Exploration target positioning method and device, electronic equipment and storage medium

Abstract

The invention provides an exploration target positioning method and device, electronic equipment and a storage medium, and relates to the technical field of electromagnetic exploration. The method comprises the following steps: performing magnetic gradient measurement on a target area where an exploration target is located to obtain magnetic gradient full tensor information of the target area; based on at least one piece of magnetic gradient correction information associated with the magnetic gradient full tensor information, correcting the magnetic gradient full tensor information to obtain corrected magnetic gradient full tensor information; and determining positioning information of the exploration target based on the corrected magnetic gradient full tensor information. Therefore, according to the parameter inversion of the magnetic gradient full tensor information, the positioning information of the exploration target is directly obtained, the complexity of data processing is reduced, and the efficiency of exploration target positioning is also improved; moreover, the magnetic gradient full-tensor information is corrected through the at least one piece of magnetic gradient correction information, so that the accuracy of the magnetic gradient full-tensor information is ensured, and the precision of the subsequently obtained positioning information of the exploration target is improved.

Description

Technical Field

[0001] The present application relates to the field of electromagnetic exploration technology, and in particular to a method, device, electronic equipment and storage medium for locating an exploration target. Background Art

[0002] With the development of science and technology, geological exploration technology is also constantly improving. At present, geological exploration technology mainly includes magnetic exploration, gravity exploration, electrical exploration, georesistivity exploration and seismic exploration, which can be used to obtain underground geological information, for example, to locate underground exploration targets or target entities (such as mines, oil and other resources).

[0003] However, although the above traditional geological exploration methods have their own advantages and disadvantages in terms of detection accuracy, depth and resolution, the detection effect is not ideal under certain complex geological conditions. For example, the positioning of deeply buried mineral resources is not accurate. In view of this, how to improve the accuracy of exploration target positioning is an urgent problem to be solved. Summary of the invention

[0004] The embodiments of the present application provide a method, device, electronic device and storage medium for positioning an exploration target, so as to improve the accuracy of positioning the exploration target.

[0005] In a first aspect, an embodiment of the present application provides a method for positioning an exploration target, which is applied to a target exploration system. The method includes: Conduct magnetic gradient measurement on the target area where the exploration target is located to obtain the full tensor information of magnetic gradient in the target area; the full tensor information of magnetic gradient is used to indicate the change of magnetic gradient in multiple spatial directions in the target area; Based on at least one magnetic gradient correction information associated with the magnetic gradient full tensor information, the magnetic gradient full tensor information is corrected to obtain corrected magnetic gradient full tensor information; wherein different magnetic gradient correction information corresponds to different measurement errors of the magnetic gradient full tensor information; The positioning information of the exploration target is determined based on the corrected magnetic gradient full tensor information; the positioning information is used to indicate the distribution range of the exploration target in the target area.

[0006] In an optional embodiment, a magnetic gradient measurement is performed on a target area where the exploration target is located to obtain magnetic gradient full tensor information of the target area, including: A preset transient electromagnetic method is used to generate a vector magnetic field for detecting exploration targets; The magnetic gradient of the target area where the exploration target is located is measured based on the vector magnetic field, and the full tensor information of the magnetic gradient of the target area is recorded.

[0007] In an optional embodiment, the at least one magnetic gradient correction information includes: first magnetic gradient correction information and second magnetic gradient correction information, the first magnetic gradient correction information is determined according to the magnetic field strength information of the target area, and the second magnetic gradient correction information is determined according to the attitude information of the measuring device corresponding to the magnetic gradient full tensor information and the magnetic field strength information in the target exploration system; Based on at least one magnetic gradient correction information associated with the magnetic gradient full tensor information, the magnetic gradient full tensor information is corrected to obtain the corrected magnetic gradient full tensor information, including: Based on the second magnetic gradient correction information, respectively modify the magnetic gradient full tensor information and the magnetic field intensity information to obtain modified magnetic gradient full tensor information and modified magnetic field intensity information; The first magnetic gradient correction information is determined based on the modified magnetic field intensity information, and the modified magnetic gradient full tensor information is corrected to obtain the corrected magnetic gradient full tensor information.

[0008] In an optional embodiment, determining the location information of the exploration target based on the corrected magnetic gradient full tensor information includes: Obtaining target magnetic gradient full tensor information associated with the target type of the exploration target from the corrected magnetic gradient full tensor information; The positioning information of the exploration target is obtained based on the position information corresponding to the target magnetic gradient full tensor information; wherein the position information represents: a plurality of first distances between a non-ground terminal including a plurality of measuring devices in the target exploration system and the exploration target.

[0009] In an optional embodiment, after obtaining target magnetic gradient full tensor information associated with the target type of the exploration target from the corrected magnetic gradient full tensor information, the method further includes: The magnetization characteristics of the exploration target are determined based on the target magnetic gradient full tensor information.

[0010] In an optional embodiment, obtaining the positioning information of the exploration target based on the position information corresponding to the target magnetic gradient full tensor information includes: determining a second distance between the non-ground terminal and the area surface of the target area; Based on the position information and the second distance corresponding to the target magnetic gradient full tensor information, a plurality of third distances between the regional surface and the exploration target are obtained; The position information corresponding to the multiple third distances is used as the positioning information of the exploration target.

[0011] In an optional embodiment, determining a second distance between the non-ground terminal and the area surface of the target area includes: Measuring an initial distance between the non-ground terminal and the surface of the area by a distance measuring device included in the non-ground terminal; Based on the posture information corresponding to the distance measuring device and the area surface information collected by the image acquisition device included in the non-ground terminal, the initial distance is corrected to obtain the second distance.

[0012] In a second aspect, an embodiment of the present application further provides a positioning device for an exploration target, which is applied to a target exploration system, and the device includes: An information measurement module is used to measure the magnetic gradient of the target area where the exploration target is located, and obtain the full tensor information of the magnetic gradient of the target area; the full tensor information of the magnetic gradient is used to indicate the change of the magnetic gradient in multiple spatial directions in the target area; An information correction module, used for correcting the magnetic gradient full tensor information based on at least one magnetic gradient correction information associated with the magnetic gradient full tensor information to obtain corrected magnetic gradient full tensor information; wherein different magnetic gradient correction information corresponds to different measurement errors of the magnetic gradient full tensor information; The target positioning module is used to determine the positioning information of the exploration target based on the corrected magnetic gradient full tensor information; the positioning information is used to indicate the distribution range of the exploration target in the target area.

