Multi-scene compatible target magnetic anomaly detection standard module

Abstract

The application relates to the technical field of magnetic detection, and particularly discloses a multi-scene compatible target magnetic anomaly detection standard module which comprises a rod body unit, a first collection unit, an electronic cabin unit and a data transmission unit. The first collection unit is arranged in the rod body unit and collects first data. The rod body unit is arranged on the electronic cabin unit, and the electronic cabin unit is connected to the first collection unit. The data transmission unit is arranged on the rod body unit and connected to the electronic cabin unit. After receiving and processing the first data, the electronic cabin unit outputs the data to an upper computer through the data transmission unit. The application is designed to be light and has unified physical interfaces, so that the application can be quickly disassembled and matched with different carrying platforms and is suitable for different detection environments.

Description

Technical Field

[0001] This invention relates to the field of magnetic detection technology, and more specifically, to a standard module for detecting target magnetic anomalies that is compatible with multiple scenarios. Background Technology

[0002] Magnetic detection is a technique that uses magnetic materials and magnetic fields to detect, measure, and analyze objects. When an object is magnetic or placed in an external magnetic field, it generates a magnetic field. Magnetic detection uses this principle to detect and measure the magnetic field of a target object, thereby indirectly obtaining information about the target object. Magnetic detection has the advantages of accuracy, efficiency, and cross-medium detection. It can be used in various fields, including geological exploration, mineral exploration, magnetic resonance imaging, magnetic particle detection, and aerospace. Magnetic detection instruments typically include a magnetometer, a magnetic field sensor, and a data acquisition system. These components are used to measure the strength and direction of the magnetic field, thereby inferring the properties and location of the target object.

[0003] Magnetic detection technology can be used to detect and locate potentially explosive objects such as unexploded ordnance or landmines. By detecting magnetic anomalies on the ground, it can locate and identify unexploded ordnance and take appropriate disposal measures. It can also be used to detect and track submarines. In environmental monitoring, aerial magnetic detection can be used to detect underground pipelines, such as oil or gas pipelines, helping to monitor the location and condition of man-made structures, prevent leaks or damage, and aid in the maintenance and management of underground infrastructure. In marine exploration, magnetic detection technology can be used to explore seabed topography, geological structures, and potential mineral resources. For example, measuring seabed magnetic anomalies can indicate potential geological structures or mineral deposits. In underwater archaeology, magnetic detection is also widely used to find and study underwater artifacts, ancient sites, and shipwrecks.

[0004] Magnetic detection technology has wide applications in the air, on land, and underwater, serving multiple fields such as navigation, exploration, scientific research, and environmental monitoring, providing crucial support and data sources for various missions. Magnetic detection instruments possess high spatial resolution, providing detailed information that helps in the accurate identification and location of target objects. This is vital for scientific research and exploration missions. The applications of magnetic detection technology across various fields make it a powerful tool, capable of providing abundant information to support scientific research, exploration, and monitoring tasks.

[0005] With the continuous advancement of technology, the types of magnetic detection equipment are increasing. However, a current problem is that they are often difficult to apply to various scenarios. These devices are relatively large, have inconsistent physical interfaces, and are relatively inconvenient to use. These devices have the following disadvantages:

[0006] 1. The equipment is too large, making it inconvenient to carry and operate, causing inconvenience to users. In today's technologically advanced world, users prefer lightweight devices. Oversized equipment limits their flexibility in magnetic field detection in different scenarios, resulting in additional costs and time and manpower.

[0007] 2. The equipment's interfaces are not standardized, resulting in poor versatility and compatibility. The lack of standardized interfaces means the equipment may not be compatible with accessories or software from other manufacturers, thus limiting user choices and increasing usage costs.

[0008] 3. Most of them use hardware compensation. The disadvantage of this method is that the size is large. The large size brought about by hardware compensation will limit the flexibility and portability of the device in different scenarios.

[0009] 4. The equipment is complex to operate, has an unfriendly interface, and cumbersome operating procedures, reducing its practicality and accessibility. Users need to spend more time and effort learning and operating the equipment, which may be a significant challenge for ordinary users.

[0010] 5. The raw data collected often requires complex post-processing and analysis, which requires professional knowledge and technical support. Ordinary users find it difficult to perform such post-processing and analysis, which may affect the accuracy and reliability of the data, thus limiting its use by ordinary users.

