An underground artificial cavity multi-physical field comprehensive detection system based on an unmanned aerial vehicle platform and its operation method

Abstract

The present invention discloses an underground artificial cavity multi-physics field integrated detection system based on an unmanned aerial vehicle platform and an operation method thereof, comprising a ground high-power electromagnetic emission source and an aerial unmanned aerial vehicle platform, on which an electromagnetic detection system, a gravity detection system and a gamma spectrum detection system are mounted. The underground artificial cavity multi-physics field integrated detection system based on an unmanned aerial vehicle platform disclosed by the present invention is designed for the detection of underground artificial cavities of 0-200 meters, and can effectively detect the information of shallow underground artificial cavities, and can reasonably fuse and interpret the single-source information obtained by multi-physics field detection systems such as aerial electromagnetic, aerial gravity, and aerial gamma spectrum, thereby improving the detection resolution and recognition accuracy of underground artificial cavities, and realizing fast, efficient, multi-scale stereoscopic detection from the surface to the underground.

Description

Technical Field

[0001] The present invention belongs to the field of underground artificial cavity detection, and in particular relates to an underground artificial cavity multi-physical field comprehensive detection system based on an unmanned aerial vehicle platform and an operation method thereof in this field. Background Art

[0002] Airborne geophysical exploration technology is a fast, efficient, non-destructive modern high-tech civil and military technology. It is a technology that can quickly and accurately achieve non-contact and non-destructive detection. It can quickly detect and classify artificial cavities (underground arsenals, underground ammunition depots, underground command posts) in urban offensive warfare, reduce the blindness of urban offensive warfare, and provide guidance for the design and construction of our underground artificial cavities in urban defense warfare. In the civilian field, the development of underground space is an important trend in the expansion of urban space. The expansion of urban underground space has also developed from shallow to deep. The development of efficient, fast, large-scale, and fine-scale airborne geophysical exploration technology is of great significance to the development and utilization of urban underground space, comprehensive management, and disaster prevention and mitigation.

[0003] For the detection of underground targets such as underground artificial cavities, the geophysical detection technologies that are currently widely used mainly include: aerial gravity detection technology, aerial electromagnetic detection technology, ground penetrating radar technology, etc. 1) Aerial gravity detection is a gravity measurement technology that uses aircraft as a carrier and comprehensively applies gravimeters, GPS, and height and attitude measurement equipment to determine the gravity acceleration in the air near the ground. During the construction of underground artificial buildings, the distribution of underground materials will inevitably change. They are small abnormal mass bodies in the shallow layer, which is conducive to the advantages of gravity measurement. 2) Semi-aerial electromagnetic detection uses a high-power artificial electromagnetic source on the ground as an excitation field source, collects magnetic field signals in the air, and realizes rapid exploration of underground abnormal structures by inverting the resistivity of the formation. 3) Ground penetrating radar uses the difference in the conductivity of electromagnetic waves of different underground materials to distinguish the density distribution of underground materials. It can be installed on a surface mobile carrier or a low-altitude aircraft, and can identify and judge the distribution of underground abnormal mass within a regional range.

[0004] The necessary condition for gravity detection to be used for underground target exploration is that there must be a density difference between the target and the surrounding rock that can cause observation anomalies. Its recognition ability is poor for smaller density differences, deeper buried targets, larger anomalies caused by non-research objects, and rugged and uneven surface terrain. The necessary condition for electromagnetic detection is that there are differences in electromagnetic properties between different rock layers and between rocks or ores. Its recognition ability is poor for smaller electromagnetic differences and larger interference factors. Ground penetrating radar is greatly affected by the environment, and the accuracy of detection decays rapidly with increasing burial depth.

[0005] Although methods such as aerial gravity detection, aerial electromagnetic detection, and ground penetrating radar have achieved some results in geophysical exploration, the processing and research of single-source data have certain limitations in application. It is impossible to grasp all the details, and the detection and identification accuracy of underground artificial cavities is low. Summary of the invention

[0006] The technical problem to be solved by the present invention is to provide an underground artificial cavity multi-physical field comprehensive detection system based on an unmanned aerial vehicle platform and an operation method thereof.

[0007] The present invention adopts the following technical solution:

[0008] The invention discloses an underground artificial cavity multi-physical field integrated detection system based on an unmanned aerial vehicle platform. The improvement of the system is that the system includes a high-power electromagnetic emission source on the ground and an aerial unmanned aerial vehicle platform. The aerial unmanned aerial vehicle platform is equipped with an electromagnetic detection system, a gravity detection system and a gamma spectrum detection system.

