Aeromagnetic detection spiral track path planning method and system

Abstract

The invention relates to the field of magnetic anomaly detection, in particular to an aeromagnetic detection spiral trajectory path planning method and system. The invention provides an aeromagnetic detection spiral trajectory path planning method, which comprises the following steps: a magnetic anomaly signal acquisition step: acquiring a magnetic anomaly signal of a target object based on a constructed magnetic dipole model and a magnetic moment vector of the target object; a measuring line spacing obtaining step of obtaining a spiral track measuring line spacing based on the magnetic anomaly signal of the target object; a step of obtaining a spiral track: obtaining the spiral track based on the spiral track measuring line spacing and an Archimedes spiral line formula; and a target object detection and identification step: carrying out target object detection and identification by the aeromagnetic detection equipment based on the spiral track.

Description

Technical Field

[0001] The present invention relates to the field of magnetic anomaly detection, and more specifically, to a method and system for planning a spiral trajectory path for aeromagnetic detection. Background Art

[0002] Magnetic anomaly detection is a method that uses magnetic field measurement technology to detect and analyze magnetic field anomalies generated by objects in multiple media such as air, underground, and underwater. Generally, most objects to be detected are ferromagnetic objects, and their magnetic permeability is much greater than that of media such as air and water, which will cause disturbances in the magnetic field around the objects. Sensors can be used to measure the magnetic field to detect and quantify these disturbances. Aeromagnetic detection technology is a method of measuring and analyzing magnetic fields using multiple sensors carried by aircraft or drones. Due to the advantages of high efficiency, flexibility, and safety of aviation platforms, aeromagnetic detection technology is widely used in many fields and application scenarios such as mineral exploration, geological surveys, archaeological research, and unexploded bomb detection. This technology can quickly obtain magnetic field data in a large area, providing personnel with relevant information on underground resources, geological structures, cultural relics, etc., thereby supporting decision-making in related fields.

[0003] In order to meet the needs of drone aeromagnetic systems to find targets in a specific area, it is usually necessary to design a drone search path to cover the entire area. The commonly used method is to scan along a comb-shaped survey line, but this method has the problem of low search efficiency, long search time and low search efficiency.

[0004] Therefore, there is an urgent need to develop a spiral trajectory path planning method for aeromagnetic detection that overcomes the above-mentioned defects. Summary of the invention

[0005] The present invention provides a method and system for planning a spiral trajectory path for aeromagnetic detection, so as to at least solve the problem of low efficiency in searching paths of existing aeromagnetic detection equipment.

[0006] To achieve the above object, the present invention provides a method for planning a spiral trajectory path for aeromagnetic detection, comprising:

[0007] Magnetic anomaly signal acquisition step: based on the constructed magnetic dipole model and the magnetic moment vector of the target object, acquiring the magnetic anomaly signal of the target object;

[0008] The step of obtaining the measurement line spacing is as follows: based on the magnetic anomaly signal of the target object, obtaining the measurement line spacing of the spiral track;

[0009] The step of obtaining a spiral trajectory: obtaining a spiral trajectory based on the spiral trajectory measurement line spacing and the Archimedean spiral formula;

[0010] Target object detection and identification step: The aeromagnetic detection equipment detects and identifies the target object based on the spiral trajectory.

[0011] Furthermore, the step of obtaining the survey line spacing includes:

[0012] Based on the magnetic anomaly signal of the target object, obtaining the distance between the aeromagnetic detection equipment and the target object;

[0013] The spiral track measurement line spacing is obtained based on the distance between the aeromagnetic detection equipment and the target object.

[0014] Furthermore, the magnetic anomaly signal acquisition step includes:

[0015] Construct a magnetic dipole model, which is expressed as:

[0016]

[0017] Where B is the induced magnetic field generated by the magnetic dipole, μ0 is the magnetic permeability of vacuum, and r = [xyz] T is the coordinate vector of the magnetic dipole relative to the aeromagnetic detection equipment, m = [m x m y m z ] T is the magnetic moment vector;

[0018] The magnetic anomaly signal of the target object is obtained based on the magnetic dipole model and the magnetic moment vector of the target object, wherein the amplitude B of the magnetic anomaly signal of the target object is si It is expressed as:

[0019]

[0020] Wherein, i is a different measurement point of the aeromagnetic detection equipment relative to the target object.