[0011] Therefore, in order to overcome the above-mentioned shortcomings, it is urgent to develop a target magnetic anomaly detection standard module that can overcome these shortcomings and is compatible with multiple scenarios. Summary of the Invention

[0012] To address the above problems, this invention provides a multi-scenario compatible target magnetic anomaly detection standard module, comprising:

[0013] Rod element;

[0014] The first acquisition unit is installed inside the rod unit, and the first acquisition unit acquires the first data;

[0015] An electronic cabin unit, the rod unit is mounted on the electronic cabin unit, and the electronic cabin unit is connected to the first acquisition unit;

[0016] A data transmission unit is installed on the pole unit and connected to the electronic cabin unit. The electronic cabin unit receives and processes the first data and then outputs it to the host computer through the data transmission unit.

[0017] The aforementioned target magnetic anomaly detection standard module, wherein the rod unit comprises:

[0018] The first rod is inserted through the electronic cabin unit, and the data transmission unit is installed on the first rod;

[0019] Two centrally folded tubes are respectively connected to both ends of the first rod body;

[0020] Two second rods are respectively connected to the two central folding tubes. The first acquisition unit includes two cesium light pumps, which are respectively installed in the two second rods and connected to the electronic cabin unit.

[0021] The aforementioned target magnetic anomaly detection standard module, wherein the electronic cabin unit includes:

[0022] The box body, with the first rod passing through it;

[0023] A fluxgate sensor is installed inside the housing to collect second data;

[0024] The first acquisition card is installed inside the box and electrically connected to the fluxgate sensor. The fluxgate acquisition card receives and processes the second data and outputs it through the RS232 serial port protocol.

[0025] The second acquisition card is installed inside the box and electrically connected to the first acquisition card and the cesium optical pump. The second acquisition card integrates and processes the processed second data and the first data and outputs them through the serial port TTL protocol.

[0026] The aforementioned target magnetic anomaly detection standard module also includes:

[0027] A positioning unit, mounted on the first pole, is used to acquire and output GPS data;

[0028] A pose sensor is installed inside the housing to acquire and output pose information data.

[0029] A lidar unit, housed within the enclosure, is used to acquire and output lidar data.

[0030] The aforementioned target magnetic anomaly detection standard module, wherein the electronic cabin unit further includes:

[0031] The third acquisition card is disposed inside the housing and electrically connected to the second acquisition card and the data transmission unit. After integrating and processing the second acquisition card, the third acquisition card integrates the second data, the first data, the GPS data, the pose information data and the lidar data, and outputs them as detection data to the data transmission unit.

[0032] The aforementioned target magnetic anomaly detection standard module further includes a host computer electrically connected to the data transmission unit. The host computer receives the detection data output by the data transmission unit and displays it in real time.

[0033] In the aforementioned target magnetic anomaly detection standard module, the host computer receives the first data output by the cesium optical pump and the second data output by the fluxgate sensor, and uses the first data and the second data as compensation data. The host computer obtains a compensation coefficient based on the compensation data and performs attitude compensation on the detection data using the compensation coefficient.

[0034] The aforementioned target magnetic anomaly detection standard module includes a host computer with a control panel, a data panel, and an auxiliary information panel. Control parameters are set through the control panel, the detection data, compensation data, attitude information data, and detection trajectory are displayed through the data panel, and auxiliary information is displayed through the auxiliary information panel.

[0035] In the aforementioned target magnetic anomaly detection standard module, the host computer obtains the compensation coefficient using the least squares method based on the compensation data.

[0036] In the aforementioned target magnetic anomaly detection standard module, the second data is an analog signal, and the first acquisition card converts the second data into a digital signal through analog-to-digital conversion before outputting it.

[0037] The advantages of this invention compared to existing technologies are as follows: This invention discloses a lightweight, standardized interface, and multi-scenario compatible target magnetic anomaly detection standard module. It employs a miniature modular sensor circuit design and a mechanical structure printed with carbon fiber and 3D materials, with an overall weight of less than 2kg. It features a foldable, quick-release structure; the folded module dimensions are 0.6m*0.2m*0.2m, making assembly and transportation more convenient and easy to carry to different scenarios for magnetic field detection. The standardized interface ensures compatibility with accessories from different manufacturers, better meeting user needs and reducing operating costs. The module features a dual-pump differential design, effectively reducing environmental noise interference. Real-time acquisition software transmits and displays signals in real time, while data processing software enables rapid analysis, processing, and visualization of magnetic detection data. The user interface is user-friendly and the operation process is simple and clear, reducing user learning costs and improving the practicality and accessibility of the equipment. This invention broadens the application fields of magnetic detection equipment, covering a wider range of users and meeting diverse needs, promoting the development and application of magnetic detection technology, and better serving social development and industrial needs.