[0009] An operation method is applicable to the above-mentioned underground artificial cavity multi-physical field comprehensive detection system based on the UAV platform, and the improvement thereof is that it comprises the following steps:

[0010] Step 1: Study the detection mechanism and method:

[0011] Through theoretical research on the transmission attenuation characteristics and dispersion distribution of electromagnetic fields, gravity fields, and radioactive fields in underground lossy media, an airborne electromagnetic, airborne gravity, and airborne gamma spectrum detection system based on a UAV platform is built. According to different stratum depths and requirements, the detection combination mode and working frequency are optimized to obtain effective underground artificial cavity signal detection modes and detection methods;

[0012] Step 2, adaptive environmental impact correction:

[0013] During the UAV flight detection process, the sensor position information is quickly analyzed, and a multi-physics field sensor measurement response database is established to form an adaptive environmental impact correction system based on geometric factors and multi-parameter factors; geometric factors include attitude, position and altitude; multi-parameter factors include resistivity, formation density and radioactivity;

[0014] Step 3, multi-parameter intelligent joint inversion:

[0015] The multi-parameter information of three physical fields, namely, aerial gravity, electromagnetic and gamma, is used to jointly invert underground artificial cavities. The aerial gamma anomaly is used as a constraint condition, and the target detection resolution is improved based on the data fusion electromagnetic and gravity anomaly joint synchronous inversion technology. At the same time, the target information obtained by each sensor is extracted using the feature extraction method, and the multi-physical field multi-parameter inversion imaging map is fused at the feature level using the intelligent feature fusion algorithm.

[0016] Step 4, physical simulation experiment:

[0017] By establishing physical simulation experiments, the influence of background noise on instrument scale in multi-physical field detection is eliminated, and the detection accuracy and recognition accuracy of underground artificial cavities are improved by combining physical compensation of posture and position with error correction of multi-parameter factors.

[0018] Furthermore, step 3 also includes: multi-scale grid region decomposition, DG-FEM discontinuous finite element algorithm, CUDA multi-core collaborative accelerated computing platform, cross-scale fine simulation of underground strata, construction of underground complex artificial cavity response database, data model, physical model, data fusion multi-parameter joint inversion intelligent algorithm optimization and construction of multi-parameter intelligent extraction method for underground artificial cavities.

[0019] Furthermore, step 4 also includes: design of simulation scheme for underground artificial cavity detection, development of system prototype and hardware system integration, and selection and construction of underground artificial cavity environment.

[0020] The beneficial effects of the present invention are:

[0021] The underground artificial cavity multi-physics field comprehensive detection system based on the UAV platform disclosed in the present invention is designed for the detection of underground artificial cavities at a depth of 0-200 meters, and can effectively detect the information of shallow underground artificial cavities. The single-source information obtained by multi-physics field detection systems such as aerial electromagnetic, aerial gravity, and aerial gamma spectroscopy can be reasonably fused and interpreted. It can not only retain the information of the single-source data and improve the data utilization rate, but also obtain richer and more detailed information than the single-source data through data fusion, decision-level fusion, and feature-level fusion, thereby improving the detection resolution and recognition accuracy of underground artificial cavities and realizing fast, efficient, and multi-scale three-dimensional detection from the surface to the underground.

[0022] The operating method disclosed in the present invention uses a UAV as a flight carrying platform to quickly analyze sensor position information, and combines geometric factors (flight attitude, position, altitude, etc.) and multi-parameter factors (resistivity, formation density and radioactivity, etc.) to form an adaptive environmental impact correction technology to improve detection efficiency and accuracy, and provide data support for multi-parameter intelligent inversion of underground artificial cavities; establish a multi-physical field response physical simulation measurement system to eliminate the influence of the earth's background noise on the scale of the detection system, and improve the detection and identification accuracy of underground artificial cavities through physical compensation such as attitude and position and multi-parameter factor error correction. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a block diagram of the composition of the comprehensive detection system disclosed in Example 1 of the present invention;

[0024] Figure 2is a schematic diagram of the detection principle of the comprehensive detection system disclosed in Example 1 of the present invention;

[0025] Figure 3 It is a flowchart of the operating method disclosed in Example 1 of the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0027] Embodiment 1, as Figure 1 As shown in Figure 2, this embodiment discloses an underground artificial cavity multi-physical field comprehensive detection system based on an unmanned aerial vehicle platform, including a ground high-power electromagnetic emission source and an aerial unmanned aerial vehicle platform, and an electromagnetic detection system, a gravity detection system and a gamma spectrum detection system are carried on the aerial unmanned aerial vehicle platform to complete the detailed detection of underground artificial cavity multi-physical fields.

