A positioning method, device, electronic device and storage medium for exploration targets

Abstract

The present application provides a method, an apparatus, an electronic device and a storage medium for locating an exploration target, relating to the technical field of electromagnetic exploration. In the present application, magnetic gradient measurement is performed on a target area where the exploration target is located to obtain the magnetic gradient full tensor information of 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 the corrected magnetic gradient full tensor information; and the location information of the exploration target is determined based on the corrected magnetic gradient full tensor information. It can be seen that the location information of the exploration target is directly obtained by parameter inversion of the magnetic gradient full tensor information, which not only reduces the complexity of data processing, but also improves the efficiency of locating the exploration target; moreover, by correcting the magnetic gradient full tensor information with at least one magnetic gradient correction information, the accuracy of the magnetic gradient full tensor information is ensured, thereby improving the accuracy of the subsequent obtained location information of the exploration target.

Description

Technical Field

[0001] The present application relates to the technical field of electromagnetic exploration, and particularly to a method, device, electronic device and storage medium for positioning an exploration target. Background Art

[0002] With the development of science and technology, geological exploration technology has also been continuously progressing. At present, geological exploration technologies mainly include methods such as magnetic exploration, gravity exploration, electrical method exploration, geoelectric resistivity exploration, and seismic exploration, all of which can be used to obtain underground geological information. For example, they can be used to locate underground exploration targets or target entities (such as minerals, oil, etc.).

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

[0004] 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 exploration target positioning.

[0005] In a first aspect, embodiments of the present application provide a method for positioning an exploration target, which is applied to a target exploration system. The method includes:

[0006] Performing magnetic gradient measurement on a target area where the 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 the magnetic gradient changes in multiple spatial directions within the target area;

[0007] Based on at least one 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; where different magnetic gradient correction information corresponds to different measurement errors of the magnetic gradient full tensor information;

[0008] Determining 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 within the target area.

[0009] In an optional embodiment, performing magnetic gradient measurement on a target area where the exploration target is located to obtain magnetic gradient full tensor information of the target area includes:

[0010] Generating a vector magnetic field for detecting the exploration target by using a preset transient electromagnetic method;

[0011] 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.

[0012] In an alternative embodiment, at least one magnetic gradient correction information includes: a first magnetic gradient correction information and a second magnetic gradient correction information. The first magnetic gradient correction information is determined according to the magnetic field intensity information of the target area, and the second magnetic gradient correction information is determined according to the attitude information of the measuring devices corresponding to the magnetic gradient full tensor information and the magnetic field intensity information in the target exploration system;

[0013] Based on at least one magnetic gradient correction information associated with the magnetic gradient full tensor information, correcting the magnetic gradient full tensor information to obtain the corrected magnetic gradient full tensor information, including:

[0014] Based on the second magnetic gradient correction information, modifying the magnetic gradient full tensor information and the magnetic field intensity information respectively to obtain the modified magnetic gradient full tensor information and the modified magnetic field intensity information;

[0015] Based on the first magnetic gradient correction information determined according to the modified magnetic field intensity information, correcting the modified magnetic gradient full tensor information to obtain the corrected magnetic gradient full tensor information.

[0016] In an alternative embodiment, determining the positioning information of the exploration target based on the corrected magnetic gradient full tensor information includes:

[0017] 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;

[0018] Obtaining the positioning information of the exploration target 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 the non-ground terminal including various measuring devices in the target exploration system and the exploration target.

[0019] In an alternative 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, further includes:

[0020] Determining the magnetization characteristics of the exploration target based on the target magnetic gradient full tensor information.

[0021] In an alternative embodiment, obtaining the positioning information of the exploration target based on the position information corresponding to the target magnetic gradient full tensor information includes:

[0022] Determining a second distance between the non-ground terminal and the surface of the target area;

[0023] Based on the position information corresponding to the target magnetic gradient full tensor information and the second distance, obtaining a plurality of third distances between the surface of the area and the exploration target;

[0024] Use the position information corresponding to multiple third distances as the positioning information of the exploration target.

[0025] In an alternative embodiment, determining the second distance between the non-ground terminal and the regional surface of the target area includes:

[0026] Measure the initial distance between the non-ground terminal and the regional surface through the ranging device included in the non-ground terminal;

[0027] Based on the attitude information corresponding to the ranging device and the regional surface information collected by the image acquisition device included in the non-ground terminal, correct the initial distance to obtain the second distance.

