Saucer-shaped unmanned aerial vehicle aviation transient electromagnetic system and parameter optimization method thereof

Abstract

The invention discloses a saucer-shaped unmanned aerial vehicle aviation transient electromagnetic system and a parameter optimization method thereof, and the saucer-shaped unmanned aerial vehicle aviation transient electromagnetic system comprises a flying platform, and is characterized in that the outer side of the flying platform is provided with a transmitting coil which is located on the same horizontal plane with the flying platform; a compensating coil and a receiving sensor system are sequentially arranged below the flying platform; and the centers of the transmitting coil, the compensating coil and the receiving sensor system are positioned on the same straight line. The system has the beneficial effects that the wind resistance of the system is enhanced, background noise caused by asynchronous attitude change of the receiving sensing system and the flight platform is reduced, and the safety and high efficiency of full-aviation operation are realized. Meanwhile, through compensation parameter optimization, the compensation efficiency of the compensation coil is maximized, and the compensation coil counteracts the primary coupling influence of the transmitting coil, so that the magnetic field interference of the transmitting coil and the compensation coil on the flight control system and the receiving sensor system is minimum, and zero interference of the flight platform and the receiving sensor system is realized.

Description

Technical Field

[0001] The invention relates to the field of aviation transient electromagnetic detection, and in particular to a disc-shaped unmanned aerial vehicle aviation transient electromagnetic system and a parameter optimization method thereof. Background Art

[0002] Full-air transient electromagnetic detection is one of the important methods in geophysical exploration, and is often used in mineral exploration, geological disasters, engineering geological surveys, and unexploded bomb detection. At present, the structure of the full-air transient electromagnetic device of UAVs adopts the structure of the soft-connected pod of the UAV to realize the mounting of the transmitting coil and the receiving sensor. In particular, in order to avoid the influence of the aircraft on the received signal, it is necessary to separate the pod from the aircraft with a rope tens of meters long. The use of ropes and pods increases the difficulty of control during flight operations, has poor wind resistance, and is not suitable for use in complex environments such as under high-voltage lines. In addition, the attitude adjustment of the aircraft causes the pod to have random pitch, tilt and deflection, which cannot be synchronized with the aircraft attitude, causing serious background noise, which seriously affects the correct acquisition of signals and subsequent data processing and analysis.

[0003] In addition, the coil pod requires a larger flat ground for assembly, which affects its use in complex mountainous terrain. That is, the pod needs to be supported by rigid connecting rods and needs to meet certain load requirements. Summary of the invention

[0004] The purpose of the present invention is to provide a disc-shaped UAV aviation transient electromagnetic system and a parameter optimization method thereof, which can improve the wind resistance of the UAV's entire aviation transient electromagnetic system, reduce its on-site assembly site requirements, and achieve zero interference of the UAV's entire aviation transient electromagnetic to the flight control system and the receiving sensor system.

[0005] A disc-shaped UAV aviation transient electromagnetic system includes a flight platform, characterized in that a transmitting coil located on the same horizontal plane as the flight platform is arranged outside the flight platform;

[0006] A compensation coil and a receiving sensor system are sequentially arranged below the flight platform;

[0007] The centers of the transmitting coil, the compensation coil and the receiving sensor system are located on the same straight line.

[0008] The centers of the transmitting coil, the compensation coil and the receiving sensor system are located on the same straight line, which makes it easy to calculate the magnetic field interference of the transmitting coil and the compensation coil on the receiving sensor system, and then makes it easier for the compensation coil to offset the primary coupling effect of the transmitting coil, so as to maximize the compensation efficiency of the compensation coil, thereby achieving zero interference between the flight platform and the receiving sensor system, and reducing the influence of the induced eddy current of the flight control fuselage, battery and metal bracket on the receiving signal.