[0021] Furthermore, the step of obtaining the survey line spacing includes:

[0022] Obtain the target object magnetic anomaly signal amplitude that meets the constraint conditions, wherein the constraint conditions are specifically:

[0023] min(B si -B a )>1.2B a

[0024] Among them, B a is the background noise amplitude in the air mining sensitive area;

[0025] Obtaining the corresponding distance between the aeromagnetic detection equipment and the target object based on the amplitude of the magnetic anomaly signal of the target object that meets the constraint condition;

[0026] Based on the distance between the aeromagnetic detection equipment and the target object, the spiral track line spacing is obtained as:

[0027]

[0028] Wherein, d is the distance between the spiral trajectory survey lines; l is the distance between the aeromagnetic detection equipment and the target object; and h is the flight altitude of the aeromagnetic detection equipment.

[0029] Furthermore, the step of obtaining the spiral trajectory includes:

[0030] Obtaining a spiral trajectory based on the spiral trajectory measurement line spacing and the Archimedean spiral formula;

[0031] The plane Cartesian coordinate equation of the Archimedean spiral is:

[0032]

[0033] Among them, θ is the polar angle, which represents the total number of degrees that the Archimedean spiral rotates; a is the polar diameter when θ=0°; b is the Archimedean spiral coefficient, which represents the change in polar diameter for every 1 degree of rotation;

[0034] Wherein, based on the spiral track measurement line spacing, the range of θ is:

[0035]

[0036] θ=(0,num*2π)

[0037] Among them, area is the side length of the search area, and num is the integer number of spiral rotations required to basically cover the search area.

[0038] Furthermore, the target object detection and identification step includes:

[0039] The aeromagnetic detection equipment is carried on an aerial platform, and detects and identifies the target object based on the spiral trajectory. After detecting the target object, the aerial platform continues to fly along the spiral trajectory for half the spiral trajectory survey line spacing, and starts flying based on the spiral trajectory again with the new position as a new starting point until the magnetic anomaly fingerprint characteristics of the target object meet the accuracy requirements, thereby completing the detection and identification of the target object.

[0040] Furthermore, the target detection and identification step also includes an aeromagnetic compensation step:

[0041] Aeromagnetic compensation is performed based on the TL classical model of aeromagnetic compensation, which is expressed as:

[0042] B T =B g +B s =B g +c·w

[0043] Among them, B T is the measured value of the optical pump magnetometer, B g is the Earth's magnetic field, B s is the projection of the magnetic interference field in the geomagnetic direction, w is the cosine direction matrix, and c is the compensation coefficient matrix.

[0044] Furthermore, the present invention provides an aeromagnetic detection spiral trajectory path planning system, which is applied to the above-mentioned aeromagnetic detection spiral trajectory path planning method, comprising:

[0045] Magnetic anomaly signal acquisition module: based on the constructed magnetic dipole model and the magnetic moment vector of the target object, acquire the magnetic anomaly signal of the target object;

[0046] A module for obtaining the measurement line spacing: based on the magnetic anomaly signal of the target object, obtaining the measurement line spacing of the spiral track;

[0047] A spiral trajectory acquisition module: acquiring a spiral trajectory based on the spiral trajectory measurement line spacing and the Archimedean spiral formula;

[0048] Target detection and identification module: The aeromagnetic detection equipment detects and identifies the target based on the spiral trajectory.

[0049] Furthermore, the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned method for spiral trajectory path planning for aeromagnetic detection when executing the computer program.

[0050] Furthermore, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned method for spiral trajectory path planning for aeromagnetic detection.

[0051] Compared with the prior art, the advantages and positive effects of the present invention are:

[0052] The present invention provides a method for planning a spiral trajectory path for aeromagnetic detection. The aeromagnetic detection equipment detects and identifies targets based on the spiral trajectory, which can cover the target area more efficiently, thereby significantly shortening the search time and greatly improving the efficiency of aeromagnetic detection. At the same time, the design of the spiral trajectory enables the aerial platform to better optimize the navigation path, avoid repeated coverage and omission of detection areas, and improve the accuracy and comprehensiveness of target detection. After detecting the preliminary magnetic anomaly signal, the aerial platform can continue to fly in a spiral within a smaller radius and conduct more intensive detection of the suspected area to obtain more obvious magnetic anomaly features, thereby improving the accuracy of target positioning.