[0038] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description and the drawings. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the target magnetic anomaly detection standard module of the present invention;

[0041] Figure 2 for Figure 1 A structural diagram of the electronic cabin unit in the middle;

[0042] Figure 3 This is a schematic diagram of the target magnetic anomaly detection standard module of the present invention;

[0043] Figure 4 This is a schematic diagram of the host computer panel;

[0044] Figure 5 This is a diagram illustrating the compensation process.

[0045] Figure 6 This is a schematic diagram illustrating the application of the present invention. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] The illustrative embodiments and descriptions of the present invention are used to explain the invention, but are not intended to limit the invention. Furthermore, elements / components using the same or similar reference numerals in the drawings and embodiments are used to represent the same or similar parts.

[0048] The terms "first," "second," "S1," "S2," etc., used in this document do not specifically refer to any order or sequence, nor are they intended to limit the invention. They are merely used to distinguish elements or operations described using the same technical terms.

[0049] The directional terms used in this article, such as up, down, left, right, front, or back, are for reference only when referring to the accompanying drawings. Therefore, the use of directional terms is for illustrative purposes and not to limit this work.

[0050] The terms “include,” “including,” “have,” “contain,” etc., used in this article are all open-ended terms, meaning that they include but are not limited to.

[0051] The term "and / or" as used herein includes any or all of the things mentioned.

[0052] The term "multiple" in this article includes "two" and "more than two"; the term "multiple groups" in this article includes "two groups" and "more than two groups".

[0053] Certain terms used to describe this application will be discussed below or elsewhere in this specification to provide additional guidance to those skilled in the art in describing the application.

[0054] Please see Figure 1 , Figure 1 This is a schematic diagram of the target magnetic anomaly detection standard module of the present invention. Figure 1 As shown, a target magnetic anomaly detection standard module of the present invention includes: a pole unit 1, a first acquisition unit 2, an electronic cabin unit 3, and a data transmission unit 4. The first acquisition unit 2 is installed inside the pole unit 1 and acquires first data. The pole unit 1 passes through the electronic cabin unit 3, and the electronic cabin unit 3 is connected to the first acquisition unit 2. The data transmission unit 4 is installed on the pole unit 1 and connected to the electronic cabin unit 3. The electronic cabin unit 3 receives and processes the first data and then outputs it to a host computer through the data transmission unit 4.

[0055] The rod unit 1 includes a first rod 11, two folding tubes 12, and two second rods 13. The first rod 11 is mounted on the electronic cabin unit 3, and the data transmission unit 4 is mounted on the first rod 11. The two folding tubes 12 are respectively connected to both ends of the first rod 11. The two second rods 13 are respectively connected to the two folding tubes 12. The first acquisition unit 2 includes two cesium optical pumps 21, which are respectively installed in the two second rods 13 and connected to the electronic cabin unit 3. This invention adopts a dual optical pump differential design, which can effectively reduce the noise interference caused by the environment to the detection module and has a higher detection capability, enabling better detection of weak signals.

[0056] Specifically, in this embodiment, the first rod 11 and the second rod 13 are custom-made carbon fiber rods, 180cm in length and 3cm in diameter, with hollow interiors for sensor wiring connections, saving external space. Cesium optical pumps 21 are used for magnetic field scalar acquisition. One cesium optical pump 21 is installed on each of the left and right sides of the second rod 13. The differential design of the two pumps 21 effectively eliminates geomagnetic gradients and diurnal variations, improving system detection performance. The cesium optical pumps are installed inside the carbon fiber rods, reducing system resistance; the lightweight design improves module stability during use. The first acquisition unit 2 also includes two cesium optical pump operating status indicator lights 22, which are respectively installed on the two second rods 13 and electrically connected. The two cesium optical pumps 21 have three indicator lights 22, each displaying blue, red, and yellow colors, allowing operators to directly observe the pump's operating status. The folding tube 12 is made of aluminum alloy and is designed to fold the entire carbon fiber rod, facilitating module storage and transportation. The electronic cabin unit 3 integrates system positioning, attitude acquisition, attitude compensation, altitude detection, data fusion, and data transmission modules. Its integrated design simplifies the module structure and makes it easier to install and use. The data transmission unit 4 is a wireless data transmission antenna. This invention uses an upgradeable data transmission unit 4, supporting different communication protocols and frequencies to adapt to the needs of different regions and application scenarios, thus improving the module's flexibility and versatility.

