Integration and calibration method of geomagnetic vector measurement device for exploration

Abstract

The present invention discloses an integration and calibration method of a geomagnetic vector measuring device for exploration, and belongs to the field of geomagnetic vector measurement and positioning. The integration and calibration method of a geomagnetic vector measuring device for exploration of the present invention comprises the following steps: S1: designing the main body of the magnetic vector measuring equipment as a cross-shaped frame structure; S2: magnetic probes are arranged at both the upper and lower ends of the cross-shaped frame; S3: detecting the rotation relationship between the three-axis magnetic coordinates of the magnetic probe and the three-axis coordinates of the attitude meter; S4: making correction calculations for the various parameters detected. The present invention solves the problem that the existing technology rigidly installs the magnetometer and attitude meter on the aircraft through hard brackets and other devices during use, and the measurement accuracy is not high due to the lack of a matching perfect calibration solution. The present invention greatly improves the accuracy of geomagnetic vector measurement, and can not only carry out aviation magnetic vector and magnetic vector vertical gradient measurement, but also can be used for ground geomagnetic vector measurement, and has higher practicality.

Description

Technical Field

[0001] The present invention relates to the field of geomagnetic vector measurement and positioning technology, and in particular to an integration and calibration method of a geomagnetic vector measurement device for exploration. Background Art

[0002] Geophysical exploration technology involves gravity, magnetism, electricity, seismic and other fields. Among them, magnetic exploration has a long history and is simple and easy to use. It can realize data collection in various scenes such as air, space, ground, well, and underwater. It can adopt various measurement modes such as total field measurement, total field gradient measurement, three-component measurement, three-component gradient measurement, and directional measurement (vertical component). In recent years, with the continuous advancement of exploration technology, aeromagnetic vector measurement has attracted more and more attention from the industry, and the research on various technical links of magnetic vector measurement has become more and more in-depth. The three-axis fluxgate magnetometer has also been rapidly promoted and applied. Among them, the use of three-axis fluxgate magnetometers to carry out aeromagnetic vector (gradient) measurement is one of the important topics.

[0003] In geophysical exploration, the use of magnetometers for magnetic exploration is the most economical and quickest method. Among them, accurate field observation of magnetic vector parameters has been the research and improvement target for many years, so fluxgate magnetometers have been widely used and rapidly improved. Magnetic vector parameters include total magnetic field value intensity (amplitude) and azimuth. At present, they are mostly observed in the field by three-axis fluxgate magnetometers, that is, a magnetometer with three orthogonal magnetic axes is used to observe the three orthogonal azimuth components of the total magnetic field value in the field, and then the total magnetic field value intensity and azimuth are synthesized and calculated. The amplitude of the total magnetic field value vector synthesized by this method is not discussed here. The accurate measurement of its vector azimuth requires the help of equipment such as attitude meters. Therefore, how to integrate and install magnetometers, attitude meters and other related equipment to perfectly combine attitude measurement with magnetic vector measurement is also an important problem for magnetic survey workers.

[0004] In the past, most aeromagnetic vector measurements were carried out using manned helicopters or fixed-wing aircraft. The magnetometer and attitude meter were rigidly mounted on the aircraft through hard brackets and other devices. Due to the lack of a matching perfect calibration solution, the measurement accuracy was unsatisfactory. Therefore, it did not meet the existing needs. In this regard, we proposed an integration and calibration method for geomagnetic vector measurement devices for exploration. Summary of the invention

[0005] The purpose of the present invention is to provide an integration and calibration method of a geomagnetic vector measurement device for exploration, which can greatly improve the accuracy of geomagnetic vector measurement and improve the exploration effect. It can not only carry out aerial magnetic vector and magnetic vector vertical gradient measurement, but also be used for ground geomagnetic vector measurement. It is more practical and solves the problems raised in the above-mentioned background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a method for integrating and calibrating a geomagnetic vector measuring device for exploration, comprising the following steps:

[0007] S1: The main body of the magnetic vector measurement equipment is designed as a cross-shaped frame structure, and a rotatable sleeve is provided in the middle and lower part of the vertical pipe of the cross-shaped frame;

[0008] S2: Magnetic probes are arranged at both ends of the upper and lower ends of the cross-shaped frame of the main body of the integrated magnetic vector measurement equipment, and the magnetic probes are sealed in the cross-shaped frame of the main body of the magnetic vector measurement equipment through a cap plug;

[0009] S3: Detect the rotation relationship between the three-axis coordinates of the magnetic probe and the three-axis coordinates of the attitude meter. The three-axis coordinates are marked as (X M , Y M , Z M ), the three-axis coordinates of the attitude instrument are marked as (Xz, Yz, Zz), and the three axes of the attitude instrument are roll axis, roll axis and azimuth axis respectively;

[0010] S4: Correction calculation is performed on each detected parameter to solve the polar angle and azimuth of T in the D-type vertical tube spherical coordinate system, and then solve the polar angle and azimuth of T in the attitude instrument coordinate system, and finally solve the polar angle and azimuth of T in the geographic coordinate system.

[0011] The manufacturing method of the magnetic vector measurement equipment body specifically includes:

[0012] With the D-shaped vertical pipe as the foundation and the D-surface of the D-shaped vertical pipe as the reference, two structural cross pipes are used to build a cross structural frame in the middle of the D-shaped vertical pipe;

[0013] Dig a hole in the middle of the D-shaped vertical tube, sleeve the two outer thin horizontal tubes onto the outside of the two middle structural horizontal tubes, and fix the GPS antenna on the upper ends of the outer sides of the two thin horizontal tubes;

[0014] An electromagnetic shielding cabinet is fixedly installed at the junction of the D-shaped vertical pipe and the structure horizontal pipe in the middle of the cross-shaped frame. The magnetometer host and recording system, attitude instrument host and power supply are installed in the electromagnetic shielding cabinet.