[0013] In an optional embodiment, when performing magnetic gradient measurement on a target area where an exploration target is located to obtain magnetic gradient full tensor information of the target area, the information measurement module is specifically used to: A preset transient electromagnetic method is used to generate a vector magnetic field for detecting exploration targets; The magnetic gradient of the target area where the exploration target is located is measured based on the vector magnetic field, and the full tensor information of the magnetic gradient of the target area is recorded.

[0014] In an optional embodiment, the at least one magnetic gradient correction information includes: first magnetic gradient correction information and second magnetic gradient correction information, the first magnetic gradient correction information is determined by the information correction module according to the magnetic field strength information of the target area, and the second magnetic gradient correction information is determined by the information correction module according to the attitude information of the measuring device corresponding to the magnetic gradient full tensor information and the magnetic field strength information in the target exploration system; When correcting the magnetic gradient full tensor information based on at least one magnetic gradient correction information associated with the magnetic gradient full tensor information to obtain the corrected magnetic gradient full tensor information, the information correction module is specifically used to: Based on the second magnetic gradient correction information, respectively modify the magnetic gradient full tensor information and the magnetic field intensity information to obtain modified magnetic gradient full tensor information and modified magnetic field intensity information; The first magnetic gradient correction information is determined based on the modified magnetic field intensity information, and the modified magnetic gradient full tensor information is corrected to obtain the corrected magnetic gradient full tensor information.

[0015] In an optional embodiment, when determining the positioning information of the exploration target based on the corrected magnetic gradient full tensor information, the target positioning module is specifically used to: Obtaining target magnetic gradient full tensor information associated with the target type of the exploration target from the corrected magnetic gradient full tensor information; The positioning information of the exploration target is obtained based on the position information corresponding to the target magnetic gradient full tensor information; wherein the position information represents: a plurality of first distances between a non-ground terminal including a plurality of measuring devices in the target exploration system and the exploration target.

[0016] In an optional embodiment, after obtaining the target magnetic gradient full tensor information associated with the target type of the exploration target from the corrected magnetic gradient full tensor information, the target positioning module is further used to: The magnetization characteristics of the exploration target are determined based on the target magnetic gradient full tensor information.

[0017] In an optional embodiment, when obtaining the positioning information of the exploration target based on the position information corresponding to the target magnetic gradient full tensor information, the target positioning module is specifically used to: determining a second distance between the non-ground terminal and the area surface of the target area; Based on the position information and the second distance corresponding to the target magnetic gradient full tensor information, a plurality of third distances between the regional surface and the exploration target are obtained; The position information corresponding to the multiple third distances is used as the positioning information of the exploration target.

[0018] In an optional embodiment, when determining the second distance between the non-ground terminal and the surface of the target area, the target positioning module is specifically used to: Measuring an initial distance between the non-ground terminal and the surface of the area by a distance measuring device included in the non-ground terminal; Based on the posture information corresponding to the distance measuring device and the area surface information collected by the image acquisition device included in the non-ground terminal, the initial distance is corrected to obtain the second distance.

[0019] In a third aspect, an embodiment of the present application further provides an electronic device, including: Processor; and Memory for storing programs, The program includes instructions, which, when executed by a processor, cause the processor to execute the method for locating an exploration target as described in the first aspect.

[0020] In a fourth aspect, an embodiment of the present application further provides a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the method for locating an exploration target as described in the first aspect.

[0021] In a fifth aspect, the present application further provides a computer program product, which, when called by a computer, enables the computer to execute the steps of the method for locating an exploration target as described in the first aspect.

[0022] In a sixth aspect, the present application further provides a target exploration system, the target exploration system comprising: a non-ground terminal and a service device; wherein: The non-ground terminal is used to measure the magnetic gradient of the target area where the exploration target is located, obtain the full tensor information of the magnetic gradient of the target area, and send the full tensor information of the magnetic gradient to the service equipment; the full tensor information of the magnetic gradient is used to indicate the change of the magnetic gradient in multiple spatial directions in the target area; A service device is used to, after receiving magnetic gradient tensor information from a non-ground terminal, correct the magnetic gradient full tensor information based on at least one magnetic gradient correction information associated with the magnetic gradient full tensor information to obtain corrected magnetic gradient full tensor information; and determine the positioning information of the exploration target based on the corrected magnetic gradient full tensor information; wherein different magnetic gradient correction information corresponds to different measurement errors of the magnetic gradient full tensor information, and the positioning information is used to indicate the distribution range of the exploration target in the target area.

[0023] The beneficial effects of this application are as follows: In the method for positioning an exploration target provided in an embodiment of the present application, after performing magnetic gradient measurement on the target area where the exploration target is located and obtaining the magnetic gradient full tensor information of the target area, the distribution range of the exploration target in the target area (i.e., the positioning information of the exploration target) can be determined based on the inversion of the magnetic gradient full tensor information parameters, which can improve the problem that the detection effect of the exploration target under complex geological conditions in the related technology is not ideal; and, based on at least one magnetic gradient correction information associated with the magnetic gradient full tensor information, the magnetic gradient full tensor information is corrected, thereby improving the accuracy of the magnetic gradient full tensor information, thereby improving the accuracy of the exploration target positioning.

[0024] In addition, other features and advantages of the present application will be described in the subsequent description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described here are used to provide a further understanding of the present application, constitute a part of the present application, and do not constitute an improper limitation on the present application. In the drawings: Figure 1 A schematic diagram of an application scenario of geological exploration applicable to an embodiment of the present application; Figure 2 A schematic diagram of the structure of a non-ground terminal provided in an embodiment of the present application; Figure 3 A schematic diagram of the composition structure of a service device provided in an embodiment of the present application; Figure 4 A schematic diagram of an implementation flow of a method for locating an exploration target provided in an embodiment of the present application; Figure 5 A schematic diagram of a scenario for determining the location information of an exploration target provided in an embodiment of the present application; Figure 6 A schematic diagram of an implementation flow of a method for determining positioning information of an exploration target provided in an embodiment of the present application; Figure 7 A schematic diagram of a scenario for determining the distance between a regional surface and an exploration target provided in an embodiment of the present application Figure 8 A schematic diagram of the structure of a positioning device for an exploration target provided in an embodiment of the present application; Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not intended to limit the scope of protection of the present application.