[0057] This invention employs carbon fiber rods and nylon connectors, along with a lightweight design concept, reducing the overall weight of the module and improving its performance and stability. It also features a foldable, quick-release structure: the folded module measures 0.6m x 0.2m x 0.2m, making assembly and transportation easier. Furthermore, the module's hardware layout utilizes a symmetrical design on both sides to ensure stability and enable it to smoothly perform detection tasks on different platforms.

[0058] Based on this, the present invention first achieves a breakthrough in lightweighting and portability by adopting a modular sensor circuit design and a mechanical structure printed with carbon fiber and 3D materials. Weighing less than 2kg, this makes magnetic field detection in various scenarios exceptionally flexible and convenient. This means users can easily carry and use this device, greatly improving the application scope and convenience of magnetic detection technology.

[0059] Secondly, the standardized interface design allows this module to be compatible with accessories from various manufacturers, which not only enhances the equipment's versatility and flexibility but also reduces user costs. Whether in field exploration or scientific research experiments, users can select suitable accessories according to their needs to better meet their magnetic field detection requirements, which is of great significance for improving user experience and reducing equipment maintenance costs.

[0060] Furthermore, the dual-pump differential design effectively reduces environmental noise interference, improving data accuracy and reliability. The application of real-time acquisition and data processing software enables real-time signal transmission and display, allowing for rapid analysis and visualization of magnetic field data, significantly enhancing data processing efficiency and convenience.

[0061] Please refer to Figure 2 and Figure 3 , Figure 2 for Figure 1 A structural diagram of the electronic cabin unit in the middle. Figure 3 This is a schematic diagram of the target magnetic anomaly detection standard module of the present invention. Figure 2 and Figure 3 As shown, and in combination Figure 1 The electronic cabin unit 3 includes: a housing 31, a fluxgate sensor 32, a first acquisition card 33, and a second acquisition card 34; the first rod 11 is mounted on the housing 31; the fluxgate sensor 32 is disposed inside the housing 31 and is used to acquire second data. The cesium optical pump and the fluxgate sensor can simultaneously acquire magnetic field vector and scalar information; the first acquisition card 33 is disposed inside the housing 31 and electrically connected to the fluxgate sensor 32. The fluxgate acquisition card 32 receives and processes the second data and outputs it through the RS232 serial port protocol; the second acquisition card 33 is disposed inside the housing 31 and electrically connected to the first acquisition card 32 and the cesium optical pump 21. The second acquisition card 33 integrates and processes the processed second data and the first data and outputs it through the TTL serial port protocol; the second data is an analog signal, and the first acquisition card 33 converts the second data into a digital signal through analog-to-digital conversion before outputting it.

[0062] In this embodiment, the housing 31 has an electronic compartment mounting cover 311. The interior of the housing 31 adopts a stepped design to install circuit boards, reducing the size of the electronic compartment and thus reducing the weight of the module. The side plate 312 of the housing 31 is provided with an aviation plug mounting position P1 for powering the module, with a power supply voltage of 24V. The side plate 312 of the housing 31 is provided with a carbon fiber rod mounting hole K1, which can fix the electronic compartment to the carbon fiber rod and allow sensor circuitry to pass through inside.

[0063] The electronic cabin unit of this invention adopts an integrated design, which integrates multiple functions such as positioning, attitude acquisition, and data transmission. The integrated design simplifies the structure of the module and facilitates installation and use.

