcting the magnetic induction data according to the first correction data and the second correction data.
7. The method according to claim 6, wherein correcting the magnetic induction data according to the first correction data and the second correction data comprises:
and eliminating the first correction data and the second correction data from the magnetic induction data to finish correction.
8. The method according to claim 6, wherein the generating of the first correction model includes:
flying the unmanned aerial vehicle (11) suspended with the receiving module in an electromagnetic shielding room, and acquiring first posture data and second posture data as first sample data and magnetic induction data as second sample data;
performing time sequence alignment on the first sample data and the second sample data to form sample pair data;
generating the first correction model for the data training neural network model through a plurality of groups of samples; the input data of the first correction model are first posture data and second posture data, and the output data of the first correction model are first correction data.
9. The method according to claim 6, wherein the magnetic induction data includes first magnetic induction data output by the x-component magnetic rod (3), second magnetic induction data output by the y-component magnetic rod (2), and third magnetic induction data output by the z-component magnetic rod (1);
the generating of the second correction model includes:
configuring the receiving module in a geomagnetic simulation room;
adjusting the geomagnetic field intensity and the geomagnetic field direction in the geomagnetic simulation chamber, and acquiring first magnetic induction data, second magnetic induction data and third magnetic induction data as actually measured magnetic induction data;
decomposing the geomagnetic field intensity and the geomagnetic field direction to correspond to three orthogonal directions according to the positions of the x-component magnetic rod (3), the y-component magnetic rod (2) and the z-component magnetic rod (1) to form reference magnetic induction data;
calculating the difference between the actually measured magnetic induction data and the reference magnetic induction data to form difference data, and forming a sample pair by the difference data and the corresponding actually measured magnetic induction data;
forming a second correction model for the training neural network model through the sample pair; the input data of the second correction model is magnetic induction data, and the output data is second correction data; the second correction data are magnetic field interference data generated by the x-component magnetic rod (3), the y-component magnetic rod (2) and the z-component magnetic rod (1) under the condition of the current magnetic induction data.
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