[0015] Preferably, the step S3 of detecting the rotation relationship between the three-magnetic axis coordinates of the magnetic probe and the two sets of coordinates of the roll axis, the roll axis and the azimuth axis of the attitude instrument specifically includes:

[0016] Establish a D-type vertical tube spherical coordinate system, which is recorded as Take the center axis of the D-type vertical pipe as Z C The X axis is the center of the cross frame of the magnetic vector measurement equipment as the origin, and the connection line of the two GPS antennas of the attitude meter is the X axis. c axis;

[0017] Respectively detect the rotation relationship between the three-axis coordinate system of the magnetic probe and the D-type vertical tube ball coordinate system, and the three-axis coordinate system of the attitude instrument and the D-type vertical tube ball coordinate system;

[0018] The two sets of data obtained from the two tests were sorted out, and the 10 columns of data with the best quality were selected as the basic data for detection, and the data values ​​of various feature points were analyzed and obtained respectively;

[0019] Calculate the azimuth and polar angle of the XM and YM axes in the D-type vertical tube spherical coordinate system. The polar angle of the XM axis in the D-type vertical tube spherical coordinate system is recorded as θ Xm , the polar angle of the YM axis in the D-type vertical tube spherical coordinate system is denoted by θ Ym The azimuth angle of the XM axis in the D-type vertical tube spherical coordinate system is recorded as The azimuth of the YM axis in the D-type vertical tube spherical coordinate system is recorded as

[0020] Calculate X Z and Y Z The azimuth and polar angle of the two axes in the D-type vertical tube spherical coordinate system, X Z The azimuth of the axis in the D-type vertical tube spherical coordinate system is recorded as Y Z The azimuth of the axis in the D-type vertical tube spherical coordinate system is recorded as X Z The polar angle of the axis in the D-type vertical tube spherical coordinate system is denoted by θ Xz , Y Z The polar angle of the axis in the D-type vertical tube spherical coordinate system is denoted by θ Yz ;

[0021] According to the magnetic data of the second measurement, let Z M The azimuth of the axis is Z M The polar angle of the axis is θ ZD , let X M The azimuth of the axis is c, and the azimuth of magnetic north is φ T0 , find the azimuth of the D-type vertical pipe

[0022] Preferably, the respectively analyzing and obtaining the data values ​​of various feature points specifically includes:

[0023] Analyze and obtain the magnetic probe X in the first observation data M and Y M The maximum and minimum values ​​of the magnetic field components observed by the magnetic axis, the maximum value is recorded as T x11 and T y11 , the minimum value is recorded as T x12 and T y12 , and the geographical azimuths corresponding to the maximum, maximum, and zero-value points of the magnetic field components and

[0024] Analyze and obtain the magnetic probe X in the second observation data M and Y M The maximum and minimum values ​​of the magnetic field components observed by the magnetic axis, the maximum value is recorded as T x21 and T y21 , the minimum value is recorded as T x22 and T y22 , and the geographical azimuths corresponding to the maximum, minimum, and zero points of the magnetic field components and

[0025] Analyze and obtain the roll axis X in the first observation attitude instrument data Z and pitch axis Y Z The maximum and minimum values ​​of the observed inclination angle, the maximum value is recorded as θ zx11 and θ zy11 , the minimum value is recorded as θ zx12 and θ 2y12 , and the geographical azimuths corresponding to the maximum, minimum, and zero-value points of inclination and

[0026] Reanalyze and obtain the roll axis X in the attitude instrument data of the second observation Z and pitch axis Y Z The maximum and minimum values ​​of the observed inclination angle, the maximum value is recorded as θ zx21 and θ zy21 , the minimum value is recorded as θ zx22 and θ zy22 , and the geographical azimuths corresponding to the maximum, minimum, and zero-value points of inclination and

[0027] Calculate the basic parameters related to the subsequent calculations, including the total magnetic field strength value T of the test field, the angle JTI2 between the vertical plane of the D-type vertical pipe centerline and the vector of the total magnetic field strength value T during the second measurement, and M X The angle Jmx between the magnetic axis and the vertical plane of the D-type vertical pipe center axis.

[0028] Preferably, the calculation formula of the basic parameters is as follows:

[0029]

[0030]

[0031] SJb2 takes a positive value;

[0032] JTI2=sin -1 SJT

[0033]

[0034] Calculate M y The angle Jmy between the magnetic axis and the vertical plane of the D-type vertical tube is calculated as follows:

[0035]

[0036] Preferably, the The calculation formula is as follows:

[0037]

[0038] θ Xm and θ Ym The calculation formula is as follows:

[0039] θ Xm =90°-J mx

[0040] θ Ym =90°-J my

[0041] The calculation formula is as follows:

[0042]

[0043] and The calculation formula is as follows:

[0044]

[0045] θ Xz and θ Yz The calculation formula is as follows:

[0046]

[0047]

[0048] Preferably, the azimuth angle of the D-shaped vertical pipe is obtained Specifically include:

[0049] Calculate the angle D between T and M, and calculate X based on the result M The value of the geomagnetic field component T measured by the axis xm , the calculation formula is as follows:

[0050]

[0051] cos D=T·M=sinθ VT sinθ VM cosc+cosθ VT cosθ VM

[0052] T Xm =T cos D = T(sinθ VT sinθ VM cos c+cos θ VT cosθ VM )

[0053] Where a = Jmx, b = JTI2, θ ZD =θ ZX21 -θ Xz ;

[0054] Use the fitting calculation mode to obtain Z M Azimuth The calculation steps are as follows:

[0055] c takes four values, corresponding to X M The azimuths of the maximum, minimum and two zero-value points of the second measurement of the magnetic data of the axis are recorded as c1, c2, c3 and c4, where:

[0056] Given Use the above formula to calculate the T corresponding to c1, c2, c3 and c4 respectively. Xm value, sinθ in the formula VM 、cosθ VM All c values ​​in and cos c take the corresponding c1, c2, c3 and c4 values: T Xm(n) =TcosD (n) , n = 1, 2, 3, 4;

[0057] Calculate the fitting error MD, which is the sum of the mean square error between the theoretical value calculated by the above formula and the measured value:

[0058] MD=(T Xm(1) -T X21 ) 2 +(T Xm(2) -T X22 ) 2 +T Xm(3) 2 +T Xm(4) 2

[0059] In actual calculation, Take 20°~60°, the step length is 0.01°, and calculate the fitting difference MD according to the step length(i) :

[0060] MD (i) =(T Xm(1，i) -T X21 ) 2 +(T Xm(2，i) -T X22 ) 2 +T Xm(3，i) 2 +T Xm(4，i) 2

[0061] In the above formula, i represents The serial number is 0 to 4000, corresponding to the azimuth The value is calculated as follows:

[0062]

[0063] For all the above MD (i) Perform trend analysis and select the smallest MD in the trend (i) The corresponding i value, and the corresponding i value The value is the azimuth of the center axis of the D-type vertical tube

[0064] Preferably, the correction calculation of each detected parameter in step S4 specifically includes:

[0065] The total magnetic field intensity value T vector measured by the magnetic probe in the three-axis coordinate system is normalized to the unit vector t, and the polar angle θ of the unit vector t in the D-type vertical tube spherical coordinate system is solved. Tc and azimuth The specific calculation steps are:

[0066] The polar angle θ of the known unit vector t in the D-type vertical tube spherical coordinate system Tc and azimuth Solve for the polar angle θ of t in the attitude instrument coordinate system Tz and azimuth The specific calculation steps are:

[0067] Solve for the attitude indicator roll axis X Z 、Roll axis Y Z Angle

[0068]

[0069]

[0070] Solving for θ Tz , The calculation formula is as follows:

[0071]

[0072] The polar angle θ of the known unit vector t in the attitude instrument coordinate system is Tz and azimuth Solve for the polar angle θ of t in the geographic coordinate system TD and azimuth The specific calculation steps are:

[0073]

[0074]

[0075] In the above formula: Angle equal to The sum of the angle and the azimuth angle measured by the attitude instrument, θ XD It is the pitch angle measured by the attitude instrument, θ YD is the roll angle measured by the attitude instrument, and the calculation result is That is the magnetic declination of the measured magnetic vector, θ TD is the complementary angle of the magnetic vector inclination.

[0076] Compared with the prior art, the present invention has the following beneficial effects:

[0077] The present invention can greatly improve the accuracy of geomagnetic vector measurement and enhance the exploration effect. The integrated magnetic vector measurement equipment body can be used as a pod device with automatic stabilization posture to carry out aviation magnetic vector and magnetic vector vertical gradient measurement work, so as to solve the amplitude and azimuth determination problems of magnetic vector measurement in the above-mentioned background technology. It can also be appropriately simplified by removing components such as the tail rudder and slings, and used for ground geomagnetic vector measurement work, which is more practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 It is a schematic diagram of the main body of the magnetic vector measurement equipment of the present invention;

[0079] Figure 2 The main body of the magnetic vector measurement equipment of the present invention is placed vertically on a bracket;

[0080] Figure 3 The magnetic vector measurement equipment of the present invention is mainly placed on a bracket with an inclination;

[0081] Figure 4 It is a cross-sectional view of a D-type vertical pipe of the present invention;

[0082] Figure 5 It is a schematic diagram of the calibration method of the present invention.

[0083] In the figure: 1. D-shaped vertical pipe; 2. structural horizontal pipe; 3. electromagnetic shielding cabinet; 4. magnetic probe; 5. rotatable sleeve. DETAILED DESCRIPTION

[0084] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0085] In order to solve the existing problem that the existing aerial magnetic vector measurement work mostly uses manned helicopters or fixed-wing aircraft, and the magnetometer and attitude meter are rigidly installed on the aircraft through hard brackets and other devices. Due to the lack of a matching perfect calibration solution, the measurement accuracy is unsatisfactory. Figure 1-Figure 5 This embodiment provides the following technical solution: a method for integrating and calibrating a geomagnetic vector measuring device for exploration, characterized in that it comprises the following steps:

[0086] S1: The main body of the magnetic vector measurement equipment is designed as a cross-shaped frame structure, and a rotatable sleeve 5 is provided in the lower middle part of the vertical pipe of the cross-shaped frame.

[0087] S2: Magnetic probes 44 are provided at both upper and lower ends of the cross-shaped frame of the main body of the integrated magnetic vector measurement equipment. The magnetic probes 44 are sealed in the cross-shaped frame of the main body of the magnetic vector measurement equipment through a cap plug.

[0088] S3: Detect the rotation relationship between the three-axis coordinates of the magnetic probe 4 and the three-axis coordinates of the attitude meter. The three-axis coordinates are marked as (X M , Y M , Z M ), the three-axis coordinates of the attitude instrument are marked as (Xz, Yz, Zz), and the three axes of the attitude instrument are roll axis, roll axis and azimuth axis respectively.

[0089] S4: Correction calculation is performed on each detected parameter to solve the polar angle and azimuth of T in the D-type vertical tube 1 spherical coordinate system, and then solve the polar angle and azimuth of T in the attitude instrument coordinate system, and finally solve the polar angle and azimuth of T in the geographic coordinate system.