[0064] Furthermore, the target magnetic anomaly detection standard module is characterized by further comprising: a positioning unit 5, a pose sensor 6, and a lidar 7. The positioning unit 5 is mounted on the first rod 11 and is used to acquire and output GPS data; the pose sensor 6 is disposed within the housing 31 and is used to acquire and output pose information data; the lidar 7 is disposed within the housing 31 and is used to acquire and output lidar data. The electronic cabin unit 3 further comprises: a third acquisition card 35, which is disposed within the housing 31 and electrically connected to the second acquisition card 34 and the data transmission unit 4. The third acquisition card 35 integrates and processes the second acquisition card 34's data, and then integrates the second data, the first data, the GPS data, the pose information data, and the lidar data as detection data and outputs them to the data transmission unit 4. This invention integrates multiple sensor data, including fluxgate sensors, cesium optical pump sensors, RTK positioning, attitude sensors, and lidar, etc., and improves the module's detection performance and accuracy through data fusion analysis.

[0065] In this embodiment, the positioning unit 5 is an RTK positioning antenna, which uses high-precision RTK positioning and supports full-system, full-frequency point-on-chip RTK positioning and dual-antenna directional calculation to achieve centimeter-level positioning accuracy; the fluxgate sensor 32 is used for module attitude compensation and works in conjunction with the pose sensor 6 to accurately calculate the magnetic field vector; the lidar 7 has a maximum range of up to 180m to meet the detection needs of different scenarios.

[0066] Specifically, the target magnetic anomaly detection standard module of this invention enables real-time wireless transmission of data from scalar magnetometers, vector magnetometers, GPS, lidar, and attitude sensors. Since this design involves numerous sensor modules, a multi-control chip design is adopted, dividing the system into three modules: a first acquisition card 33, a second acquisition card 34, and a third acquisition card 35. This invention employs a modular design, breaking the system down into multiple modules, including the first acquisition card 33, the second acquisition card 34, and the third acquisition card 35, each responsible for different tasks, thus improving the maintainability and scalability of the magnetic detection module. The magnetic detection module receives, parses, and integrates data from different electrical interfaces and data protocols through the first acquisition card 33, the second acquisition card 34, and the third acquisition card 35, and sends it to the data transmission module through a single physical interface.

[0067] The first acquisition card 33 is responsible for data acquisition from the fluxgate sensor 32, collecting the raw data obtained from magnetic field measurements. The first acquisition card 33 uses an STM32 microcontroller to control three high-precision ADC chips (AD7177) to acquire the triaxial signals from the fluxgate sensor 32, perform analog-to-digital conversion, and send the data out via the RS232 serial port protocol. The second acquisition card 34 is responsible for integrating and processing the raw data acquired from the first acquisition card 33 and the data from the optical pump 21. The second acquisition card 34 uses the STM32's serial port to receive data from the optical pump 21 and the first acquisition card 33, and sends the data out via the TTL serial port protocol. The third acquisition card 35 further processes the integrated data, fusing and analyzing all the data from the sensors required by the system, and finally transmits it to the host computer 8 via the data transmission unit 4. The third acquisition card 35 uses the serial port of STM32 to receive data sent by the GPS, attitude, lidar and magnetic sensor data fusion board, and sends the data out through the serial port TTL protocol. Based on the lightweight and unified interface design, the module can be used on different platforms in the air, on land and underwater, expanding the application scenarios of the equipment.

[0068] Please refer to Figure 4 , Figure 4 This is a schematic diagram of the host computer panel. Figure 4 As shown, and please refer to Figure 3 The target magnetic anomaly detection standard module of the present invention also includes the host computer 8, which is electrically connected to the data transmission unit 4. The host computer 8 receives the detection data output by the data transmission unit 4 and displays it in real time.

[0069] Furthermore, the host computer 8 receives the first data output by the cesium optical pump 21 and the second data output by the fluxgate sensor 32, and uses the first data and the second data as compensation data. The host computer 8 obtains a compensation coefficient based on the compensation data and performs attitude compensation on the detection data using the compensation coefficient. In this embodiment, the host computer 8 obtains the compensation coefficient using the least squares method based on the compensation data.

[0070] Furthermore, the host computer 8 has a control panel, a data panel, and an auxiliary information panel. Control parameters are set through the control panel, the detection data, the compensation data, the attitude information data, and the detection trajectory are displayed through the data panel, and auxiliary information is displayed through the auxiliary information panel.

[0071] Specifically, the host computer 8 is equipped with real-time acquisition software, which includes three modules: control panel, data panel, and auxiliary information panel. It can display wireless back-transmitted data in real time and compensate magnetic detection information in real time.