[0028] 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. The device includes:

[0029] An information measurement module, configured to perform magnetic gradient measurement on the target area where the exploration target is located to 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 within the target area;

[0030] 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 to obtain the corrected magnetic gradient full tensor information; where different magnetic gradient correction information corresponds to different measurement errors of the magnetic gradient full tensor information;

[0031] A target positioning module, configured 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 within the target area.

[0032] In an alternative embodiment, when performing magnetic gradient measurement on the target area where the exploration target is located to obtain the magnetic gradient full tensor information of the target area, the information measurement module is specifically configured to:

[0033] Generate a vector magnetic field for detecting the exploration target by using a preset transient electromagnetic method;

[0034] Perform magnetic gradient measurement on the target area where the exploration target is located based on the vector magnetic field, and record the magnetic gradient full tensor information of the target area.

[0035] In an alternative embodiment, at least one magnetic gradient correction information includes: a first magnetic gradient correction information and a second magnetic gradient correction information. The first magnetic gradient correction information is determined by the information correction module according to the magnetic field intensity 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 measurement devices corresponding to the magnetic gradient full tensor information and the magnetic field intensity information in the target exploration system;

[0036] When at least one magnetic gradient correction information is associated with the magnetic gradient full tensor information to correct the magnetic gradient full tensor information and obtain the corrected magnetic gradient full tensor information, the information correction module is specifically configured to:

[0037] Based on the second magnetic gradient correction information, modify the magnetic gradient full tensor information and the magnetic field intensity information respectively to obtain the modified magnetic gradient full tensor information and the modified magnetic field intensity information;

[0038] Based on the first magnetic gradient correction information determined by the modified magnetic field intensity information, correct the modified magnetic gradient full tensor information to obtain the corrected magnetic gradient full tensor information.

[0039] In an alternative 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 configured to:

[0040] 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;

[0041] Obtain the positioning information of the exploration target 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 the non-ground terminal including multiple measurement devices in the target exploration system and the exploration target.

[0042] In an alternative 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 configured to:

[0043] Determine the magnetization characteristics of the exploration target based on the target magnetic gradient full tensor information.

[0044] In an alternative 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 configured to:

[0045] Determine the second distance between the non-ground terminal and the regional surface of the target area;

[0046] Based on the position information corresponding to the target magnetic gradient full tensor information and the second distance, obtain a plurality of third distances between the regional surface and the exploration target;

[0047] Use the position information corresponding to the plurality of third distances as the positioning information of the exploration target.

[0048] In an alternative embodiment, when determining the second distance between the non-ground terminal and the regional surface of the target area, the target positioning module is specifically configured to:

[0049] Measure an initial distance between the non-terrestrial terminal and the regional surface through a ranging device included in the non-terrestrial terminal;

[0050] Based on the attitude information corresponding to the ranging device and the regional surface information collected by an image acquisition device included in the non-terrestrial terminal, correct the initial distance to obtain a second distance.

[0051] In a third aspect, an embodiment of the present application further provides an electronic device, including:

[0052] A processor; and

[0053] A memory storing a program,

[0054] wherein the program includes instructions that, when executed by the processor, cause the processor to execute the positioning method for exploration targets as described in the first aspect.

[0055] 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 cause a computer to execute the positioning method for exploration targets as described in the first aspect.

[0056] In a fifth aspect, the present application further provides a computer program product that, when called by a computer, causes the computer to execute the steps of the positioning method for exploration targets as described in the first aspect.

[0057] In a sixth aspect, the present application further provides a target exploration system, the target exploration system including: a non-terrestrial terminal and a service device; wherein:

[0058] The non-terrestrial terminal is configured to perform magnetic gradient measurement on a target area where an exploration target is located to obtain magnetic gradient full tensor information of the target area, and send the magnetic gradient full tensor information to the service device; the magnetic gradient full tensor information is used to indicate magnetic gradient changes in multiple spatial directions within the target area;

[0059] The service device is configured to, after receiving the magnetic gradient tensor information from the non-terrestrial 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 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 within the target area.

[0060] The beneficial effects of the present application are as follows:

[0061] In the exploration target positioning method provided by the embodiments of the present application, after performing 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, the distribution range of the exploration target within the target area (i.e., the positioning information of the exploration target) can be determined by inverse inversion according to the full tensor information parameters of the magnetic gradient, which can improve the problem that the detection effect of the exploration target in the related technology is not ideal under complex geological conditions; moreover, according to at least one magnetic gradient correction information associated with the full tensor information of the magnetic gradient, the full tensor information of the magnetic gradient is corrected, improving the accuracy of the full tensor information of the magnetic gradient, and thus the accuracy of the exploration target positioning can be improved.