[0090] The magnetic probe 4 is organically integrated with the attitude instrument host, GPS antenna, etc., and an electromagnetic shielding cabinet 3 is used to reduce the interference of the power supply, host and other instruments on the magnetic probe 4. The calibration of the main body of the magnetic vector measurement equipment mainly includes two aspects: detection and correction calculation, that is, detecting the magnetic probe 4 (X M , Y M , Z M ) three magnetic axes and the three axes of the attitude instrument (XZ , Y Z , Z Z ) and use the above spatial relationship to analyze the original (X M , Y M , Z M ) The magnetic three-component data is converted into coordinates and finally converted into the geographic coordinate system (X D , Y D , Z D ) below the magnetic three-component data.

[0091] The manufacturing method of the main body of the magnetic vector measurement equipment specifically comprises:

[0092] The integrated magnetic vector measurement equipment is designed as a cross-shaped frame structure. A stable rotatable sleeve 5 is designed in the middle and lower part of the vertical pipe of the cross-shaped structure. After the rotatable sleeve 5 is fixed to a stable bracket, the entire cross-shaped frame can rotate with the D-shaped vertical pipe 1 as the axis.

[0093] With the D-shaped vertical tube 1 as the foundation and the D-surface of the D-shaped vertical tube 1 as the reference, two structural cross tubes 2 are used to build a cross structural frame in the middle of the D-shaped vertical tube 1, so that the D-shaped vertical tube 1 is perpendicular to the cross of the two structural cross tubes 2 in the middle, the D-surface of the D-shaped vertical tube 1 is perpendicular to the cross surface, and the two horizontal tubes in the middle are in a straight line. The arc surface of the D-shaped vertical tube 1 faces forward to reduce wind resistance, and the upper and lower ends of the D-surface are used to install the magnetic probe 4, which is convenient for controlling the probe posture and increasing the stability of the probe.

[0094] A hole is dug in the middle of the D-shaped vertical tube 1, and two thin horizontal tubes are sleeved on the outside of the two middle structure horizontal tubes 2, and the GPS antenna is fixed on the upper end of the outer side of the two thin horizontal tubes. A directional tail rudder is installed at one end of the structure horizontal tube 2, and a head end cap is installed at the other end. The tail rudder is surrounded by a plastic sheet, and a knife-cut line is provided on the plastic sheet to adjust the wind resistance.

[0095] An electromagnetic shielding cabinet 3 is fixedly installed at the intersection of the D-shaped vertical pipe 1 and the framework horizontal pipe 2 in the middle of the cross-shaped frame. The magnetometer host and the recording system, the attitude instrument host and the power supply are installed in the electromagnetic shielding cabinet 3. The electromagnetic shielding cabinet 3 is divided into three rectangular parallelepiped frames, which are made of carbon fiber plates and structural parts and are respectively fixed at the upper rear, lower rear and lower front positions of the cross intersection in the middle of the cross-shaped frame, so that the front and lower surfaces of the attitude instrument host electromagnetic shielding cabinet 3 are vertical, and the electromagnetic shielding cabinet 3 is a rectangular flat box-shaped fairing, the inner side of the fairing is bonded with a copper wire mesh, and the outer side is bonded with a permalloy foil. The inner copper mesh mainly plays an electromagnetic shielding role, and the outer permalloy foil mainly plays a magnetic shielding role.

[0096] The front panel of the attitude meter electromagnetic shielding cabinet 3 is fitted with the D surface of the D-type vertical pipe 1, the front of the attitude meter is fitted with the front of the electromagnetic shielding cabinet 3, the bottom of the attitude meter is fixed on the electromagnetic shielding cabinet 3, the magnetometer host, the recording system and the power supply are all fixed in the corresponding electromagnetic shielding cabinet 3, the two ends of the D-type vertical pipe 1 are equipped with magnetic probes 4, the magnetic probes 4 are fitted with the D surface of the D-type vertical pipe 1, the longitudinal center axis of the magnetic probes 4 coincides with the longitudinal center axis of the D surface of the D-type vertical pipe 1, the magnetic probes 4 are rectangular, the magnetic probes 4 and the GPS cable pass through the D-type vertical pipe 1 and the framework cross pipe 2 and are connected to the host in the middle of the main body of the magnetic vector measurement equipment. The rotating sleeve is installed below the electromagnetic shielding cabinet 3, and the rotating sleeve is tightly fitted with the D-type vertical pipe 1, so that the three axes of the attitude meter and the three axes of the magnetic probe 4 are basically consistent, the magnetic probe 4 is slightly disturbed, and the cable disturbance is weak. The D-type vertical pipe 1 is a whole carbon fiber tube with a D-shaped cross section and a hole in the middle to insert the cable. The structural cross tube 2 is a segmented carbon fiber tube with a circular cross section and a hole in the middle for inserting cables. A rotatable sleeve 5 is provided in the middle and lower part of the D-type vertical tube 1. The rotatable sleeve 5 fits tightly with the D-type vertical tube 1 and can rotate but not loose, ensuring that the vertical tube does not shake when rotating. The rotatable sleeve 5 is tightly engaged with the clamp on the bracket to realize the overall rotation of the main body of the magnetic vector measurement equipment. Blocks are installed at the upper and lower ends of the sleeve on the D-type vertical tube 1 to ensure that the sleeve does not fall off and has a sliding support surface when rotating.

[0097] Step S3 detects the rotation relationship between the three magnetic axis coordinates of the magnetic probe 4 and the two sets of coordinates of the roll axis, the roll axis and the azimuth axis of the attitude instrument, specifically including:

[0098] Establish a D-type vertical tube 1 spherical coordinate system, and record the D-type vertical tube 1 spherical coordinate system as The central axis of the D-type vertical pipe 1 is the Zc axis, the center of the cross frame of the magnetic vector measurement equipment is the origin, and the connection line of the two GPS antennas of the attitude instrument is the X axis. c axis.