[0053] Compared with other flight trajectories, the spiral flight trajectory method also performs well in aeromagnetic compensation. Since the spiral trajectory provides high-quality data with uniform coverage, high data density and low error, the signal-to-noise ratio after compensation is improved, making the detection signal more prominent, the background noise is effectively suppressed, and the detection results are more accurate and reliable. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 This is a flow chart of the method for planning the spiral trajectory path of aeromagnetic detection according to the present invention;

[0055] Figure 2 A schematic diagram of the distance of a spiral trajectory measurement line is obtained for the present invention;

[0056] Figure 3 This is the spiral trajectory diagram of aeromagnetic detection of the present invention;

[0057] Figure 4 This is a schematic diagram of target detection and identification performed by the aerial platform of the present invention based on a spiral trajectory;

[0058] Figure 5 This is a schematic diagram of the aeromagnetic detection spiral trajectory path planning system of the present invention;

[0059] Figure 6 A schematic diagram of a computer device provided in an embodiment of the present invention.

[0060] In the above picture:

[0061] 40. Through the bus; 41. Processor; 42. Memory; 43. Communication interface; 100. Magnetic anomaly signal acquisition module; 200. Module for acquiring survey line spacing; 300. Module for acquiring spiral trajectory; 400. Target object detection and identification module. DETAILED DESCRIPTION

[0062] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0063] In the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "liquid level", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. The terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0064] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0065] like Figure 1-Figure 6 As shown, the present invention provides a method for planning a spiral trajectory path for aeromagnetic detection.

[0066] Embodiment 1:

[0067] Figure 1 This is a flow chart of the method for planning the spiral trajectory of aeromagnetic detection according to the present invention. Figure 1 The path planning method is described in detail.

[0068] Magnetic anomaly signal acquisition step S100: based on the constructed magnetic dipole model and the magnetic moment vector of the target object, the magnetic anomaly signal of the target object is acquired.

[0069] Specifically, a magnetic dipole model is constructed, which is expressed as:

[0070]

[0071] Where B is the induced magnetic field generated by the magnetic dipole, μ0 is the magnetic permeability of vacuum, and r = [xyz] T is the coordinate vector of the magnetic dipole relative to the aeromagnetic detection equipment, m = [m x m y m z ] T is the magnetic moment vector;

[0072] Usually, the magnetic moment vector m of the target object is known, and it is assumed that the magnetic field around the target object is isotropic. According to the formula, the amplitude of the magnetic anomaly signal decays inversely with the increase of the distance r. By changing the coordinate vector r of the magnetic dipole relative to the aeromagnetic detection equipment, the amplitude B of the magnetic anomaly signal generated by the target object when the aeromagnetic detection equipment is placed at different measurement points i from the target object can be calculated. si The magnetic anomaly signal of the target object is obtained based on the magnetic dipole model and the magnetic moment vector of the target object, where the amplitude of the magnetic anomaly signal of the target object is B si It is expressed as:

[0073]

[0074] Where i is the different measurement points of the aeromagnetic detection equipment relative to the target object.

[0075] like Figure 2 As shown, the step S200 of obtaining the survey line spacing is as follows: based on the magnetic anomaly signal of the target object, the spiral trajectory survey line spacing is obtained; further, based on the magnetic anomaly signal of the target object, the distance between the aeromagnetic detection equipment and the target object is obtained; based on the distance between the aeromagnetic detection equipment and the target object, the spiral trajectory survey line spacing is obtained.