[0027] It should be understood that the various steps described in the method implementation of the present application can be performed in different orders and / or performed in parallel. In addition, the method implementation may include additional steps and / or omit the steps shown. The scope of the present application is not limited in this respect.

[0028] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in this application are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0029] It should be noted that the modifications of "one" and "plurality" mentioned in the present application are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0030] The names of the messages or information exchanged between multiple devices in the embodiments of the present application are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0031] Some of the terms used in the embodiments of the present application are explained below to facilitate understanding by those skilled in the art.

[0032] 1. Parameter inversion: It means taking the output result as the starting point, limiting the range of input parameters, and inferring the input parameters based on experience or rules. In the embodiment of the present application, through parameter inversion, the positioning information and / or attribute characteristics (for example, magnetization characteristics, etc.) of the exploration target in the target area can be obtained according to the full tensor information of the magnetic gradient of the target area.

[0033] 2. Magnetic gradient: refers to the rate of change of magnetic field intensity with spatial displacement, which can be represented by the symbol dH / dx, and can also be called magnetic field gradient. The magnetic field gradient is a vector, and its direction is the direction of the maximum change of magnetic field gradient. For example, the magnetic gradient dH / dx=0 in a uniform magnetic field; the magnetic gradient dH / dx≠0 in a non-uniform magnetic field.

[0034] 3. Transient electromagnetic method: It can also be called time domain electromagnetic method (TEM). It uses an ungrounded return line or a grounded line source to emit a pulse magnetic field underground. During the interval of a pulse magnetic field, a coil or a grounding electrode is used to observe the secondary eddy current field. The basic principle of transient electromagnetic method is the law of electromagnetic induction.

[0035] Based on the above-mentioned nouns and related terminology explanations, the design concept of the embodiments of the present application is briefly introduced below: With the development of geological exploration technology, more accurate and reliable geological information, such as the location information of resources, is provided for the exploration and development of resources (such as metal ore bodies, etc.). According to different classification rules (such as exploration targets and exploration needs), geological exploration technology is usually classified as follows: A. Mineral exploration: exploration activities conducted to find and evaluate underground mineral resources, including metal minerals (such as copper and iron), non-metallic minerals (such as coal, oil, and natural gas), etc.

[0036] B. Water resource exploration: aims to find groundwater resources and assess groundwater reserves, quality and availability to meet water needs in agriculture, industry and cities.

[0037] C. Engineering Exploration: Exploration activities carried out for the construction of engineering projects, including land survey, geological hazard assessment, foundation survey, geotechnical engineering survey, etc., used to determine soil and geological conditions and provide necessary information for engineering design and construction.

[0038] D. Environmental Exploration: Aims to assess the pollution level and distribution of environmental factors such as soil, water and atmosphere in order to protect the environment and human health, including soil pollution investigation, water quality monitoring and air quality assessment.

[0039] E. Geophysical exploration: Geophysical exploration may include gravity exploration, magnetic exploration, electrical exploration, georesistivity exploration, seismic exploration and other methods. Through the measurement and analysis of the geophysical field, underground geological information is obtained.

[0040] It should be noted that the above classification of geological exploration is only a part of geological exploration, and there are actually other more specific and subdivided exploration types, which are not specifically limited in the embodiments of the present application.

[0041] However, although the above geological exploration methods can all be used to obtain underground geological information, and each has its own advantages and disadvantages in terms of detection accuracy, depth and resolution, the detection effect is not ideal under certain complex geological conditions. For example, the positioning of deeply buried mineral resources is inaccurate and / or the resolution is low. In other words, traditional geological exploration technology is difficult to obtain accurate geological information under complex geological conditions, and may also cause complex data processing, resulting in low efficiency.

[0042] In view of this, in order to solve or improve the above problems, a method for positioning an exploration target is proposed in an embodiment of the present application, which specifically includes: measuring the magnetic gradient of the target area where the exploration target is located to obtain the magnetic gradient full tensor information of the target area; then, based on at least one magnetic gradient correction information associated with the magnetic gradient full tensor information, the magnetic gradient full tensor information can be corrected to obtain the corrected magnetic gradient full tensor information; finally, the positioning information of the exploration target is determined based on the corrected magnetic gradient full tensor information. Among them, the aforementioned magnetic gradient full tensor information can be used to indicate the magnetic gradient changes in multiple spatial directions in the target area; different magnetic gradient correction information corresponds to different measurement errors of the magnetic gradient full tensor information; the aforementioned positioning information is used to indicate the distribution range of the exploration target in the target area.

[0043] In this way, the geometric shape, position, magnetization and other characteristics of the exploration target can be directly obtained based on the parameter inversion of the magnetic gradient full tensor information, which not only reduces the complexity of data processing, but also improves the efficiency of positioning the exploration target; and, by correcting the magnetic gradient full tensor information through at least one measurement error, the accuracy of the magnetic gradient full tensor information is ensured, thereby improving the accuracy of the positioning information of the exploration target subsequently obtained based on the magnetic gradient full tensor information.

[0044] In particular, the preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application, and the embodiments of the present application and the features in the embodiments may be combined with each other if there is no conflict.

[0045] See also Figure 1 As shown, it is a schematic diagram of an application scenario of geological exploration provided in an embodiment of the present application, and the application scenario may include: a target area 101, a non-ground terminal (102a~102d) and a service device 103, wherein the non-ground terminal (102a~102d) and the service device 103 may exchange information through a communication network, wherein the communication mode adopted by the communication network may include: a wireless communication mode and a wired communication mode.