[0099] Detect the three-axis coordinate system (X M , Y M , Z M ) and D-type vertical tube 1 spherical coordinate system The rotation relationship between the attitude meter three-axis coordinate system (Xz, Yz, Zz) and the D-type vertical tube 1 spherical coordinate system, thereby indirectly linking the magnetic probe 4 three-axis coordinate system with the attitude meter three-axis coordinate system to achieve the purpose of detection and correction

[0100] The two sets of data obtained from the two tests were sorted out, and the 10 columns of data with the best quality were selected as the basic data for detection, and the data values ​​of various feature points were analyzed and obtained respectively.

[0101] Calculate the azimuth and polar angle of the XM and YM axes in the D-type vertical tube 1 spherical coordinate system. The polar angle of the XM axis in the D-type vertical tube 1 spherical coordinate system is denoted by θ Xm The polar angle of the YM axis in the D-type vertical tube 1 spherical coordinate system is denoted by θ Ym The azimuth angle of the XM axis in the spherical coordinate system of the D-type vertical tube 1 is recorded as The azimuth of the YM axis in the D-type vertical tube 1 spherical coordinate system is recorded as

[0102] Calculate X Z and Y Z The azimuth and polar angle of the two axes in the D-type vertical tube 1 spherical coordinate system, X Z The azimuth of the axis in the D-type vertical tube 1 spherical coordinate system is recorded as Y Z The azimuth of the axis in the D-type vertical tube 1 spherical coordinate system is recorded as X Z The polar angle of the axis in the D-type vertical tube 1 spherical coordinate system is denoted by θ Xz , Y Z The polar angle of the axis in the D-type vertical tube 1 spherical coordinate system is denoted by θ Yz .

[0103] According to the magnetic data of the second measurement, let Z M The azimuth of the axis is Z M The polar angle of the axis is θ ZD , let X M The azimuth of the axis is c, and the azimuth of magnetic north is Calculate the azimuth of D-type vertical pipe 1

[0104] Analyze and obtain the data values ​​of various feature points respectively, including:

[0105] Analyze and obtain the magnetic probe 4X in the first observation data M and Y M The maximum and minimum values ​​of the magnetic field components observed by the magnetic axis, the maximum value is recorded as (T x11 , T y11 ), the minimum value is recorded as (T x12 , T y12 ), and the geographical azimuths corresponding to the maxima, maxima, and zero points of the magnetic field components

[0106] Analyze and obtain the magnetic probe 4X in the second observation data M and Y M The maximum and minimum values ​​of the magnetic field components observed by the magnetic axis, the maximum value is recorded as (T x21 , T y21 ), the minimum value is recorded as (T x22, T y22 ), and the geographical azimuths corresponding to the maximum, minimum, and zero points of the magnetic field components

[0107] Analyze and obtain the roll axis X in the first observation attitude instrument data z and pitch axis Y z The maximum and minimum values ​​of the observed inclination angle, the maximum value is recorded as (θ zx11 ,θ zy11 ), the minimum value is recorded as (θ zx12 ,θ zy12 ), and the geographical azimuths corresponding to the maximum, minimum, and zero-value points of inclination

[0108] Reanalyze and obtain the roll axis X in the attitude instrument data of the second observation Z and pitch axis Y Z The maximum and minimum values ​​of the observed inclination angle, the maximum value is recorded as (θ zx21 ,θ zy21 ), the minimum value is recorded as (θ zx22 ,θ zy22 ), and the geographical azimuths corresponding to the maximum, minimum, and zero-value points of inclination

[0109] The basic parameters related to the subsequent calculations are calculated respectively, including the total magnetic field strength value T of the test field, the angle between the vertical plane of the middle axis of the D-type vertical pipe 1 and the vector of the total magnetic field strength value T during the second measurement (JTI2), M X The angle Jmx between the magnetic axis and the vertical plane of the central axis of the D-shaped vertical tube 1.

[0110] The rotation relationship between the three-axis coordinate system of the magnetic probe 4 and the spherical coordinate system of the D-type vertical tube 1, and the three-axis coordinate system of the attitude instrument and the spherical coordinate system of the D-type vertical tube 1 are detected respectively, specifically including:

[0111] A secluded area in the wild with a calm magnetic field and no human interference was selected as the test site. The change in the geomagnetic field during the test was small.

[0112] Use a non-magnetic tripod and a magnetic declination meter to observe and confirm the magnetic declination angle D of the test field in the field T0 , confirm the geographic azimuth of the horizontal component of the geomagnetic field

[0113] Set up the supporting bracket of the mobile station, adjust the bracket so that the initial position of the clamp ring of the buckle D-shaped vertical pipe 1 is as vertical as possible and stabilize the bracket. The bracket is made of carbon fiber tubes, PE pipe fittings, etc., which is non-magnetic, stable and firm. Counterweight methods such as water pressure bags can be used to increase stability. It can be folded for easy carrying.

[0114] Install the mobile station onto the bracket so that the D-shaped vertical pipe 1 of the mobile station is as vertical as possible.

[0115] Turn on the machine, set the sampling rate of the attitude meter and magnetometer to no less than 200 Hz and record automatically.

[0116] The mobile station is rotated horizontally at a uniform speed for 2 to 3 weeks, about one minute per week, to record the data series corresponding to this 2 to 3 week period, including time (accurate to milliseconds), longitude and latitude and altitude, geographic azimuth (resolution to 0.01 degrees), roll angle (resolution to 0.01 degrees), pitch angle (resolution to 0.01 degrees), magnetic three-component xm-ym-zm (resolution to 0.01nT), etc., 10 columns of about 20,000 to 30,000 rows of data.