[0076] Specifically, firstly, the amplitude of the target object magnetic anomaly signal that meets the constraint conditions is obtained. The constraint conditions are specifically as follows:

[0077] min(B si -B a )>1.2B a

[0078] Among them, B a The specific method of background noise in the sensitive area is as follows: a uniform straight-line flight trajectory is planned in the sensitive area to ensure the consistency and repeatability of data collection. The aerial platform such as the drone or airplane flies in a uniform straight line according to the planned trajectory. In this process, the flight altitude and speed are kept stable to reduce the additional noise caused by the flight action. During the uniform straight-line flight, the background noise in the sensitive area is collected using magnetometers and other sensors.

[0079] Based on the amplitude of the magnetic anomaly signal of the target object that meets the constraint conditions, the distance l between the corresponding aeromagnetic detection equipment and the target object is obtained;

[0080] Based on the distance between the aeromagnetic detection equipment and the target object, the spiral track line spacing is obtained as:

[0081]

[0082] Wherein, d is the distance between the spiral trajectory survey lines; l is the distance between the aeromagnetic detection equipment and the target object; h is the flight altitude of the aeromagnetic detection equipment.

[0083] Preferably, the flight altitude h of the aeromagnetic detection equipment can be set according to factors such as the actual search terrain, sea surface height, and safe flight altitude of the UAV, but it is necessary to ensure that the magnetic dipole model is satisfied, that is, when the closest point of approach (CPA) between the target and the sensor is more than 3 times the maximum linear size of the target, the magnetic target can be equivalent to a magnetic dipole model.

[0084] Obtaining a spiral trajectory step S300: Obtaining a spiral trajectory based on the spiral trajectory measurement line spacing and the Archimedean spiral formula;

[0085] The Archimedean spiral is the trajectory of a point moving away from a fixed point at a constant speed while rotating around the fixed point at a constant angular velocity. The plane Cartesian coordinate equation of the Archimedean spiral is:

[0086]

[0087] Among them, θ is the polar angle, which represents the total number of degrees that the Archimedean spiral rotates; a is the polar diameter when θ=0°; b is the Archimedean spiral coefficient, which represents the change in polar diameter for every 1 degree of rotation;

[0088] Among them, based on the spiral track line spacing, the range of θ is:

[0089]

[0090] θ=(0,num*2π)

[0091] Among them, area is the side length of the search area, and num is the integer number of spiral rotations required to basically cover the search area.

[0092] like Figure 3 As shown, in some embodiments, a spiral trajectory of a UAV flight can be drawn based on the above method, a is set to 0, and the side length of the area search area is set to 1km. The figure shows the spiral trajectory diagram generated by determining the flight trajectory of the UAV according to the Archimedean spiral formula, covering an area of ​​1km2.

[0093] like Figure 4 As shown, target object detection and identification step S400: the aeromagnetic detection equipment detects and identifies the target object based on the spiral trajectory.

[0094] Specifically, the airborne magnetic detection device is carried on an aerial platform such as a drone and detects and identifies the target based on a spiral trajectory. When the distance l between the drone and the target i satisfies l i < l, it indicates that the target has been detected, and a detection time-domain image is drawn, where the complete magnetic anomaly fingerprint characteristics can be seen. After detecting the target, the drone continues to fly along the spiral trajectory for half of the spiral trajectory line spacing and starts flying based on the spiral trajectory again with the new position as the new starting point until the magnetic anomaly fingerprint characteristics of the target meet the accuracy requirements, completing the detection and identification of the target.

[0095] Based on the Monte Carlo method, the search method based on the spiral trajectory is compared with the commonly used search method based on the comb-shaped flight trajectory at present. The position of the target in different-sized areas is changed, and the average time required to detect the target during the simulated search process of different search methods is recorded. It is found that compared with the common comb-shaped flight trajectory search method, the search time required for the spiral trajectory is shorter, and the search efficiency is increased by 50%.

[0096] Furthermore, the target detection and identification steps also include an airborne magnetic compensation step. During the airborne magnetic detection process, due to the ferromagnetic substances inside the aerial platform and various maneuvering actions during the flight of the aerial platform, certain interferences will be generated, and airborne magnetic compensation needs to be carried out for the flight model.