[0046] Exemplarily, the non-terrestrial terminal (102a~102d) can access the network through cellular mobile communication technology and communicate with the service device 103. The cellular mobile communication technology, for example, includes the fifth generation mobile communication (5th generation mobile networks, 5G) technology or the next generation mobile communication technology. Optionally, the non-terrestrial terminal (102a~102d) can access the network through a short-range wireless communication method and communicate with the service device 103. The short-range wireless communication method, for example, includes wireless fidelity (wireless fidelity, Wi-Fi) technology.

[0047] The embodiment of the present application does not impose any restrictions on the number of communication devices involved in the above application scenarios. For example, the above application scenarios may include more non-ground terminals (i.e., non-ground terminal clusters), or fewer non-ground terminals, or may also include other network devices. Figure 1 As shown, only the non-ground terminals (102a~102d) and the service device 103 are taken as examples for description, and the above-mentioned communication devices and their respective functions are briefly introduced below.

[0048] The non-ground terminal (102a~102d) may be a terminal device that provides communication services using spectrum resources on non-ground communication platforms such as an unmanned aerial vehicle (UAV) platform or a high altitude platform station (HAPS). In the embodiment of the present application, the non-ground terminal (102a~102d) may be used to detect exploration targets in a target area and send or forward the collected data to the service device 103.

[0049] In order to detect the exploration target included in the target area, in an optional implementation, refer to Figure 2As shown, any non-ground terminal (i.e., a mobile terminal or a mobile platform) among the non-ground terminals (102a-102d) may include: a data storage device, a power management device, a central processing unit (CPU), a data receiving / transmitting module, a magnetometer sensor (e.g., a three-dimensional magnetometer), a distance measuring device (e.g., a laser (lidar) rangefinder), a positioning system (e.g., a global positioning system (GPS) or a Beidou navigation and positioning system, etc.), an inertial measurement unit (IMU), an image acquisition device (e.g., a ground camera), a superconducting quantum interference device / device (SQUID) sensor, and a radiation control module.

[0050] Among them, the radiation control module and the power management device can generate a vector magnetic field of the target area 101, and the magnetometer sensor can measure the magnetic field strength information of the target area. The ranging device can determine the distance between the non-ground terminal and the surface of the target area. The positioning system can provide the height and position of the non-ground terminal. The IMU can provide the posture information of the above-mentioned devices or modules to correct their respective measurement values. The image acquisition device can measure the information of the surface of the aforementioned area (such as topographic information) to correct the influence of the terrain on the measurement value. The SQUID can be used to measure the full tensor information of the magnetic gradient of the target area, and the data receiving / transmitting module can send the above-mentioned measurement information to the service device 103.

[0051] For example, the non-ground terminal (102a~102d) in the embodiment of the present application can perform magnetic gradient measurement on the target area 101 where the exploration target is located, obtain the full tensor information of the magnetic gradient of the target area 101, and send the full tensor information of the magnetic gradient of the target area 101 to the service device 103.

[0052] In addition, the non-ground terminal (102a~102d) can receive control instructions sent from the service device 103 or other devices through the above-mentioned data receiving / transmitting module. The aforementioned control instructions can be target exploration of the target area 101, or can be stopping exploration of the target area 101, or can be other instructions, which are not limited to this in the embodiments of the present application.

[0053] The service device 103 may be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. In addition, the service device 103 may be a ground service platform or a non-ground service platform; and the service device 103 may be called a ground management platform or may have other names, which are not limited in the embodiments of the present application.

[0054] For example, see Figure 3 As shown, it is a schematic diagram of the composition structure of a service device provided in an embodiment of the present application, and the service device may include: a data receiving / transmitting module, a power supply, a CPU, a data storage device and a display module. Among them, the data receiving / transmitting module can be used to receive various measurement information from the non-ground terminal (102a~102d), and the CPU is used to determine the positioning information of the exploration target based on the various measurement information. Optionally, the display module can construct and display the target area 101 and the location and distribution of the exploration target, and can also display the relevant attributes of the exploration target (such as magnetization characteristics, etc.).

[0055] It is worth noting that in the embodiment of the present application, the service device 103 is used to correct the magnetic gradient full tensor information based on at least one magnetic gradient correction information associated with the magnetic gradient full tensor information after receiving the magnetic gradient full tensor information of the target area 101 sent by the non-ground terminal (102a~102d), so as to obtain the corrected magnetic gradient full tensor information, thereby determining the positioning information of the exploration target based on the corrected magnetic gradient full tensor information.

[0056] It should also be noted that if Figure 1 In the target exploration system shown, the service device 103 is independently provided with the non-ground terminal (102a-102d), which reduces the load or load of the non-ground terminal (102a-102d). Optionally, the service device 103 may also be integrated in the non-ground terminal (102a-102d) to reduce the complexity of the target exploration system. For example, the service device 103 may be integrated in the non-ground terminal 102b, which is not specifically limited in the embodiments of the present application.

[0057] The following describes the method for locating an exploration target provided by an exemplary embodiment of the present application in combination with the above-mentioned application scenarios and with reference to the accompanying drawings. It should be noted that the above-mentioned application scenarios are only shown to facilitate understanding of the spirit and principles of the present application, and the implementation methods of the present application are not limited in this respect.

[0058] See also Figure 4 As shown, it is a schematic diagram of the implementation process of a method for locating an exploration target provided in an embodiment of the present application. The execution subject takes the target exploration system as an example. The specific implementation process of the method is as follows: S401: Perform magnetic gradient measurement on the target area where the exploration target is located to obtain the full tensor information of the magnetic gradient of the target area.

[0059] The above exploration target may also be referred to as a target entity or an entity to be explored, and of course may have other names, which are not limited in this application. For example, the above exploration target may be a metal ore body, oil and other resources. In addition, the exploration target is usually buried in a target area, which may include but is not limited to areas in natural scenes such as deserts, oceans, and mountains.

[0060] Optionally, the above-mentioned full tensor information of magnetic gradient can be used to indicate the change of magnetic gradient in multiple spatial directions in the target area. Exemplarily, the above-mentioned full tensor information of magnetic gradient can include: three magnetic gradient components corresponding to the three-component magnetic field generated in three-dimensional space (i.e., in the three directions of xyz), which are respectively expressed as: ∂Bx / ∂x, ∂Bx / ∂y, ∂Bx / ∂z, ∂By / ∂x, ∂By / ∂y, ∂By / ∂z, ∂Bz / ∂x, ∂Bz / ∂y and ∂Bz / ∂z. Among them, x, y and z represent the three directions of space respectively; Bx, By and Bz are the magnetic field components of the magnetic field in the three directions of x, y and z in three-dimensional space respectively. The above-mentioned nine magnetic gradient components can be simply recorded as: Gxx, Gxy, Gxz, Gyx, Gyy, Gyz, Gzx, Gzy and Gzz.