[0072] The control panel allows for software configuration. Serial port control allows selection of the current serial port number, which is related to the data transmission interface location. After selecting the corresponding serial port, clicking "Open Serial Port" will receive transmitted data. The plotting control allows selection of the number of signal moments displayed, which determines the length of time the signal is displayed on the current interface. Clearing the plotting control will clear the currently displayed signal. Importing compensation coefficients is used for attitude compensation of the system. The software includes a compensation algorithm; after importing the compensation coefficients, compensation can be performed with a single click. Compensation can be applied to both optical pump signals and the differential signal separately. In the "De-meaning" option, if de-meaning is enabled, the software performs de-trending processing on the signal, facilitating the observation of the target magnetic anomaly signal amplitude.

[0073] The data panel is divided into three sections: optically pumped magnetometer and trajectory, fluxgate sensor, and attitude information. The optically pumped magnetometer and trajectory panel displays the signals from the two optically pumped sensors, the differential magnetic field signal, and the detection trajectory. The magnetic field information panel shows time (s) on the horizontal axis and magnetic field (nT) on the vertical axis, and can simultaneously display the raw and compensated signals. The detection trajectory panel displays latitude and longitude on the horizontal and vertical axes, respectively. The fluxgate sensor panel displays the magnetic field vector acquired by the fluxgate. The attitude information panel displays the attitude information acquired by the attitude sensor, including azimuth (Yaw), pitch (Pitch), and roll (Roll). Referring to the attitude information, operators can achieve more precise control.

[0074] The auxiliary information panel displays commonly used auxiliary information, including time, date, positioning status, latitude and longitude, altitude, altitude above ground, and sampling rate.

[0075] The host computer performs visualization processing on the collected data, importing both compensation and detection data separately. The detection data undergoes preprocessing to remove outliers and serves as the data source for subsequent operations. The algorithm center calculates the compensation coefficients for the compensation data and directly performs attitude compensation on the detection data. Visualization can plot the detection trajectory, magnetic anomaly signal, and magnetic anomaly imaging. The magnetic anomaly imaging accuracy can be selected based on actual needs to obtain the best imaging effect. The data export center can export the processed data and the corresponding raw data.

[0076] Based on this, the present invention provides a convenient user experience by enabling settings, data display, and attitude compensation through functions such as a control panel, data panel, and auxiliary information panel. It also allows for the visualization of collected data, including detection trajectories, magnetic anomaly signals, and magnetic anomaly imaging, providing users with intuitive data display and analysis capabilities. Furthermore, it features attitude compensation, allowing users to freely choose between real-time or post-processing compensation methods, and uses software algorithms to handle magnetic interference without requiring additional hardware components, reducing module weight and offering advantages such as flexibility, low cost, easy integration, and simple maintenance. Finally, it displays the module's attitude information, facilitating precise control of the module's movement.

[0077] The ferromagnetic materials contained in the detection module and its platform generate magnetic interference during detection, severely affecting the accuracy of the measurement data. This invention conducts numerical simulation experiments on magnetic interference based on the Tolls-Lawson model and uses the least squares method for compensation. The compensation algorithm is integrated into the host computer (8) to process the raw measurement data. After magnetic compensation and leveling, the magnetic anomaly data caused by the target object is obtained. The soft compensation scheme handles magnetic interference through software algorithms, requiring no additional hardware components, reducing system weight, and providing advantages such as flexibility, low cost, easy integration, and simple maintenance. In contrast, existing hard compensation technologies rely on physical changes and additional hardware components, increasing system weight, cost, and maintenance workload.

[0078] In summary, this invention features a lightweight design, a unified physical interface, and requires only a 24V power supply. It allows for quick assembly and disassembly to different platforms and is suitable for various detection environments. It can be a handheld device with a handle and shoulder strap, used by geological prospectors, metal detection enthusiasts, security personnel, etc. The magnetic detection equipment mounted on the unmanned vehicle can move and scan via a pre-set route or program without human intervention. It offers significant advantages in specific scenarios, such as detection of large areas and exploration in hazardous environments. Fixed-wing UAVs equipped with magnetic anomaly detectors possess high-speed flight and long endurance capabilities, enabling them to cover large areas in a short time. Therefore, they are suitable for efficient magnetic object detection over vast areas. Figure 6 .