[0062] In addition, other features and advantages of the present application will be described in the subsequent specification, and part of them will become obvious from the specification, or can be understood by implementing the present application. The objectives and other advantages of the present application can be achieved and obtained through the structures specifically pointed out in the written specification, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the drawings described herein are used to provide a further understanding of the present application, form a part of the present application, and do not constitute an improper limitation to the present application. In the drawings:

[0064] Figure 1 It is a schematic diagram of an application scenario for geological exploration applicable to the embodiments of the present application;

[0065] Figure 2 It is a schematic diagram of the composition structure of a non-ground terminal provided by the embodiments of the present application;

[0066] Figure 3 It is a schematic diagram of the composition structure of a service device provided by the embodiments of the present application;

[0067] Figure 4 It is a schematic diagram of the implementation process of a method for positioning an exploration target provided by the embodiments of the present application;

[0068] Figure 5 It is a schematic diagram of a scenario for determining the positioning information of an exploration target provided by the embodiments of the present application;

[0069] Figure 6 It is a schematic diagram of the implementation process of a method for determining the positioning information of an exploration target provided by the embodiments of the present application;

[0070] Figure 7 It is a schematic diagram of a scenario for determining the distance between the surface of a region and an exploration target

[0071] Figure 8 Schematic structural diagram of a positioning device for exploration targets provided by an embodiment of the present application;

[0072] Figure 9 Schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0073] Embodiments of the present application will be described in more detail with reference to the accompanying drawings. Although some embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present application. It should be understood that the drawings and embodiments of the present application are only for exemplary purposes and are not used to limit the protection scope of the present application.

[0074] It should be understood that the steps recited in the method embodiments of the present application can be executed in different orders and / or executed in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present application is not limited in this regard.

[0075] The term "including" and its variants used herein are open-ended, that is, "including but not limited to". The term "based on" is "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts such as "first" and "second" mentioned in the present application are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or the interdependent relationship therebetween.

[0076] It should be noted that the modifications of "one" and "multiple" mentioned in the present application are illustrative rather than restrictive. Those skilled in the art should understand that unless clearly stated otherwise in the context, it should be understood as "one or more".

[0077] The names of the messages or information exchanged between multiple devices in the embodiments of the present application are only for illustrative purposes and are not used to limit the scope of these messages or information.

[0078] Some terms in the embodiments of the present application are explained below to facilitate understanding by those skilled in the art.

[0079] 1. Parameter inversion: It refers to starting from the output result, limiting the range of input parameters, and inferring the input parameters based on experience or rules. In the embodiments of the present application, through parameter inversion, the positioning information and / or attribute characteristics (such as magnetization characteristics, etc.) of exploration targets within the target area can be obtained according to the full tensor information of magnetic gradients in the target area.

[0080] 2. Magnetic gradient: It refers to the rate of change of magnetic field strength with spatial displacement, which can be represented by the symbol dH / dx and can also be called the magnetic field gradient. The magnetic field gradient is a vector, and its direction is the direction in which the magnetic field gradient changes the most. Exemplarily, the magnetic gradient dH / dx = 0 in a uniform magnetic field; the magnetic gradient dH / dx ≠ 0 in a non-uniform magnetic field.

[0081] 3. Transient electromagnetic method: It can also be called the time domain electromagnetic method (TEM). It is a method that uses an ungrounded loop or a grounded current source to emit a primary pulsed magnetic field into the ground, and during the interval of the primary pulsed magnetic field, a coil or a grounded electrode is used to observe the secondary eddy current field. The basic principle of the transient electromagnetic method is the electromagnetic induction law.

[0082] Based on the above explanations of terms and related terms, the design concept of the embodiments of the present application is briefly introduced below:

[0083] With the development of geological exploration technologies, more accurate and reliable geological information (such as the location information of resources) has been 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 requirements), geological exploration technologies are generally classified as follows:

[0084] A. Mineral exploration: It is an exploration activity carried out to search for and evaluate underground mineral resources, including metallic minerals (such as copper, iron) and non-metallic minerals (such as coal, oil, natural gas), etc.

[0085] B. Water resource exploration: It aims to search for underground water resources, evaluate the reserves, quality, and availability of groundwater, etc., to meet the water use requirements of agriculture, industry, and cities.

[0086] C. Engineering exploration: It is an exploration activity carried out for construction projects, including land survey, geological hazard assessment, foundation survey, geotechnical engineering survey, etc., to determine soil and geological conditions and provide necessary information for engineering design and construction.