[0009] Furthermore, the flight platform includes a frame located at the center of the flight platform, N arms are evenly distributed on the outside of the frame, and the inner ends of all the arms are fixedly connected to the frame;

[0010] An upper telescopic bracket is installed at the outer end of each of the arms, the inner side of the upper telescopic bracket is slidably installed along the arm, and a transmitting coil bracket is installed at the outer end of the upper telescopic bracket, and the transmitting coil is annularly wound on all the transmitting coil brackets;

[0011] A tripod is fixed at the bottom of the frame, and M sliding sleeves are arranged on the upper part of the tripod. A lower telescopic bracket is installed in each sliding sleeve. The inner side of the lower telescopic bracket is installed in the sliding sleeve via a locking mechanism. Compensation coil brackets are installed at the outer ends of all lower telescopic brackets, and the compensation coils are annularly wound on all compensation coil brackets.

[0012] The transmitting coil and the compensating coil are rigidly connected to the flight platform. They are arranged in parallel with the receiving coil, which enhances the system's wind resistance, reduces the difficulty of flight control of the flight platform, and achieves safety and efficiency in all aviation operations.

[0013] Furthermore, the transmitting coil support is provided with A transmitting coil winding holes, and the number of turns of the transmitting coil is 1-A arbitrary number of turns;

[0014] The compensation coil support is provided with B compensation coil winding holes, and the number of turns of the compensation coil is 1-B arbitrary turns.

[0015] Furthermore, a flight control system is installed in the frame;

[0016] The flight control system is arranged on the central axis of the flight platform, which improves the stability and maneuverability of the aircraft.

[0017] A vertically upward antenna bracket is arranged on the top of the frame, and the top of the antenna bracket is connected to all the transmitting coil brackets through an oblique fastening line.

[0018] By using the aircraft arm as a support for the transmitting coil bracket and further strengthening the stable connection between the flight platform and the transmitting coil bracket through oblique fastening lines, the transmitting coil can be stably connected to the flight platform, thereby saving system weight, reducing load requirements, enhancing the system's wind resistance, and reducing the difficulty of flight control of the flight platform.

[0019] Furthermore, a blade is provided at the outer end of the arm.

[0020] Installing blades on all arms or installing blades at equal intervals can improve the stability and maneuverability of the aircraft.

[0021] Furthermore, the receiving sensor system is fixed to the lower part of the tripod.

[0022] The receiving sensor system is rigidly connected to the flight platform and arranged on the central axis of the flight platform, which enhances the system's wind resistance, reduces the difficulty of flight control of the flight platform, and reduces the background noise caused by the asynchronous changes in the receiving sensor system and the flight platform's attitude.

[0023] Furthermore, a transmitting, compensating and receiving integrated device is also installed on the tripod.

[0024] The integrated transmitting, compensating and receiving device is arranged on the central axis of the flight platform, which improves the stability and operability of the aircraft.

[0025] At the same time, when the centers of all components are located on the central axis of the flight platform, the center of gravity of the entire system is further ensured to be stable and centralized, reducing the difficulty of flight control of the flight platform.

[0026] When the entire system is placed on the ground, due to the presence of the tripod platform, the transmitting coil, compensation coil and receiving sensor system are all at a certain height from the ground, which reduces the site requirements for on-site assembly.

[0027] A parameter optimization method for a disc-shaped UAV aviation transient system, characterized by comprising the following steps:

[0028] S1: Establish a single-turn coil magnetic field calculation model, calculate the single-turn coil magnetic field, and calculate the magnetic fields of the single-turn transmitting coil and the single-turn compensation coil based on the single-turn coil magnetic field;

[0029] S2: Calculate the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensating coil on the flight control system and the receiving sensor system according to the number of turns of the transmitting coil and the compensating coil and the magnetic field of the single-turn transmitting coil and the single-turn compensating coil;

[0030] S3: calculating the relative value of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensating coil on the flight control system and the receiving sensor system according to the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensating coil on the flight control system and the receiving sensor system;

[0031] S4: Define the ratio of the product of the current and the number of turns of the multi-turn compensation coil to the product of the current and the number of turns of the multi-turn transmitting coil as the transmission compensation ratio, and calculate the minimum value of the relative value of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the flight control system and the receiving sensor system by adjusting the transmission compensation ratio.