[0079] Furthermore, this invention adopts a low-power design concept, extending the module's operating time by optimizing the power management system and sensor operating modes, making it more suitable for long-term detection tasks. Simultaneously, the ring module is designed for use under different environmental conditions, possessing certain waterproof, dustproof, and shockproof properties to ensure stable operation even in harsh environments. The user-friendly interface and simple operating procedures further reduce the learning cost for users, improving the device's practicality and accessibility. Whether professional researchers or ordinary users, they can easily get started and quickly master the operating skills, thus better utilizing this magnetic detection module for scientific research, exploration, and monitoring tasks.

[0080] Therefore, this invention not only achieves breakthroughs and innovations at the technical level, but also brings revolutionary changes to user experience and application scenarios. It is expected to play a more important role in fields such as geological exploration, resource exploration, and security protection, providing a brand-new solution and tool for scientific research and engineering applications. It opens up new avenues for the development and application of magnetic detection technology, providing stronger, more convenient, and more efficient support for social development and industrial needs.

[0081] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A standard module for detecting target magnetic anomalies that is compatible with multiple scenarios, characterized in that, include: Rod element; The first acquisition unit is installed inside the rod unit, and the first acquisition unit acquires the first data; An electronic cabin unit, the rod unit is mounted on the electronic cabin unit, and the electronic cabin unit is connected to the first acquisition unit; A data transmission unit is installed on the pole unit and connected to the electronic cabin unit. The electronic cabin unit receives and processes the first data and then outputs it to the host computer through the data transmission unit. The rod unit includes: The first rod is inserted through the electronic cabin unit, and the data transmission unit is installed on the first rod; Two centrally folded tubes are respectively connected to both ends of the first rod body; Two second rods are respectively connected to the two central folding tubes. The first acquisition unit includes two cesium light pumps, which are respectively installed in the two second rods and connected to the electronic cabin unit. The electronic cabin unit includes: The box body, with the first rod passing through it; A fluxgate sensor is installed inside the housing to collect second data; The first acquisition card is installed inside the box and electrically connected to the fluxgate sensor. The fluxgate acquisition card receives and processes the second data and outputs it through the RS232 serial port protocol. The second acquisition card is installed inside the box and electrically connected to the first acquisition card and the cesium optical pump. The second acquisition card integrates and processes the processed second data and the first data and outputs them through the serial port TTL protocol.

2. The target magnetic anomaly detection standard module as described in claim 1, characterized in that, Also includes: A positioning unit, mounted on the first pole, is used to acquire and output GPS data; A pose sensor is installed inside the housing to acquire and output pose information data. A lidar unit, housed within the enclosure, is used to acquire and output lidar data.

3. The target magnetic anomaly detection standard module as described in claim 2, characterized in that, The electronic cabin unit also includes: The third acquisition card is disposed inside the housing and electrically connected to the second acquisition card and the data transmission unit. After integrating and processing the second acquisition card, the third acquisition card integrates the second data, the first data, the GPS data, the pose information data and the lidar data, and outputs them as detection data to the data transmission unit.

4. The target magnetic anomaly detection standard module as described in claim 3, characterized in that, It also includes the host computer, which is electrically connected to the data transmission unit. The host computer receives the detection data output by the data transmission unit and displays it in real time.

5. The target magnetic anomaly detection standard module as described in claim 4, characterized in that, The host computer receives the first data output by the cesium optical pump and the second data output by the fluxgate sensor, and uses the first data and the second data as compensation data. The host computer obtains a compensation coefficient based on the compensation data and performs attitude compensation on the detection data using the compensation coefficient.

6. The target magnetic anomaly detection standard module as described in claim 5, characterized in that, The host computer has a control panel, a data panel, and an auxiliary information panel. Control parameters are set through the control panel, the detection data, compensation data, attitude information data, and detection trajectory are displayed through the data panel, and auxiliary information is displayed through the auxiliary information panel.

7. The target magnetic anomaly detection standard module as described in claim 5, characterized in that, The host computer obtains the compensation coefficients using the least squares method based on the compensation data.

8. The target magnetic anomaly detection standard module as described in claim 1, characterized in that, The second data is an analog signal, and the first acquisition card converts the second data into a digital signal through analog-to-digital conversion before outputting it.

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