[0087] D. Environmental exploration: It aims to evaluate the pollution degree and distribution of environmental factors such as soil, water bodies, and the atmosphere to protect the environment and human health, including soil pollution survey, water quality monitoring, and air quality assessment, etc.

[0088] E. Geophysical exploration: Geophysical exploration may include methods such as gravity exploration, magnetic exploration, electrical method exploration, georesistivity exploration, seismic exploration, etc. By measuring and analyzing the geophysical field, underground geological information can be obtained.

[0089] It should be noted that the above classification of geological exploration is only a part of geological exploration. In fact, there are other more specific and subdivided exploration types. In the embodiments of the present application, no specific limitation is made thereto.

[0090] 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, resolution, etc., under certain complex geological conditions, the detection effects are not all satisfactory. For example, the positioning of deeply buried mineral resources is inaccurate and / or the resolution is low. In other words, traditional geological exploration technologies are difficult to obtain accurate geological information under complex geological conditions, and may also have complex data processing, resulting in low efficiency.

[0091] In view of this, to solve or improve the above problems, in the embodiments of the present application, a method for positioning an exploration target is proposed, which specifically includes: 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; then, based on at least one magnetic gradient correction information associated with the full tensor information of the magnetic gradient, the full tensor information of the magnetic gradient can be corrected to obtain the corrected full tensor information of the magnetic gradient; finally, based on the corrected full tensor information of the magnetic gradient, the positioning information of the exploration target is determined. Among them, the aforementioned full tensor information of the magnetic gradient can be used to indicate the magnetic gradient changes in multiple spatial directions within the target area; different magnetic gradient correction information corresponds to different measurement errors of the full tensor information of the magnetic gradient; the aforementioned positioning information is used to indicate the distribution range of the exploration target within the target area.

[0092] In this way, according to the parameter inversion of the full tensor information of the magnetic gradient, the geometric shape, position, magnetization and other characteristics of the exploration target can be directly obtained, which not only reduces the complexity of data processing, but also improves the efficiency of positioning the exploration target; and, by correcting the full tensor information of the magnetic gradient through at least one measurement error, the accuracy of the full tensor information of the magnetic gradient is ensured, and further the accuracy of the positioning information of the exploration target obtained based on the full tensor information of the magnetic gradient is improved.

[0093] In particular, the preferred embodiments of the present application will be described below with reference to the accompanying drawings of 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 without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0094] Refer to Figure 1As shown, it is a schematic diagram of an application scenario for geological exploration provided by an embodiment of the present application. This application scenario may include: a target area 101, non-ground terminals (102a to 102d), and a service device 103. Among them, information interaction can be carried out between the non-ground terminals (102a to 102d) and the service device 103 through a communication network. Among them, the communication methods adopted by the communication network may include: wireless communication methods and wired communication methods.

[0095] Exemplarily, the non-ground terminals (102a to 102d) can access the network through cellular mobile communication technology and communicate with the service device 103. Among them, 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-ground terminals (102a to 102d) can access the network through short-range wireless communication methods and communicate with the service device 103. Among them, the short-range wireless communication methods, for example, include wireless fidelity (Wi-Fi) technology.

[0096] The embodiment of the present application does not impose any restrictions on the number of communication devices involved in the above application scenario. For example, the above application scenario may include more non-ground terminals (i.e., a non-ground terminal cluster), or fewer non-ground terminals, or may also include other network devices. As Figure 1 shown, only the non-ground terminals (102a to 102d) and the service device 103 are taken as examples for description. Below, a brief introduction to the above-mentioned communication devices and their respective functions is given.

[0097] The non-ground terminals (102a to 102d) can be terminal devices that communicate with the spectrum resources on non-ground communication platforms such as unmanned aerial vehicle (UAV) platforms or high altitude platform stations (HAPS). In the embodiment of the present application, the non-ground terminals (102a to 102d) can be used to detect exploration targets in the target area and send or forward the collected data to the service device 103.

[0098] In order to detect the exploration targets included in the target area, in an alternative implementation, refer to Figure 2As shown, any non-terrestrial terminal (i.e., mobile terminal or mobile platform) among the non-terrestrial terminals (102a - 102d) may include: a data storage device, a power management device, a central processing unit (CPU), a data transceiver module, a magnetometer sensor (e.g., a three-dimensional magnetometer), a ranging device (e.g., a 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 (SQUID) sensor, and a radiation control module.