[0097] First, the measured value and the geomagnetic field value are modeled. Since the noise interference caused by the maneuvering of the aerial platform is much smaller than the geomagnetic field, the measured value B of the optically pumped magnetometer T can be expressed as the vector sum of the geomagnetic field B g and the projection of the magnetic interference field in the direction of the geomagnetic field B s , as shown in the formula:

[0098] B T = B g + B D cosα = B g + B s

[0099] The T-L classical model of airborne magnetic compensation regards the total interference magnetic field (B s ) generated by the aerial platform as the superposition field of a constant magnetic field (B r ), an induced magnetic field (B i ), and an eddy current magnetic field (B e ), as shown in the following formula:

[0100] B s = B r + B i + B e

[0101] Among them, the constant magnetic field (Br ) is generated by the residual magnetic effect of the ferromagnetic material of the fuselage. It is the inherent magnetic field of the aircraft. In the carrier coordinate system, this part of the magnetic field does not change with the maneuvering of the aerial platform and can be regarded as a constant value. Its size is constant.

[0102] B r =c1w1+c2w2+c3w3

[0103] Among them, c1, c2, and c3 are the unknown coefficients of the constant magnetic field.

[0104] Induced magnetic field (B i ) is generated by the magnetization of the ferromagnetic material of the fuselage by the geomagnetic field during flight, and its magnitude and direction are related to the change of the aircraft's attitude. The induced magnetic field of the drone body observed at a certain point in space is:

[0105] B i =IB g

[0106] The geomagnetic field vector is expressed as follows:

[0107]

[0108] Then the induced magnetic field in the scalar compensation model can be expanded as follows:

[0109]

[0110] Since the matrix is ​​symmetric, some coefficients can be combined and optimized to obtain the final expression of the induced magnetic field:

[0111]

[0112] Among them, c4, c5, c6, c7, c8, and c9 are unknown coefficients of the induced magnetic interference field.

[0113] Eddy current magnetic field (B e ) is because the ferromagnetic objects in the aerial platform cut the earth's magnetic field during movement, thus generating an eddy current electric field, which can further generate an eddy current magnetic field. The magnitude of the eddy current magnetic field is B e It is related to the drone's movement speed, posture changes, and changes in the geomagnetic field around the aircraft.

[0114] The expression of the eddy current magnetic field in the scalar compensation model is:

[0115]

[0116] Among them, c 10 、c 11 、c 12 、c 13 、c14 、c 15 、c 16 、c 17 、c 18 is the unknown coefficient of the eddy current magnetic interference field.

[0117]

[0118] Finally, the TL model solution formula is as follows:

[0119] B T =B g +B s =B g +c·w

[0120] Among them, B T is the measured value of the optical pump magnetometer, B g is the Earth's magnetic field, B s is the projection of the magnetic interference field in the geomagnetic direction, w is the cosine direction matrix, and c is the compensation coefficient matrix. The linear regression equation containing the compensation coefficient can be solved by the least square method.

[0121] The improvement ratio (IR) is the main evaluation standard for aeromagnetic compensation used in China. It is defined as the ratio of the standard deviation (STD) before and after aeromagnetic compensation, as shown in the following formula:

[0122]

[0123]

[0124] Among them, STD b The standard deviation of the data set before compensation, STD a is the standard deviation of the compensated dataset.

[0125] The smaller the standard deviation after compensation, the better the compensation effect. The larger the improvement ratio, the better the compensation effect. Using the above compensation method, the spiral trajectory flight data is used in the compensation embodiment. Compared with the conventional comb-shaped trajectory, the improvement ratio is greatly improved. Therefore, based on the above evaluation criteria, the spiral flight trajectory method performs well in aeromagnetic compensation, and the detection results are more accurate and reliable.

[0126] Embodiment 2:

[0127] like Figure 5 As shown, the present invention provides an aeromagnetic detection spiral trajectory path planning system, comprising:

[0128] Magnetic anomaly signal acquisition module 100: based on the constructed magnetic dipole model and the magnetic moment vector of the target object, acquire the magnetic anomaly signal of the target object;

[0129] The module 200 for obtaining the measurement line spacing is used to obtain the measurement line spacing of the spiral track based on the magnetic anomaly signal of the target object.