[0061] Further, according to the analysis of Maxwell's equations, it can be known that the above 9 magnetic gradient components have a certain symmetric relationship, that is, Gxy=Gyx, Gyz=Gzy, Gxz=Gzx, Gxx+Gyy+Gzz=0, that is, under the constraints of the above 4 conditions, the above 9 magnetic gradient components only include 5 independent magnetic gradient components. Therefore, in order to reduce the data storage capacity of the non-ground terminal in the target exploration system, as well as the power consumption required for data measurement, storage and transmission, the non-ground terminal can only measure and store 5 magnetic gradient components, for example, Gxy, Gyz, Gxz, Gxx and Gyy. Of course, it can also be other independent magnetic gradient component combinations, which is not limited in the embodiments of the present application. In other words, the above magnetic gradient full tensor information may include: 5 independent magnetic gradient components corresponding to the three-component magnetic field generated in the three-dimensional space.

[0062] In addition, if each of the above-mentioned magnetic gradient components requires a separate magnetic gradient measurement device (for example, a SQUID sensor), then based on the above-mentioned method, the number of magnetic gradient measurement devices used can be reduced (for example, 9 SQUID sensors → 5 SQUID sensors), thereby also reducing the load of the non-ground terminal to a certain extent.

[0063] In an optional implementation, when executing step S401, the non-ground terminal in the target exploration system can use a preset transient electromagnetic method to generate a vector magnetic field for detecting the exploration target, thereby performing magnetic gradient measurement on the target area where the exploration target is located based on the vector magnetic field, and recording the magnetic gradient full tensor information of the target area. In this way, various parameters in the transient electromagnetic method can be adaptively adjusted according to the information (such as type) of the exploration target, thereby generating a specific vector magnetic field corresponding to the exploration target, thereby realizing the detection of the exploration target, and thereby improving the positioning accuracy of subsequent exploration targets.

[0064] For example, take five types of exploration targets as an example, such as gold mine, silver mine, copper mine, tin mine and iron mine. The parameter sets corresponding to the above five types of exploration targets are shown in Table 1: Table 1: Examples of parameter sets corresponding to different exploration targets

[0065] Based on the above Table 1, when the non-ground terminal uses the transient electromagnetic method to generate a vector magnetic field, it can determine the various parameters (i.e., parameter set) in the transient electromagnetic method corresponding to the current exploration target according to the correspondence between the preset exploration target type and the parameter set, so that a specific vector magnetic field can be generated for the exploration target, thereby realizing the detection of the exploration target. For example, assuming that the exploration target is a silver mine, the corresponding parameter set can be determined to be Para.Set.2. Then, the non-ground terminal can use the transient electromagnetic method according to the multiple parameters included in the parameter set Para.Set.2 to generate a vector magnetic field for detecting silver mines, so as to realize the detection of silver mines in the target area.

[0066] It should be noted that the above parameters can be used to control the generation period and magnetic field strength of the vector magnetic field. The embodiments of the present application do not specifically limit the parameters in the transient electromagnetic method, as long as the detection of the corresponding exploration target can be achieved. In addition, based on the above method, if it is determined that the exploration target is located deep underground, then the above parameters can also be flexibly adjusted to achieve accurate positioning or detection of the deeply buried ore body.

[0067] S402: Based on at least one magnetic gradient correction information associated with the magnetic gradient full tensor information, correct the magnetic gradient full tensor information to obtain corrected magnetic gradient full tensor information.

[0068] Different magnetic gradient correction information corresponds to different measurement errors of the magnetic gradient full tensor information. For example, the aforementioned measurement error may be a system error caused by the movement of a non-ground terminal equipped with a magnetic gradient measurement device (such as a SQUID sensor), or may be a measurement error of the magnetic gradient measurement device itself.

[0069] In an optional implementation, the at least one magnetic gradient correction information may include first magnetic gradient correction information and second magnetic gradient correction information. The first magnetic gradient correction information may be determined based on the magnetic field strength information of the target area collected by the magnetometer sensor carried by the non-ground terminal, and the second magnetic gradient correction information may be determined by the IMU carried by the non-ground terminal based on the attitude information of the measuring devices (i.e., magnetic gradient measuring devices and magnetometer sensors) corresponding to the magnetic gradient full tensor information and the magnetic field strength information in the target exploration system. In this way, the measured magnetic gradient full tensor information can be corrected according to the first magnetic gradient correction information and the second magnetic gradient correction information, and accurate magnetic gradient full tensor information can be obtained, thereby improving the accuracy of subsequent exploration target positioning.

[0070] Specifically, after receiving the magnetic gradient full tensor information, magnetic field strength information and posture information of the measuring device (i.e., the magnetic gradient measuring device and the magnetometer sensor) from the non-ground terminal, the service device in the target exploration system can modify the magnetic gradient full tensor information and the magnetic field strength information based on the second magnetic gradient correction information determined by the posture information corresponding to the magnetic gradient measuring device and the magnetometer sensor respectively, and obtain the modified magnetic gradient full tensor information and the modified magnetic field strength information, so as to compensate for the measurement error caused by the movement of the non-ground terminal; further, based on the first magnetic gradient correction information determined by the modified magnetic field strength information, the modified magnetic gradient full tensor information is corrected to obtain the corrected magnetic gradient full tensor information, so as to compensate for the measurement error of the magnetic gradient measuring device itself.

[0071] It should be noted that, since the first magnetic gradient correction information can be determined based on the magnetic field strength information of the target area collected by the magnetometer sensor carried by the non-ground terminal, the first magnetic gradient correction information can be the magnetic gradient full tensor information calculated based on the magnetic field strength information. That is, for the same position in the target area, the magnetic gradient full tensor information of the position can be determined based on the magnetic gradient full tensor information corresponding to the magnetometer sensor and the magnetic gradient measurement device, thereby avoiding the problem that the magnetic gradient measurement device may fail, resulting in inaccurate measurement of the magnetic gradient full tensor information, thereby improving the accuracy of the target exploration system for measuring the magnetic gradient full tensor information.