[0099] Among them, a vector magnetic field of the measurement target area 101 can be generated by the radiation control module and the power management device, while the magnetometer sensor can measure the magnetic field intensity information of the target area. The ranging device can determine the distance between the non-terrestrial terminal and the surface of the target area. The positioning system can provide the altitude and position of the non-terrestrial terminal. The IMU can provide the attitude 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 (e.g., topographic information) to correct the influence of the terrain on the measurement values. The SQUID can be used to measure the magnetic gradient full tensor information of the target area, and the data transceiver module can send the above-mentioned measurement information to the service device 103.

[0100] For example, in the non-terrestrial terminals (102a - 102d) in the embodiments of the present application, magnetic gradient measurement can be performed on the target area 101 where the exploration target is located to obtain the magnetic gradient full tensor information of the target area 101, and the magnetic gradient full tensor information of the aforementioned target area 101 is sent to the service device 103.

[0101] In addition, the non-terrestrial terminals (102a - 102d) can receive control instructions sent from the service device 103 or other devices through the above-mentioned data transceiver module. The aforementioned control instructions can be to perform target exploration on the target area 101, or to stop exploring the target area 101, or other instructions, which are not limited in the embodiments of the present application.

[0102] The service device 103 can be an independent physical server, a server cluster or a 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 network (CDN), and big data and artificial intelligence platforms. In addition, the service device 103 can be a ground service platform or a non-ground service platform; and the service device 103 can be called a ground management platform or have other names, and the embodiments of the present application do not limit this.

[0103] Exemplarily, referring to Figure 3 As shown, it is a schematic diagram of the composition structure of a service device provided by an embodiment of the present application. The service device may include: a data receiving / sending module, a power supply, a CPU, a data storage device, and a display module. Among them, the data receiving / sending module can be used to receive each measurement information from non-ground terminals (102a~102d), and the CPU is used to determine the positioning information of the exploration target according to each measurement information it receives. Optionally, the display module can construct and display the target area 101 and the location and distribution of the exploration target, or can also display the relevant attributes of the exploration target (such as, magnetization characteristics, etc.).

[0104] It should be noted that, in the embodiment of the present application, after the service device 103 receives the magnetic gradient full tensor information of the target area 101 sent by the non-ground terminals (102a~102d), it can 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 the corrected magnetic gradient full tensor information, and then determine the positioning information of the exploration target based on the corrected magnetic gradient full tensor information.

[0105] It should also be noted that, in the target exploration system as Figure 1 shown, the service device 103 and the non-ground terminals (102a~102d) are independently set, which reduces the load of the non-ground terminals (102a~102d). Optionally, the service device 103 can also be integrated on the non-ground terminals (102a~102d) to reduce the complexity of the target exploration system. For example, the service device 103 can be integrated on the non-ground terminal 102b, and the embodiments of the present application do not make specific limitations on this.

[0106] Next, in combination with the above application scenarios and with reference to the accompanying drawings, the positioning method of the exploration target provided by the exemplary embodiments of the present application will be described. It should be noted that the above application scenarios are only shown for the convenience of understanding the spirit and principle of the present application, and the embodiments of the present application are not limited in this regard.

[0107] Refer to Figure 4 As shown, it is a schematic diagram of the implementation process of a positioning method for exploration targets provided by an embodiment of the present application. Taking the target exploration system as an example of the execution entity, the specific implementation process of this method is as follows:

[0108] S401: Perform magnetic gradient measurement on the target area where the exploration target is located to obtain the magnetic gradient full tensor information of the target area.

[0109] The above exploration target can also be referred to as a target entity or an entity to be explored. Of course, there can be other names, and the present application does not limit this. For example, the above exploration target can be resources such as metal ore bodies and petroleum. In addition, the exploration target is usually buried in the target area, and the target area can include, but is not limited to, areas in natural scenes such as deserts, oceans, and mountains.

[0110] Optionally, the above magnetic gradient full tensor information can be used to indicate the magnetic gradient changes in multiple spatial directions within the target area. Exemplarily, the above magnetic gradient full tensor information can include: 3 magnetic gradient components corresponding to the three-component magnetic fields generated in three-dimensional space (i.e., in the xyz three directions), which are successively represented 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 respectively represent the 3 directions of space; 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. The foregoing 9 magnetic gradient components can be briefly denoted as: Gxx, Gxy, Gxz, Gyx, Gyy, Gyz, Gzx, Gzy, and Gzz.