[0130] A spiral trajectory acquisition module 300 is used to acquire the spiral trajectory based on the spiral trajectory measurement line spacing and the Archimedean spiral formula;

[0131] Target detection and identification module 400: The aeromagnetic detection equipment detects and identifies the target based on the spiral trajectory.

[0132] Embodiment three:

[0133] Combination Figure 6 As shown, this embodiment discloses a specific implementation of a computer device. The computer device may include a processor 41 and a memory 42 storing computer program instructions.

[0134] Specifically, the processor 41 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0135] Among them, the memory 42 may include a large-capacity memory for data or instructions. By way of example and not limitation, the memory 42 may include a hard disk drive (HDD), a floppy disk drive, a solid-state drive (SSD), a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 42 may include a removable or non-removable (or fixed) medium. Where appropriate, the memory 42 may be inside or outside the data processing device. In a specific embodiment, the memory 42 is a non-volatile memory. In a specific embodiment, the memory 42 includes a read-only memory (ROM) and a random access memory (RAM). Where appropriate, the ROM may be a mask-programmed ROM, a programmable ROM (Programmable Read-Only Memory, referred to as PROM), an erasable PROM (Erasable ProgrammableRead-Only Memory, referred to as EPROM), an electrically erasable PROM (Electrically Erasable ProgrammableRead-Only Memory, referred to as EEPROM), an electrically alterable ROM (Electrically Alterable Read-Only

[0136] The RAM may be a static random access memory (SRAM) or a dynamic random access memory (DRAM), wherein the DRAM may be a fast page mode dynamic random access memory (FPMDRAM), an extended data output dynamic random access memory (EDODRAM), a synchronous dynamic random access memory (SDRAM), etc.

[0137] The memory 42 may be used to store or cache various data files required for processing and / or communication, as well as possible computer program instructions executed by the processor 41 .

[0138] The processor 41 implements the aeromagnetic detection spiral trajectory path planning method in the above embodiment by reading and executing the computer program instructions stored in the memory 42 .

[0139] In some of the embodiments, the computer device may further include a communication interface 43 and a bus 40. Figure 6 As shown, the processor 41, the memory 42, the communication interface 43 and the bus 40 are connected and communicate with each other.

[0140] The communication interface 43 is used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0141] The communication interface 43 can also realize data communication with other components such as external devices, image / data acquisition equipment, databases, external storage, and image / data processing workstations.

[0142] The bus 40 includes hardware, software or both, and couples the components of the computer device to each other. The bus 40 includes but is not limited to at least one of the following: a data bus, an address bus, a control bus, an expansion bus, and a local bus. By way of example and not limitation, bus 40 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Extended Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local Bus (VLB) bus, or other suitable buses or a combination of two or more of these. Where appropriate, bus 40 may include one or more buses. Although embodiments of the present application describe and illustrate a particular bus, the present application contemplates any suitable bus or interconnect.

[0143] In addition, in combination with the aeromagnetic detection spiral trajectory path planning method in the above embodiment, the embodiment of the present application can provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any of the aeromagnetic detection spiral trajectory path planning methods in the above embodiment is implemented. The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A spiral trajectory planning method for aeromagnetic detection, It is characterized in that include: Magnetic anomaly signal acquisition step: based on the constructed magnetic dipole model and the magnetic moment vector of the target object, acquiring the magnetic anomaly signal of the target object; The step of obtaining the measurement line spacing is as follows: based on the magnetic anomaly signal of the target object, obtaining the measurement line spacing of the spiral track; The step of obtaining a spiral trajectory: obtaining a spiral trajectory based on the spiral trajectory measurement line spacing and the Archimedean spiral formula; Target object detection and identification step: The aeromagnetic detection equipment detects and identifies the target object based on the spiral trajectory.

2. The method for planning the spiral trajectory of aeromagnetic detection according to claim 1, It is characterized in that The step of obtaining the survey line spacing comprises: Based on the magnetic anomaly signal of the target object, obtaining the distance between the aeromagnetic detection equipment and the target object; The spiral track measurement line spacing is obtained based on the distance between the aeromagnetic detection equipment and the target object.