[0072] S403: Determine the positioning information of the exploration target based on the corrected magnetic gradient full tensor information.

[0073] The above positioning information is used to indicate the distribution range of the exploration target in the target area. That is, the distribution range of the exploration target under the surface of the target area, for example, the burial depth of the exploration target and other information. Figure 5 As shown, the target exploration system can determine the location and shape of the exploration target and other positioning information based on the corrected magnetic gradient full tensor information.

[0074] In an optional implementation, when executing step S403, the service device in the target exploration system can obtain the target magnetic gradient full tensor information associated with the target type of the exploration target from the corrected magnetic gradient full tensor information, thereby obtaining the positioning information of the exploration target based on the position information corresponding to the target magnetic gradient full tensor information.

[0075] The aforementioned position information represents: a plurality of first distances between a non-ground terminal including a plurality of measuring devices in the target exploration system and the exploration target, and the aforementioned plurality of first distances can also be used to determine the shape of the exploration target. In other words, the endpoints corresponding to the aforementioned plurality of first distances can construct the outline of the exploration target.

[0076] Based on the above method, since different exploration targets correspond to different magnetic gradient full tensors, that is, the change rates of the magnetic field intensity are different, the service equipment can quickly determine the target magnetic gradient full tensor information related to the exploration target from the corrected magnetic gradient full tensor information with a large amount of data according to the target type of the exploration target, thereby improving the positioning speed of the exploration target and reducing the complexity of data processing of the service equipment to a certain extent.

[0077] In order to accurately determine the distribution range of the exploration target in the target area, the service equipment can execute when obtaining the positioning information of the exploration target based on the position information corresponding to the target magnetic gradient full tensor information. Figure 6 The method steps shown are as follows: S601: Determine a second distance between the non-ground terminal and the area surface of the target area.

[0078] For example, if the surface of the area is the ground, the second distance may be the distance between the non-ground terminal and the ground, that is, the height of the non-ground terminal from the ground. For another example, if the surface of the area is the sea surface, the second distance may be the distance between the non-ground terminal and the sea surface, or the distance between the non-ground terminal and the seabed surface.

[0079] In an optional implementation, when executing step S601, the service device can measure the initial distance between the non-ground terminal and the regional surface through the distance measuring device (e.g., laser rangefinder) included in the non-ground terminal, and then correct the initial distance based on the posture information corresponding to the distance measuring device collected by the IMU and the regional surface information collected by the image acquisition device (e.g., ground camera) included in the non-ground terminal to obtain the second distance. In this way, the systematic error in the measurement value of the distance measuring device caused by the movement of the non-ground terminal is compensated according to the posture information, and the measurement error caused by the regional surface to the second distance measurement is corrected according to the accurate regional surface information provided by the image acquisition device.

[0080] It should be noted that the non-ground terminal device can also record the height (e.g., altitude) and spatial position coordinates of the non-mobile terminal, as well as the position of the ranging signal (e.g., radar signal) reflected by the regional surface of the target area through the positioning system; in addition, the inclination of the non-mobile terminal can also be recorded through the IMU.

[0081] S602: Based on the position information and the second distance corresponding to the target magnetic gradient full tensor information, a plurality of third distances between the regional surface and the exploration target are obtained.

[0082] Specifically, when executing step S602, after determining the second distance, the service device can obtain multiple third distances between the regional surface and the exploration target based on multiple first distances between the non-ground terminal and the exploration target represented by the position information corresponding to the target magnetic gradient full tensor information, and the second distance, that is, the distances from each contour point of the exploration target to the regional surface.

[0083] See also Figure 7 As shown, with 6 first distances (i.e. L 1,1 ~ L 1,6 ) as an example, the service device may obtain the second distances (eg, L 2,1 ~ L 2,6 ), the six third distances between the regional surface and the exploration target can be determined (i.e., L 3,1 ~ L 3,6 ). Optionally, the second distances corresponding to the aforementioned six first distances may be determined based on the angle between the aforementioned six first distances and the second distance between the non-ground terminal and the regional surface of the target area and the aforementioned second distance. Of course, it may also be determined by other methods, for example, based on the angle between the six first distances and the second distance between the non-ground terminal and the regional surface of the target area and the regional surface. This is not limited in the embodiments of the present application.

[0084] S603: Using the position information corresponding to the plurality of third distances as the positioning information of the exploration target.

[0085] The position information corresponding to the above-mentioned multiple third distances can also be understood as point cloud information of the exploration target, that is, the position and shape (such as size and geometric outline) of the exploration target can be determined according to the above-mentioned position information.

[0086] Based on the method steps described in the above steps S601 to S603, the positional relationship between the exploration target and the regional surface of the target area (i.e., the distribution range of the exploration target in the target area) can be determined. For example, taking the regional surface as the ground, the service device can determine the burial depth of the exploration target, i.e., the underground depth, based on the above method.

[0087] In an optional implementation, after obtaining the target magnetic gradient full tensor information associated with the target type of the exploration target from the corrected magnetic gradient full tensor information, the service device can also determine the magnetization characteristics of the exploration target based on the target magnetic gradient full tensor information through parameter inversion. Exemplarily, the aforementioned magnetization characteristics include but are not limited to: magnetic parameters or magnetization parameters such as saturation magnetic induction intensity Bs, residual magnetic induction intensity Br and coercive force Hc, which are not limited in this application.

[0088] In order to better display the exploration process of the target exploration system for the exploration target in the target area, as well as the relevant attributes of the exploration target, such as positioning information and magnetization characteristics. The service device can display the positioning information of the target area and the exploration target reconstructed by the service device based on the full tensor information of the magnetic gradient of the target area (such as the depth H from the surface, shape and size (such as 5078.92m³)) through the display module; optionally, the display module can also display the magnetization characteristics of the exploration target (such as saturation magnetic induction intensity Bs, residual magnetic induction intensity Br and coercive force Hc). In addition, if the non-ground terminal also sends the flight trajectory information of the magnetic gradient measurement of the target area where the exploration target is located to the service device, the service device can reproduce the entire process of the non-mobile terminal exploring the target area, and also realize the visualization of target exploration.