[0117] Adjust the angle of the rotatable sleeve on the bracket to make the D-shaped vertical pipe 1 tilt about 20 degrees to the northeast and fix it. Rotate the mobile station horizontally at a constant speed for 2 to 3 circles again to obtain 10 columns of about 20,000 to 30,000 rows of data similar to the previous step.

[0118] Check the data obtained twice. If the data change pattern is stable and there is no sudden change, and the daily change is stable during this period (no more than 10 minutes) and the change amplitude is relatively weak, then the field detection is completed.

[0119] The calculation formula of basic parameters is as follows:

[0120]

[0121] SJb2 takes a positive value.

[0122] JTI2=sin -1 SJT

[0123]

[0124] Calculate M y The angle Jmy between the magnetic axis and the vertical plane of the middle axis of the D-type vertical pipe 1 is calculated as follows:

[0125] make

[0126]

[0127] The calculation formula is as follows:

[0128]

[0129] θ Xm and θ Ym The calculation formula is as follows:

[0130] θ Xm =90°-J mx

[0131] θ Ym =90°-J my

[0132] The calculation formula is as follows:

[0133]

[0134] and The calculation formula is as follows:

[0135]

[0136] θ Xz and θ Yz The calculation formula is as follows:

[0137]

[0138] Calculate the azimuth of D-type vertical pipe 1 Specifically include:

[0139] Calculate the angle D between T and M, and calculate X based on the result M The value of the geomagnetic field component T measured by the axis Xm , the calculation formula is as follows:

[0140]

[0141] cos D=T·M=sinθ VT sinθ VM cos c+cos θ VT cos θ VM

[0142] T Xm =T cos D = T(sin θ VT sin θ VM cos c+cos θ VT cosθ VM )

[0143] Where a = Jmx, b = JTI2, θ ZD =θ ZX21 -θ Xz .

[0144] Use the fitting calculation mode to obtain Z M Azimuth The calculation steps are as follows:

[0145] c takes four values, corresponding to X MThe azimuths of the maximum, minimum and two zero-value points of the second measurement of the magnetic data of the axis are recorded as c1, c2, c3 and c4, where:

[0146] Given Use the above formula to calculate the T corresponding to c1, c2, c3 and c4 respectively. X m value, sinθ in the formula VM 、cosθ VM All c values ​​in and cos c take the corresponding c1, c2, c3 and c4 values: T Xm (n) = TcosD (n) , n=1,2,3,4.

[0147] Calculate the fitting error MD, which is the sum of the mean square error between the theoretical value calculated by the above formula and the measured value:

[0148] MD=(T xm(1) -T X21 ) 2 +(T xm(2) -T X22 ) 2 +T xm(3) 2 +T Xm(4) 2

[0149] In actual calculation, Take 20°~60°, the step length is 0.01°, and calculate the fitting difference MD according to the step length (i) :

[0150] MD (i) =(T Xm(1，i) -T X21 ) 2 +(T Xm(2，i) -T X22 ) 2 +T Xm(3，i) 2 +T Xm(4，i) 2

[0151] In the above formula, i represents The serial number is 0 to 4000, corresponding to the azimuth The value is calculated as follows:

[0152]

[0153] For all the above MD (i) Perform trend analysis and select the smallest MD in the trend (i) The corresponding i value, and the corresponding i value The value is the azimuth of the center axis of the D-type vertical pipe 1

[0154] In step S4, correction calculation is performed on each detected parameter, specifically including:

[0155] The three-axis coordinate system (X M , Y M , Z M ) The total magnetic field intensity value T vector is normalized to the unit vector t, and the unit vector t is solved in the D-type vertical tube 1 spherical coordinate system The polar angle θ T c and azimuth The specific calculation steps are:

[0156]

[0157]

[0158] It is known that the unit vector t is in the D-type vertical tube 1 spherical coordinate system The polar angle (θ Tc ) and azimuth Solve for t in the attitude instrument coordinate system The polar angle (θ Tz ) and azimuth The specific calculation steps are:

[0159] Solve for the attitude indicator roll axis X Z 、Roll axis Y Z Angle

[0160]

[0161] Solving for θ Tz , The calculation formula is as follows:

[0162]

[0163] The polar angle θ of the known unit vector t in the attitude instrument coordinate system (Xz, Yz, Zz) Tz and azimuth Solve for t in the geographic coordinate system (X D , Y D , Z D ) under the polar angle θ TD and azimuth X in geographic coordinate system D The axis points to geographic north, Y D The axis points to geographic east, Z DThe axis points downward, and the origin is the same as the Xz, Yz, and Zz origins. The specific calculation steps are:

[0164]

[0165] In the above formula: Angle equal to The sum of the angle (the angle between the roll axis and the line connecting the two GPS antennas, positive to the east) and the azimuth angle measured by the attitude instrument, θ XD It is the pitch angle measured by the attitude instrument, θ YD is the roll angle measured by the attitude instrument, and the calculation result is That is the magnetic declination of the measured magnetic vector, θ TD is the complementary angle of the magnetic vector inclination.

[0166] Through the above calculations, the magnetic declination and inclination of the total geomagnetic field measured at each measuring point can be obtained. The total geomagnetic field T can be directly obtained from the original three-component data, thereby achieving the purpose of accurately measuring the geomagnetic field vector.