3. The method for planning the spiral trajectory of aeromagnetic detection according to claim 1, It is characterized in that The magnetic anomaly signal acquisition step comprises: Construct a magnetic dipole model, which is expressed as: Where B is the induced magnetic field generated by the magnetic dipole, μ 0 is the vacuum permeability, e = [xyz] T is the coordinate vector of the magnetic dipole relative to the aeromagnetic detection equipment, m = [m x m y m z ] T is the magnetic moment vector; The magnetic anomaly signal of the target object is obtained based on the magnetic dipole model and the magnetic moment vector of the target object, wherein the amplitude B of the magnetic anomaly signal of the target object is si It is expressed as: Wherein, i is a different measurement point of the aeromagnetic detection equipment relative to the target object.

4. The method for planning the spiral trajectory of aeromagnetic detection according to claim 3, It is characterized in that The step of obtaining the survey line spacing comprises: Obtain the target object magnetic anomaly signal amplitude that meets the constraint conditions, wherein the constraint conditions are specifically: min(B si -B a )>1.2B a Among them, B a is the background noise amplitude in the air mining sensitive area; Obtaining the corresponding distance between the aeromagnetic detection equipment and the target object based on the amplitude of the magnetic anomaly signal of the target object that meets the constraint condition; Based on the distance between the aeromagnetic detection equipment and the target object, the spiral track line spacing is obtained as: Wherein, d is the distance between the spiral trajectory survey lines; l is the distance between the aeromagnetic detection equipment and the target object; and h is the flight altitude of the aeromagnetic detection equipment.

5. The method for planning the spiral trajectory of aeromagnetic detection according to claim 4, It is characterized in that The step of obtaining the spiral trajectory comprises: Obtaining a spiral trajectory based on the spiral trajectory measurement line spacing and the Archimedean spiral formula; The plane Cartesian coordinate equation of the Archimedean spiral is: Among them, θ is the polar angle, which represents the total number of degrees that the Archimedean spiral rotates; a is the polar diameter when θ=0°; b is the Archimedean spiral coefficient, which represents the change in polar diameter for every 1 degree of rotation; Wherein, based on the spiral track measurement line spacing, the range of θ is: θ=(0,num*2π) Among them, area is the side length of the search area, and num is the integer number of spiral rotations required to basically cover the search area.

6. The method for planning the spiral trajectory of aeromagnetic detection according to claim 1, It is characterized in that The target object detection and identification step comprises: The aeromagnetic detection equipment is mounted on an aerial platform, and the target object is detected and identified based on the spiral trajectory. After detecting the target object, the aerial platform continues to fly along the spiral trajectory for half the spiral trajectory survey line spacing, and starts flying based on the spiral trajectory again with the new position as a new starting point until the magnetic anomaly fingerprint characteristics of the target object meet the accuracy requirements, thereby completing the detection and identification of the target object.

7. The method for planning a spiral trajectory of aeromagnetic detection according to claim 1, It is characterized in that The target detection and identification step also includes an aeromagnetic compensation step: Aeromagnetic compensation is performed based on the TL classical model of aeromagnetic compensation, which is expressed as: B T =B g +B s =B g +c·w Among them, B T is the measured value of the optical pump magnetometer, B g is the Earth's magnetic field, B s is the projection of the magnetic interference field in the geomagnetic direction, w is the cosine direction matrix, and c is the compensation coefficient matrix.

8. An aeromagnetic detection spiral trajectory path planning system, applied to the aeromagnetic detection spiral trajectory path planning method according to any one of claims 1 to 7, It is characterized in that include: Magnetic anomaly signal acquisition module: based on the constructed magnetic dipole model and the magnetic moment vector of the target object, acquire the magnetic anomaly signal of the target object; A module for obtaining the measurement line spacing: based on the magnetic anomaly signal of the target object, obtaining the measurement line spacing of the spiral track; A spiral trajectory acquisition module: acquiring a spiral trajectory based on the spiral trajectory measurement line spacing and the Archimedean spiral formula; Target detection and identification module: The aeromagnetic detection equipment detects and identifies the target based on the spiral trajectory.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the method for planning a spiral trajectory path for aeromagnetic detection as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the program is executed by a processor, the method for planning a spiral trajectory path for aeromagnetic detection as described in any one of claims 1 to 7 is implemented.

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