[0089] In summary, in the method for positioning an exploration target provided in an embodiment of the present application, after performing magnetic gradient measurement on the target area where the exploration target is located and obtaining the full magnetic gradient tensor information of the target area, the distribution range of the exploration target in the target area (i.e., the positioning information of the exploration target) can be determined based on the parameters of the full magnetic gradient tensor information inversion, which can improve the problem that the detection effect of the exploration target under complex geological conditions in the related technology is not ideal; and, based on at least one magnetic gradient correction information associated with the full magnetic gradient tensor information, the full magnetic gradient tensor information is corrected, thereby improving the accuracy of the full magnetic gradient tensor information, and thus the accuracy of the positioning of the exploration target can be improved.

[0090] Further, based on the same technical concept, the embodiment of the present application provides a positioning device for an exploration target, which can be applied to a target exploration system. The positioning device for an exploration target is used to implement the above method flow of the embodiment of the present application. Figure 8 As shown, the exploration target positioning device 800 may include: an information measurement module 801, an information correction module 802 and a target positioning module 803, wherein: The information measurement module 801 is used to measure the magnetic gradient of the target area where the exploration target is located, and obtain the magnetic gradient full tensor information of the target area; the magnetic gradient full tensor information is used to indicate the magnetic gradient changes in multiple spatial directions in the target area; An information correction module 802 is used to correct the magnetic gradient full tensor information based on at least one magnetic gradient correction information associated with the magnetic gradient full tensor information to obtain corrected magnetic gradient full tensor information; wherein different magnetic gradient correction information corresponds to different measurement errors of the magnetic gradient full tensor information; The target positioning module 803 is used to determine the positioning information of the exploration target based on the corrected magnetic gradient full tensor information; the positioning information is used to indicate the distribution range of the exploration target in the target area.

[0091] In an optional embodiment, when performing magnetic gradient measurement on a target area where an exploration target is located to obtain magnetic gradient full tensor information of the target area, the information measurement module 801 is specifically used to: A preset transient electromagnetic method is used to generate a vector magnetic field for detecting exploration targets; The magnetic gradient of the target area where the exploration target is located is measured based on the vector magnetic field, and the full tensor information of the magnetic gradient of the target area is recorded.

[0092] In an optional embodiment, the at least one magnetic gradient correction information includes: first magnetic gradient correction information and second magnetic gradient correction information, the first magnetic gradient correction information is determined by the information correction module 802 according to the magnetic field strength information of the target area, and the second magnetic gradient correction information is determined by the information correction module 802 according to the attitude information of the measuring device corresponding to the magnetic gradient full tensor information and the magnetic field strength information in the target exploration system; When correcting the magnetic gradient full tensor information based on at least one magnetic gradient correction information associated with the magnetic gradient full tensor information to obtain the corrected magnetic gradient full tensor information, the information correction module 802 is specifically used to: Based on the second magnetic gradient correction information, respectively modify the magnetic gradient full tensor information and the magnetic field intensity information to obtain modified magnetic gradient full tensor information and modified magnetic field intensity information; The first magnetic gradient correction information is determined based on the modified magnetic field intensity information, and the modified magnetic gradient full tensor information is corrected to obtain the corrected magnetic gradient full tensor information.

[0093] In an optional embodiment, when determining the positioning information of the exploration target based on the corrected magnetic gradient full tensor information, the target positioning module 803 is specifically used to: Obtaining target magnetic gradient full tensor information associated with the target type of the exploration target from the corrected magnetic gradient full tensor information; The positioning information of the exploration target is obtained based on the position information corresponding to the target magnetic gradient full tensor information; wherein the position information represents: a plurality of first distances between a non-ground terminal including a plurality of measuring devices in the target exploration system and the exploration target.

[0094] In an optional embodiment, after obtaining the target magnetic gradient full tensor information associated with the target type of the exploration target from the corrected magnetic gradient full tensor information, the target positioning module 803 is further used to: The magnetization characteristics of the exploration target are determined based on the target magnetic gradient full tensor information.

[0095] In an optional embodiment, when obtaining the positioning information of the exploration target based on the position information corresponding to the target magnetic gradient full tensor information, the target positioning module 803 is specifically used to: determining a second distance between the non-ground terminal and the area surface of the target area; Based on the position information and the second distance corresponding to the target magnetic gradient full tensor information, a plurality of third distances between the regional surface and the exploration target are obtained; The position information corresponding to the multiple third distances is used as the positioning information of the exploration target.

[0096] In an optional embodiment, when determining the second distance between the non-ground terminal and the surface of the target area, the target positioning module 803 is specifically configured to: Measuring an initial distance between the non-ground terminal and the surface of the area by a distance measuring device included in the non-ground terminal; Based on the posture information corresponding to the distance measuring device and the area surface information collected by the image acquisition device included in the non-ground terminal, the initial distance is corrected to obtain the second distance.

[0097] Based on the description of the above method embodiment and device embodiment, the exemplary embodiment of the present invention further provides an electronic device, including: at least one processor; and a memory connected to the at least one processor in communication. The memory stores a computer program that can be executed by the at least one processor, and the computer program is used to enable the electronic device to perform the method according to the embodiment of the present invention when executed by the at least one processor.

[0098] An embodiment of the present application also provides a non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to execute a method according to an embodiment of the present application.

[0099] An embodiment of the present application also provides a computer program product, including a computer program, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to execute a method according to an embodiment of the present application.

[0100] See also Fig. 9 As shown, the structured block diagram of the electronic device 900 that can be used as the server or client of the present application will now be described, which is an example of the hardware device that can be applied to various aspects of the present application. The electronic device is intended to represent the computer device of various forms of digital electronics, such as, laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processing, cellular phones, smart phones, wearable devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only used as examples, and are not intended to limit the implementation of the present application described herein and / or required.