[0032] By constraining the transmitting current and the compensation current through the optimal transmitting compensation ratio, the magnetic field interference of the transmitting coil and the compensation coil on the flight control system and the receiving sensor system can be minimized, thereby achieving zero interference between the flight platform and the receiving sensor system.

[0033] The above method is not limited to a fixed device parameter structure, and can be widely applied to any other coil device to calculate the optimal parameters and optimize any active compensation device. Further, the single-turn coil magnetic field calculation formula is:

[0034]

[0035] in, is a circular coil with a radius of α. For the magnetic field at point P at a distance z from its center axis, μ0 is the vacuum magnetic permeability, π is the circumference of the circle, is the differential with respect to radians, is the current vector of the circular coil, I is the current of the circular coil, is the unit current vector in the direction of the central axis of the circular coil;

[0036] The single-turn transmitting coil magnetic field calculation formula is:

[0037]

[0038] The single-turn compensation coil magnetic field calculation formula is:

[0039]

[0040] Wherein, μ0 is the vacuum magnetic permeability, I1 is the transmitting current, I2 is the compensation current, R1 is the transmitting coil radius, R2 is the compensation coil radius, h1 is the transmitting coil height, and h2 is the compensation coil height;

[0041] The calculation formula of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the flight control system is:

[0042]

[0043] The calculation formula of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the receiving sensor system is:

[0044]

[0045] Wherein, μ0 is the vacuum magnetic permeability, n1 is the number of turns of the multi-turn transmitting coil, n2 is the number of turns of the multi-turn compensating coil, I1 is the transmitting current, I2 is the compensating current, R1 is the radius of the multi-turn transmitting coil, R2 is the radius of the multi-turn compensating coil, h1 is the height of the multi-turn transmitting coil, and h2 is the height of the multi-turn compensating coil;

[0046] The calculation formula of the relative value of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the flight control system is:

[0047]

[0048] The calculation formula of the relative value of the multi-turn compensation coil and the magnetic field interference of the multi-turn compensation coil to the receiving sensor system is:

[0049]

[0050] Among them, B Az is the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the flight control system, B Bz is the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the receiving sensor system, I1 is the transmitting current;

[0051] The calculation formula of the emission compensation ratio is:

[0052]

[0053] Among them, n1 is the number of turns of the multi-turn transmitting coil, n2 is the number of turns of the multi-turn compensation coil, I1 is the transmitting current, and I2 is the compensation current.

[0054] Further, the height h1 of the multi-turn transmitting coil is the distance from the center of the multi-turn transmitting coil to the center of the receiving sensor;

[0055] The height h2 of the multi-turn compensation coil is the distance from the center of the multi-turn compensation coil to the center of the receiving sensor.

[0056] Beneficial effects: The present invention enhances the wind resistance of the system, reduces the site requirements for on-site assembly of the system, reduces the difficulty of flight control of the flight platform, reduces the background noise caused by the asynchronous attitude changes of the receiving sensor system and the flight platform, and achieves the safety and efficiency of all-aviation operations. At the same time, through the optimization of compensation parameters, the compensation efficiency of the compensation coil is maximized, the compensation coil offsets the primary coupling effect of the transmitting coil, and the magnetic field interference of the transmitting coil and the compensation coil on the flight control system and the receiving sensor system is minimized, thereby achieving zero interference between the flight platform and the receiving sensor system.

[0057] In addition, the parameter optimization method of the present invention is not limited to a certain fixed device parameter structure, and can be widely applied to any other coil device to perform optimal parameter calculation and achieve optimization of any active compensation device. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 This is a side view of the aerial transient electromagnetic system of a disc-shaped UAV;

[0059] Figure 2 This is a top view of the aerial transient electromagnetic system of a disc-shaped UAV;

[0060] Figure 3 It is a model for calculating magnetic field of a single-turn coil;

[0061] Figure 4 Parameter calculation model for aviation transient electromagnetic system of disc-shaped UAV;

[0062] Figure 5 It is a relationship diagram between the transmission compensation ratio and the relative value of the magnetic field interference of the transmitting coil and the compensation coil on the flight control system and the receiving sensor system. DETAILED DESCRIPTION

[0063] The specific implementation manner and working principle of the present invention are further described in detail below with reference to the accompanying drawings.