[0028] like Figure 3 As shown, this embodiment also discloses an operation method, which is applicable to the above-mentioned underground artificial cavity multi-physical field comprehensive detection system based on the UAV platform, making it an efficient, fast and high-resolution comprehensive detection system. It includes the following steps:

[0029] Step 1: Study the detection mechanism and method:

[0030] Through theoretical research on the transmission attenuation characteristics and dispersion distribution of electromagnetic fields, gravity fields, and radioactive fields in underground lossy media, an airborne electromagnetic, airborne gravity, and airborne gamma spectrum detection system based on a UAV platform is built. According to different stratum depths and requirements, the detection combination mode and working frequency are optimized to obtain effective underground artificial cavity signal detection modes and detection methods;

[0031] Step 2, adaptive environmental impact correction:

[0032] During the UAV flight detection process, the sensor position information is quickly analyzed, and a multi-physical field sensor measurement response database is established. According to geometric factors and multi-parameter factors, an adaptive environmental impact correction system is formed to provide more accurate data support for multi-parameter intelligent inversion; geometric factors include attitude, position and altitude, etc.; multi-parameter factors include resistivity, formation density and radioactivity, etc.;

[0033] Step 3, multi-parameter intelligent joint inversion:

[0034] The multi-parameter information of three physical fields, namely, aerial gravity, electromagnetic and gamma, is used to jointly invert underground artificial cavities. Taking into account the particularity of the data, the aerial gamma anomaly is used as a constraint condition, and the target detection resolution is improved based on the data fusion electromagnetic and gravity anomaly joint synchronous inversion technology. At the same time, for the target information obtained by each sensor, the feature extraction method is used to extract the target feature data, and the intelligent feature fusion algorithm is used to perform feature-level fusion on the multi-physical field and multi-parameter inversion imaging images.

[0035] Step 4, physical simulation experiment:

[0036] By establishing physical simulation experiments, the influence of background noise on instrument scale in multi-physical field detection is eliminated. By combining physical compensation of posture position with multi-parameter error correction, the detection accuracy and recognition accuracy of underground artificial cavities are significantly improved.

[0037] In this embodiment, step 3 also includes: multi-scale grid area decomposition, DG-FEM discontinuous finite element algorithm, CUDA multi-core collaborative accelerated computing platform, underground strata cross-scale fine simulation, construction of underground complex artificial cavity response database, data model, physical model, data fusion multi-parameter joint inversion intelligent algorithm optimization and underground artificial cavity multi-parameter intelligent extraction method construction. Step 4 also includes: underground artificial cavity detection simulation scheme design, system prototype development and hardware system integration, and underground artificial cavity environment selection and construction.

Claims

1. An operation method, applicable to an underground artificial cavity multi-physical field integrated detection system based on an unmanned aerial vehicle platform, the system includes a ground high-power electromagnetic emission source and an aerial unmanned aerial vehicle platform, and an electromagnetic detection system, a gravity detection system and a gamma spectrum detection system are carried on the aerial unmanned aerial vehicle platform, characterized in that: The steps include: Step 1: Study the detection mechanism and method: Through theoretical research on the transmission attenuation characteristics and dispersion distribution of electromagnetic fields, gravity fields, and radioactive fields in underground lossy media, an airborne electromagnetic, airborne gravity, and airborne gamma spectrum detection system based on a UAV platform is built. According to different stratum depths and requirements, the detection combination mode and working frequency are optimized to obtain effective underground artificial cavity signal detection modes and detection methods; Step 2, adaptive environmental impact correction: During the UAV flight detection process, the sensor position information is quickly analyzed, and a multi-physics field sensor measurement response database is established to form an adaptive environmental impact correction system based on geometric factors and multi-parameter factors; geometric factors include attitude, position and altitude; multi-parameter factors include resistivity, formation density and radioactivity; Step 3, multi-parameter intelligent joint inversion: The multi-parameter information of three physical fields, namely, aerial gravity, electromagnetic and gamma, is used to jointly invert underground artificial cavities. The aerial gamma anomaly is used as a constraint condition, and the target detection resolution is improved based on the data fusion electromagnetic and gravity anomaly joint synchronous inversion technology. At the same time, the target information obtained by each sensor is extracted using the feature extraction method, and the multi-physical field multi-parameter inversion imaging map is fused at the feature level using the intelligent feature fusion algorithm. Step 3 also includes: multi-scale grid region decomposition, DG-FEM discontinuous finite element algorithm, CUDA multi-core collaborative accelerated computing platform, cross-scale fine simulation of underground strata, construction of underground complex artificial cavity response database, data model, data fusion multi-parameter joint inversion intelligent algorithm optimization and construction of multi-parameter intelligent extraction method for underground artificial cavities; Step 4, physical simulation experiment: By establishing physical simulation experiments, the influence of background noise on instrument calibration in multi-physical field detection is eliminated, and the detection accuracy and recognition accuracy of underground artificial cavities are improved by combining physical compensation of posture position with error correction of multi-parameter factors. Step 4 also includes: design of underground artificial cavity detection simulation scheme, development of system prototype and hardware system integration, and selection and construction of underground artificial cavity environment.

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