[0101] like Fig. 9 As shown, the electronic device 900 includes a computing unit 901, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 902 or a computer program loaded from a storage unit 908 to a random access memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The computing unit 901, the ROM 902, and the RAM 903 are connected to each other via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0102] A plurality of components in the electronic device 900 are connected to the I / O interface 905, including: an input unit 906, an output unit 907, a storage unit 908, and a communication unit 909. The input unit 906 may be any type of device capable of inputting information to the electronic device 900, and the input unit 906 may receive input digital or character information, and generate key signal inputs related to user settings and / or function control of the electronic device. The output unit 907 may be any type of device capable of presenting information, and may include but is not limited to a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 908 may include but is not limited to a disk, an optical disk. The communication unit 909 allows the electronic device 900 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and may include but is not limited to a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth device, a WiFi device, a worldwide interoperability for microwave access (WiMax) device, a cellular communication device, and / or the like.

[0103] The computing unit 901 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a CPU, a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 901 performs the various methods and processes described above. For example, in some embodiments, the above-mentioned method for locating the exploration target may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 908. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 900 via the ROM 902 and / or the communication unit 909. In some embodiments, the computing unit 901 may be configured to perform the above-mentioned method for locating the exploration target by any other appropriate means (e.g., by means of firmware).

[0104] The program code for implementing the method of the present application can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, implements the functions / operations specified in the flow chart and / or block diagram. The program code can be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0105] In the context of the present application, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (EPROM) or a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0106] As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and / or device (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0107] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a cathode ray tub (CRT) or a liquid crystal display (LCD) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0108] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0109] A computer system may include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship to each other.

[0110] Furthermore, it should be understood that what is disclosed above is only a preferred embodiment of the present application, and certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope covered by the present application.

Claims

1. A method for locating an exploration target, characterized in that: Applied to target exploration systems, including: Conducting magnetic gradient measurement on a target area where an exploration target is located to obtain magnetic gradient full tensor information of the target area; the magnetic gradient full tensor information is used to indicate magnetic gradient changes in multiple spatial directions within the target area; Based on at least one magnetic gradient correction information associated with the magnetic gradient full tensor information, the magnetic gradient full tensor information is corrected to obtain corrected magnetic gradient full tensor information; wherein different magnetic gradient correction information corresponds to different measurement errors of the magnetic gradient full tensor information; The positioning information of the exploration target is determined based on the corrected magnetic gradient full tensor information; the positioning information is used to indicate the distribution range of the exploration target in the target area.

2. The method according to claim 1, characterized in that The step of measuring the magnetic gradient of the target area where the exploration target is located to obtain the full tensor information of the magnetic gradient of the target area includes: Using a preset transient electromagnetic method to generate a vector magnetic field for detecting the exploration target; Based on the vector magnetic field, magnetic gradient measurement is performed on the target area where the exploration target is located, and the full tensor information of the magnetic gradient of the target area is recorded.

3. The method according to claim 1 or 2, characterized in that The at least one magnetic gradient correction information includes: first magnetic gradient correction information and second magnetic gradient correction information, wherein the first magnetic gradient correction information is determined according to the magnetic field strength information of the target area, and the second magnetic gradient correction information is determined according to the attitude information of the measuring device corresponding to the magnetic gradient full tensor information and the magnetic field strength information in the target exploration system; The step of correcting the magnetic gradient full tensor information based on at least one magnetic gradient correction information associated with the magnetic gradient full tensor information to obtain the corrected magnetic gradient full tensor information comprises: Based on the second magnetic gradient correction information, respectively modify the magnetic gradient full tensor information and the magnetic field intensity information to obtain modified magnetic gradient full tensor information and modified magnetic field intensity information; The first magnetic gradient correction information is determined based on the modified magnetic field intensity information, and the modified magnetic gradient full tensor information is corrected to obtain the corrected magnetic gradient full tensor information.

4. The method according to claim 1 or 2, characterized in that: The determining the positioning information of the exploration target based on the corrected magnetic gradient full tensor information includes: acquiring target magnetic gradient full tensor information associated with the target type of the exploration target from the corrected magnetic gradient full tensor information; The positioning information of the exploration target is obtained based on the position information corresponding to the target magnetic gradient full tensor information; wherein the position information represents: a plurality of first distances between a non-ground terminal including a plurality of measuring devices in the target exploration system and the exploration target.

5. The method according to claim 4, characterized in that After acquiring the target magnetic gradient full tensor information associated with the target type of the exploration target from the corrected magnetic gradient full tensor information, the method further includes: The magnetization characteristics of the exploration target are determined based on the target magnetic gradient full tensor information.

6. The method according to claim 4, characterized in that The obtaining the positioning information of the exploration target based on the position information corresponding to the target magnetic gradient full tensor information includes: determining a second distance between the non-ground terminal and an area surface of the target area; Based on the position information corresponding to the target magnetic gradient full tensor information and the second distance, a plurality of third distances between the regional surface and the exploration target are obtained; The position information corresponding to the multiple third distances is used as the positioning information of the exploration target.

7. The method according to claim 6, characterized in that The determining a second distance between the non-ground terminal and the surface of the target area includes: Measuring an initial distance between the non-ground terminal and the surface of the area by a distance measuring device included in the non-ground terminal; Based on the posture information corresponding to the distance measuring device and the area surface information collected by the image acquisition device included in the non-ground terminal, the initial distance is corrected to obtain the second distance.

8. A positioning device for an exploration target, characterized in that: Applied to target exploration systems, including: An information measurement module is used to perform magnetic gradient measurement on a target area where an exploration target is located, and obtain magnetic gradient full tensor information of the target area; the magnetic gradient full tensor information is used to indicate magnetic gradient changes in multiple spatial directions within the target area; An information correction module, configured to correct the magnetic gradient full tensor information based on at least one magnetic gradient correction information associated with the magnetic gradient full tensor information, so as to obtain corrected magnetic gradient full tensor information; wherein different magnetic gradient correction information corresponds to different measurement errors of the magnetic gradient full tensor information; A target positioning module is used to determine the positioning information of the exploration target based on the corrected magnetic gradient full tensor information; the positioning information is used to indicate the distribution range of the exploration target in the target area.

9. An electronic device, comprising: processor; as well as Memory for storing programs, The program includes instructions, which, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 7.

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