[0064] like Figure 1 , 2 As shown, a disc-shaped UAV aviation transient electromagnetic system includes a flight platform 1, which includes a frame 1-1 located at the center of the flight platform 1, and 8 arms 1-2 are arranged around the frame 1-1 and evenly arranged on the outside of the frame 1-1, and each arm 1-2 is provided with a blade 1-21.

[0065] An upper telescopic bracket 8 is installed at the outer end of the arm 1-2 through a sliding sleeve 12, and the inner side of the upper telescopic bracket 8 is slidably installed along the arm 1-2. A transmitting coil bracket 9 is arranged at the outer end of the upper telescopic bracket 8; 12 transmitting coil winding holes are opened on the transmitting coil bracket 9, and the transmitting coil 4 is annularly wound on all the transmitting coil brackets 9 through the transmitting coil winding holes, and the number of turns is 12;

[0066] An antenna bracket 3 is provided on the top of the frame 1-1, and the antenna bracket 3 is connected to the transmitting coil bracket 9 through an oblique fastening line 3-1;

[0067] A tripod 2 is fixed to the bottom of the frame 1-1, and the tripod 2 is provided with four legs, each leg is installed with a lower telescopic bracket 10 parallel to the frame 1-1 through a sliding sleeve 12, and the inner side of the lower telescopic bracket 10 is installed in the sliding sleeve 12 through a locking mechanism; a compensation coil bracket 11 is provided at the outer end of the lower telescopic bracket 10;

[0068] The compensation coil support 11 is provided with 12 compensation coil winding holes, and the compensation coil 6 is annularly wound on all the compensation coil supports 11 through the compensation coil winding holes, and the number of turns is 12;

[0069] The tripod 2 is also equipped with a transmitting, compensating and receiving integrated machine 5 and a receiving sensor system 7, wherein the transmitting, compensating and receiving integrated machine 5 is located between the frame 1-1 and the compensating coil 6, and the receiving sensor system 7 is located below the compensating coil 6;

[0070] A flight control system is installed in the frame 1-1.

[0071] The centers of the flight control system, antenna bracket 3 , transmitting coil 4 , transmitting compensation receiving integrated machine 5 , compensation coil 6 and receiving sensor system 7 are all located on the central axis of the flight platform 1 .

[0072] A parameter optimization method for a disc-shaped UAV aviation transient system comprises the following steps:

[0073] S1: Figure 3 As shown, a single-turn coil magnetic field calculation model is established to calculate the single-turn coil magnetic field, and the magnetic fields of the single-turn transmitting coil and the single-turn compensation coil are calculated based on the single-turn coil magnetic field; the single-turn coil magnetic field calculation formula is:

[0074]

[0075] in, is a circular coil with a radius of α. For the magnetic field at point P at a distance z from its center axis, μ0 is the vacuum magnetic permeability, π is the circumference of the circle, is the differential with respect to radians, is the current vector of the circular coil, I is the current of the circular coil, is the unit current vector in the direction of the central axis of the circular coil;

[0076] The single-turn transmitting coil magnetic field calculation formula is:

[0077]

[0078] The single-turn compensation coil magnetic field calculation formula is:

[0079]

[0080] Wherein, μ0 is the vacuum magnetic permeability, I1 is the transmitting current, I2 is the compensation current, R1 is the transmitting coil radius, R2 is the compensation coil radius, h1 is the transmitting coil height, and h2 is the compensation coil height;

[0081] S2: Calculate the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensating coil on the flight control system and the receiving sensor system according to the number of turns of the transmitting coil and the compensating coil and the magnetic field of the single-turn transmitting coil and the single-turn compensating coil;

[0082] The calculation formula of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the flight control system is:

[0083]

[0084] The calculation formula of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the receiving sensor system is:

[0085]

[0086] Wherein, μ0 is the vacuum magnetic permeability, n1 is the number of turns of the multi-turn transmitting coil, n2 is the number of turns of the multi-turn compensating coil, I1 is the transmitting current, I2 is the compensating current, R1 is the radius of the multi-turn transmitting coil, R2 is the radius of the multi-turn compensating coil, h1 is the height of the multi-turn transmitting coil, and h2 is the height of the multi-turn compensating coil;

[0087] S3: calculating the relative value of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensating coil on the flight control system and the receiving sensor system according to the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensating coil on the flight control system and the receiving sensor system;

[0088] The calculation formula of the relative value of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the flight control system is:

[0089]

[0090] The calculation formula for the relative value of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the receiving sensor system is:

[0091]

[0092] Among them, B Az is the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the flight control system, B Bz is the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the receiving sensor system, I1 is the transmitting current;

[0093] S4: Define the ratio of the product of the current and the number of turns of the multi-turn compensation coil to the product of the current and the number of turns of the multi-turn transmitting coil as the transmission compensation ratio, and calculate the minimum value of the relative value of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the flight control system and the receiving sensor system by adjusting the transmission compensation ratio. The relationship between the transmission compensation ratio and the relative value of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the flight control system and the receiving sensor system is as follows: Figure 5 As shown;

[0094] The calculation formula of the emission compensation ratio is:

[0095]

[0096] Among them, n1 is the number of turns of the multi-turn transmitting coil, n2 is the number of turns of the multi-turn compensation coil, I1 is the transmitting current, and I2 is the compensation current.

[0097] like Figure 4 As shown, in the above method, the height h1 of the multi-turn transmitting coil is the distance from the center of the multi-turn transmitting coil to the center of the receiving sensor;

[0098] The height h2 of the multi-turn compensation coil is the distance from the center of the multi-turn compensation coil to the center of the receiving sensor.

Claims

1. A disc-shaped unmanned aerial transient electromagnetic system, comprising a flight platform (1), characterized in that: A transmitting coil (4) is arranged on the outside of the flying platform (1) and is located on the same horizontal plane as the flying platform (1); A compensation coil (6) and a receiving sensor system (7) are sequentially arranged below the flying platform (1); The centers of the transmitting coil (4), the compensation coil (6) and the receiving sensor system (7) are located on the same straight line.

2. According to claim 1, a disc-shaped UAV aviation transient electromagnetic system is characterized in that: The flying platform (1) comprises a frame (1-1) located at the center of the flying platform (1), N arms (1-2) are evenly distributed on the outside of the frame (1-1), and the inner ends of all the arms (1-2) are fixedly connected to the frame (1-1); An upper telescopic bracket (8) is mounted on the outer end of each of the arms (1-2), the inner side of the upper telescopic bracket (8) is slidably mounted along the arm (1-2), a transmitting coil bracket (9) is mounted on the outer end of the upper telescopic bracket (8), and the transmitting coil (4) is annularly wound on all the transmitting coil brackets (9); A foot frame (2) is fixed at the bottom of the frame (1-1), and M sliding sleeves (12) are arranged on the upper part of the foot frame (2). A lower telescopic bracket (10) is installed in each sliding sleeve (12), and the inner side of the lower telescopic bracket (10) is installed in the sliding sleeve (12) via a locking mechanism. Compensation coil brackets (11) are installed at the outer ends of all the lower telescopic brackets (10), and the compensation coils (6) are annularly wound on all the compensation coil brackets (11).

3. According to claim 2, a disc-shaped UAV aviation transient electromagnetic system is characterized in that: The transmitting coil support (9) is provided with A transmitting coil winding holes, and the number of turns of the transmitting coil (4) is any number of turns ranging from 1 to A; The compensation coil support (11) is provided with B compensation coil winding holes, and the number of turns of the compensation coil (6) is 1-B arbitrary turns.