[0167] When aerial magnetic vector measurement is required, the main body of the integrated magnetic vector measurement equipment is hung under the UAV to achieve aerial magnetic vector measurement. In order to strive to keep the main body of the integrated magnetic vector measurement equipment stable during flight, the center of gravity of the main body of the integrated magnetic vector measurement equipment is arranged below the cross intersection, and the hanging rope is slidable, and a conical tail is installed at the tail of the structure cross tube 2. During flight, the hanging point moves with the change of wind resistance, so as to ensure the dynamic balance of the main body of the integrated magnetic vector measurement equipment and achieve the goal of stable attitude. When it is necessary to carry out magnetic measurement on the ground During vector measurement, the carbon fiber tubes are installed together through PE pipe fittings to form a bracket, and a clamping ring that can be buckled into a rotatable sleeve 5 is provided on the bracket. After the bracket is firmly installed, the main body of the magnetic vector measurement equipment is buckled into the clamping ring of the bracket through the rotatable sleeve 55, and measurement can be carried out. The main body of the magnetic vector measurement equipment can be manually rotated stably with the D-type vertical pipe 1 as the axis. The clamping ring of the buckled rotatable sleeve 5 on the bracket can adjust the inclination angle in a fixed position, so that the main body of the magnetic vector measurement equipment can be stably rotated horizontally or tilted and rotated with the D-type vertical pipe 1 as the axis.

[0168] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms include, contain or any other variation thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0169] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A method for integrating and calibrating a geomagnetic vector measuring device for exploration, characterized in that: The following steps are involved: S1: The main body of the magnetic vector measurement equipment is designed to be a cross-shaped frame structure, and a rotatable sleeve (5) is provided in the middle and lower part of the vertical pipe of the cross-shaped frame; S2: Magnetic probes (4) (3) are arranged at both the upper and lower ends of the cross-shaped frame of the main body of the integrated magnetic vector measurement equipment, and the magnetic probes (4) are sealed in the cross-shaped frame of the main body of the magnetic vector measurement equipment through a cap plug; S3: Detect the rotation relationship between the three-axis coordinates of the magnetic probe (4) and the three-axis coordinates of the attitude meter. The three-axis coordinates are marked as (X M , Y M , Z M ), the three-axis coordinates of the attitude instrument are marked as (Xz, Yz, Zz), and the three axes of the attitude instrument are roll axis, roll axis and azimuth axis respectively; S4: Correction calculation is performed on each detected parameter to solve the polar angle and azimuth of T in the spherical coordinate system of the D-type vertical tube (1), then solve the polar angle and azimuth of T in the attitude instrument coordinate system, and finally solve the polar angle and azimuth of T in the geographic coordinate system.

2. The method for integrating and calibrating a geomagnetic vector measuring device for exploration according to claim 1, characterized in that: The manufacturing method of the magnetic vector measurement equipment body specifically includes: Taking the D-shaped vertical pipe (1) as the foundation and the D surface of the D-shaped vertical pipe (1) as the reference, two structural cross pipes (2) are used to build a cross structural frame in the middle of the D-shaped vertical pipe (1); A hole is dug in the middle of the D-shaped vertical tube (1), two thin horizontal tubes are sleeved on the outer sides of the two middle structural horizontal tubes (2), and a GPS antenna is fixed on the upper ends of the outer sides of the two thin horizontal tubes; An electromagnetic shielding cabinet (3) is fixedly installed at the junction of the D-shaped vertical pipe (1) and the framework horizontal pipe (2) in the middle of the cross-shaped frame, and a magnetometer host and a recording system, an attitude instrument host and a power supply are installed in the electromagnetic shielding cabinet (3).

3. The method for integrating and calibrating a geomagnetic vector measurement device for exploration according to claim 1, characterized in that: The step S3 detects the rotation relationship between the three magnetic axis coordinates of the magnetic probe (4) and the two sets of coordinates of the roll axis, the roll axis and the azimuth axis of the attitude instrument, specifically including: The spherical coordinate system of the D-type vertical tube (1) is established and recorded as The center axis of the D-type vertical pipe (1) is Z. C The X axis is the center of the cross frame of the magnetic vector measurement equipment as the origin, and the connection line of the two GPS antennas of the attitude meter is the X axis. C axis; Respectively detecting the rotation relationship between the three-axis coordinate system of the magnetic probe (4) and the spherical coordinate system of the D-type vertical tube (1), and the three-axis coordinate system of the attitude instrument and the spherical coordinate system of the D-type vertical tube (1); The two sets of data obtained from the two tests were sorted out, and the 10 columns of data with the best quality were selected as the basic data for detection, and the data values ​​of various feature points were analyzed and obtained respectively; Calculate the azimuth and polar angle of the XM and YM axes in the spherical coordinate system of the D-type vertical tube (1). The polar angle of the XM axis in the spherical coordinate system of the D-type vertical tube (1) is denoted by θ Xm The polar angle of the YM axis in the spherical coordinate system of the D-type vertical tube (1) is denoted by θ Ym The azimuth of the XM axis in the spherical coordinate system of the D-type vertical tube (1) is recorded as The azimuth of the YM axis in the spherical coordinate system of the D-type vertical tube (1) is expressed as Calculate X Z and Y Z The azimuth and polar angles of the two axes in the D-type vertical tube (1) spherical coordinate system, X Z The azimuth of the axis in the spherical coordinate system of the D-type vertical tube (1) is expressed as Y Z The azimuth of the axis in the spherical coordinate system of the D-type vertical tube (1) is expressed as X Z The polar angle of the axis in the spherical coordinate system of the D-type vertical tube (1) is denoted by θ Xz , Y Z The polar angle of the axis in the spherical coordinate system of the D-type vertical tube (1) is denoted by θ Yz ; According to the magnetic data of the second measurement, let Z M The azimuth of the axis is Z M The polar angle of the axis is θ ZD , let X M The azimuth of the axis is c, and the azimuth of magnetic north is Calculate the azimuth of the D-type vertical pipe (1) 4. The method for integrating and calibrating a geomagnetic vector measuring device for exploration according to claim 3, characterized in that: The respectively analyzing and obtaining the data values ​​of various feature points specifically includes: Analyze and obtain the magnetic probe (4)X in the first observation data M and Y M The maximum and minimum values ​​of the magnetic field components observed by the magnetic axis, the maximum value is recorded as T x11 and T y11 , the minimum value is recorded as T x12 and T y12 , and the geographical azimuths corresponding to the maximum, maximum, and zero points of the magnetic field components and Analyze and obtain the magnetic probe (4)X in the second observation data M and Y M The maximum and minimum values ​​of the magnetic field components observed by the magnetic axis, the maximum value is recorded as T x21 and T y21 , the minimum value is recorded as T x22 and T y22 , and the geographical azimuths corresponding to the maximum, minimum, and zero points of the magnetic field components and Analyze and obtain the roll axis X in the first observation attitude instrument data Z and pitch axis Y Z The maximum and minimum values ​​of the observed inclination angle, the maximum value is recorded as θ zx11 and θ zy11 , the minimum value is recorded as θ zx12 and θ zy12 , and the geographical azimuths corresponding to the maximum, minimum, and zero-inclination points and Reanalyze and obtain the roll axis X in the attitude instrument data of the second observation Z and pitch axis Y Z The maximum and minimum values ​​of the observed inclination angle, the maximum value is recorded as θ zx21 and θ zy21 , the minimum value is recorded as θ zx22 and θ zy22 , and the geographical azimuths corresponding to the maximum, minimum, and zero-value points of inclination and The basic parameters related to the subsequent calculations are calculated respectively, and the basic parameters include the total magnetic field intensity value T of the test field, the angle JTI2 between the vertical plane of the central axis of the D-type vertical pipe (1) and the vector of the total magnetic field intensity value T during the second measurement, and M X The angle Jmx between the magnetic axis and the vertical plane of the center axis of the D-shaped vertical tube (1).