4. The disc-shaped UAV aviation transient electromagnetic system according to claim 2, characterized in that: A flight control system is installed in the frame (1-1); The top of the frame (1-1) is provided with an antenna support (3) pointing vertically upwards, and the top of the antenna support (3) is connected to all the transmitting coil supports (9) via an oblique fastening line (3-1).

5. According to claim 2, a disc-shaped UAV aviation transient electromagnetic system is characterized by: The outer end of the machine arm (1-2) is also provided with a blade (1-21).

6. The disc-shaped UAV aviation transient electromagnetic system according to claim 2, characterized in that: The receiving sensor system (7) is fixed to the lower part of the tripod (2).

7. The disc-shaped UAV aviation transient electromagnetic system according to claim 2, characterized in that: The tripod (2) is also equipped with a transmitting, compensating and receiving integrated machine (5).

8. A parameter optimization method for a disc-shaped UAV aviation transient system as claimed in claims 1 to 7, characterized in that: The following steps are involved: S1: Establish a single-turn coil magnetic field calculation model, calculate the single-turn coil magnetic field, and calculate the magnetic fields of the single-turn transmitting coil and the single-turn compensation coil based on the single-turn coil magnetic field; S2: Calculate the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensating coil on the flight control system and the receiving sensor system according to the number of turns of the transmitting coil and the compensating coil and the magnetic field of the single-turn transmitting coil and the single-turn compensating coil; S3: calculating the relative value of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensating coil on the flight control system and the receiving sensor system according to the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensating coil on the flight control system and the receiving sensor system; S4: Define the ratio of the product of the current and the number of turns of the multi-turn compensation coil to the product of the current and the number of turns of the multi-turn transmitting coil as the transmission compensation ratio, and calculate the minimum value of the relative value of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the flight control system and the receiving sensor system by adjusting the transmission compensation ratio.

9. A parameter optimization method for a disc-shaped UAV aviation transient system as claimed in claim 8, characterized in that: The single-turn coil magnetic field calculation formula is: in, is a circular coil with a radius of α. For the magnetic field at point P at a distance z from its center axis, μ0 is the vacuum magnetic permeability, π is the circumference of the circle, is the differential with respect to radians, is the current vector of the circular coil, I is the current of the circular coil, is the unit current vector in the direction of the central axis of the circular coil; The single-turn transmitting coil magnetic field calculation formula is: The single-turn compensation coil magnetic field calculation formula is: Among them, μ0 is the vacuum magnetic permeability, I1 is the transmitting current, I2 is the compensation current, R1 is the transmitting coil radius, R2 is the compensation coil radius, h1 is the transmitting coil height, and h2 is the compensation coil height; The calculation formula of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the flight control system is: The calculation formula of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the receiving sensor system is: Wherein, μ0 is the vacuum magnetic permeability, n1 is the number of turns of the multi-turn transmitting coil, n2 is the number of turns of the multi-turn compensating coil, I1 is the transmitting current, I2 is the compensating current, R1 is the radius of the multi-turn transmitting coil, R2 is the radius of the multi-turn compensating coil, h1 is the height of the multi-turn transmitting coil, and h2 is the height of the multi-turn compensating coil; The calculation formula of the relative value of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the flight control system is: The calculation formula for the relative value of the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the receiving sensor system is: Among them, B Az is the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the flight control system, B Bz is the magnetic field interference of the multi-turn transmitting coil and the multi-turn compensation coil on the receiving sensor system, I1 is the transmitting current; The calculation formula of the emission compensation ratio is: Among them, n1 is the number of turns of the multi-turn transmitting coil, n2 is the number of turns of the multi-turn compensation coil, I1 is the transmitting current, and I2 is the compensation current.

10. A parameter optimization method for a disc-shaped UAV aviation transient system as claimed in claim 9, characterized in that: The height h1 of the multi-turn transmitting coil is the distance from the center of the multi-turn transmitting coil to the center of the receiving sensor; The height h2 of the multi-turn compensation coil is the distance from the center of the multi-turn compensation coil to the center of the receiving sensor.

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