5. The method for integrating and calibrating a geomagnetic vector measuring device for exploration according to claim 4, characterized in that: The calculation formula of the basic parameters is as follows: SJb2 takes a positive value; JTI2=his -1 SJb2 Calculate M y The angle Jmy between the magnetic axis and the vertical plane of the center axis of the D-shaped vertical tube (1) is calculated as follows: make 6. The method for integrating and calibrating a geomagnetic vector measurement device for exploration according to claim 3, characterized in that: Said The calculation formula is as follows: θ Xm and θ Ym The calculation formula is as follows: i Xm =90°-J mx i Ym =90°-J my The calculation formula is as follows: and The calculation formula is as follows: θ Xz and θ Yz The calculation formula is as follows:

7. The method for integrating and calibrating a geomagnetic vector measurement device for exploration according to claim 3, characterized in that: The azimuth angle of the D-shaped vertical pipe (1) is obtained Specifically include: Calculate the angle D between T and M, and calculate X based on the result M The value of the geomagnetic field component T measured by the axis Xm , the calculation formula is as follows: cos D=T·M=sinθ VT sinθ VM cos c+cosθ VT cosθ VM T Xm =T cos D=T(sinθ VT sinθ VM cos c+cosθ VT cosθ VM ) where a = Jmx, b = JTI2, θ ZD = θ ZX21 - θ Xz ; Use the fitting calculation mode to obtain Z M Azimuth The calculation steps are as follows: c takes four values, corresponding to X M The azimuths of the maximum, minimum and two zero-value points of the second measurement of the magnetic data of the axis are recorded as c1, c2, c3 and c4, where: Given Use the above formula to calculate the T corresponding to c1, c2, c3 and c4 respectively. Xm value, sinθ in the formula VM 、cosθ VM All c values ​​in and cosc ​​take the corresponding c1, c2, c3, and c4 values: T Xm(n) =TcosD (n) , n = 1, 2, 3, 4; Calculate the fitting error MD, which is the sum of the mean square error between the theoretical value calculated by the above formula and the measured value: MD=(T Xm(1) -T X21 ) 2 +(T Xm(2) -T X22 ) 2 +T Xm(3) 2 +T Xm(4) 2 In actual calculation, Take 20°~60°, the step length is 0.01°, and calculate the fitting difference MD according to the step length (i) : MD (i) =(T Xm(1,i) -T X21 ) 2 +(T Xm(2,i) -T X22 ) 2 +T Xm(3,i) 2 +T Xm(4,i) 2 In the above formula, i represents The serial number is 0 to 4000, corresponding to the azimuth The value is calculated as follows: For all the above MD (i) Perform trend analysis and select the smallest MD in the trend (i) The corresponding i value, and the corresponding i value The value is the azimuth of the center axis of the D-type vertical pipe (1) 8. The method for integrating and calibrating a geomagnetic vector measurement device for exploration according to claim 1, characterized in that: In step S4, correction calculation is performed on each detected parameter, specifically including: The total magnetic field intensity value T vector of the three-axis coordinate system data of the magnetic probe (4) measured by the magnetic probe (4) is normalized to a unit vector t, and the polar angle θ of the unit vector t in the spherical coordinate system of the D-type vertical tube (1) is solved. Tc and azimuth The specific calculation steps are: The polar angle θ of the unit vector t in the D-type vertical tube (1) spherical coordinate system is known Tc and azimuth Solve for the polar angle θ of t in the attitude instrument coordinate system Tz and azimuth The specific calculation steps are: Solve for the attitude indicator roll axis X Z 、Roll axis Y Z Angle Solving for θ Tz , The calculation formula is as follows: The polar angle θ of the known unit vector t in the attitude instrument coordinate system is Tz and azimuth Solve for the polar angle θ of t in the geographic coordinate system TD and azimuth The specific calculation steps are: In the above formula: Angle equal to The sum of the angle and the azimuth angle measured by the attitude instrument, θ XD It is the pitch angle measured by the attitude instrument, θ YD is the roll angle measured by the attitude instrument, and the calculation result is That is the magnetic declination of the measured magnetic vector, θ TD is the complementary angle of the magnetic vector inclination.

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