[0111] Furthermore, according to the analysis of Maxwell's equations, it can be known that: the above 9 magnetic gradient components have a certain symmetry relationship, that is, Gxy = Gyx, Gyz = Gzy, Gxz = Gzx, Gxx + Gyy + Gzz = 0, that is, under the constraints of the foregoing 4 conditions, the above 9 magnetic gradient components only include 5 independent magnetic gradient components. Therefore, in order to reduce the data storage amount of non-ground terminals 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 combinations of independent magnetic gradient components, and the present application embodiment does not limit this. In other words, the above magnetic gradient full tensor information can include: 5 mutually independent magnetic gradient components corresponding to the three-component magnetic fields generated in three-dimensional space.

[0112] In addition, if each of the above magnetic gradient components requires a separate magnetic gradient measurement device (e.g., SQUID sensors), then based on the above method, the number of magnetic gradient measurement devices used can be reduced (e.g., 9 SQUID sensors → 5 SQUID sensors), thereby also reducing the load on the non-ground terminal to a certain extent.

[0113] In an alternative implementation, when performing step S401, the non-ground terminal in the target exploration system can generate a vector magnetic field for detecting the exploration target using a preset transient electromagnetic method, thereby performing magnetic gradient measurement on the target area where the exploration target is located based on the vector magnetic field, and recording the full tensor information of the magnetic gradient of the target area. By using this method, various parameters in the transient electromagnetic method can be adaptively adjusted according to the information of the exploration target (e.g., type), so as to generate a specific vector magnetic field corresponding to the exploration target, and then realize the detection of the exploration target, and further improve the positioning accuracy of the subsequent exploration target.

[0114] Exemplarily, taking 5 types of exploration targets as an example, for instance, in sequence: gold ore, silver ore, copper ore, tin ore, and iron ore, the parameter sets corresponding to the above 5 types of exploration targets are shown in Table 1:

[0115] Table 1: Example of parameter sets corresponding to different exploration targets

[0116]

[0117] Based on Table 1 above, when the non-ground terminal generates a vector magnetic field using the transient electromagnetic method, it can determine each parameter (i.e., the parameter set) in the transient electromagnetic method corresponding to the current exploration target according to the corresponding relationship between the type of the preset exploration target and the parameter set, so as to generate a specific vector magnetic field for the exploration target, thereby realizing the detection of the exploration target. For example, assuming the exploration target is silver ore, the corresponding parameter set can be determined as 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 ore, so as to realize the detection of silver ore in the target area.

[0118] It should be noted that the above various parameters can be used to control the generation period of the vector magnetic field and the magnetic field intensity, etc. The embodiments of the present application do not specifically limit each parameter 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 in a deeper underground, then the above various parameters can also be flexibly adjusted to achieve the precise positioning or detection of the deeply buried ore body.

[0119] S402: Correct the full tensor magnetic gradient information based on at least one magnetic gradient correction information associated with the full tensor magnetic gradient information to obtain the corrected full tensor magnetic gradient information.

[0120] Among them, different magnetic gradient correction information corresponds to different measurement errors of the full tensor magnetic gradient information. For example, the aforementioned measurement error can be a systematic error caused by the movement of a non-ground terminal carrying a magnetic gradient measurement device (such as a SQUID sensor), or it can be the measurement error of the magnetic gradient measurement device itself.

[0121] In an optional implementation manner, the above at least one magnetic gradient correction information may include a first magnetic gradient correction information and a second magnetic gradient correction information. Among them, the aforementioned first magnetic gradient correction information can be determined according to the magnetic field intensity information of the target area collected by the magnetometer sensor carried by the non-ground terminal, and the aforementioned second magnetic gradient correction information can be determined by the IMU carried by the non-ground terminal according to the attitude information of the measurement devices corresponding to the full tensor magnetic gradient information and the magnetic field intensity information in the target exploration system (that is, the magnetic gradient measurement device and the magnetometer sensor). In this way, after the measured full tensor magnetic gradient information is corrected according to the first magnetic gradient correction information and the second magnetic gradient correction information, the accurate full tensor magnetic gradient information can be obtained, thereby improving the accuracy of subsequent exploration target positioning.

[0122] Specifically, after the service device in the target exploration system receives the full tensor magnetic gradient information, the magnetic field intensity information, and the attitude information of the measurement devices (that is, the magnetic gradient measurement device and the magnetometer sensor) from the non-ground terminal, it can modify the full tensor magnetic gradient information and the magnetic field intensity information based on the second magnetic gradient correction information determined according to the attitude information corresponding to the magnetic gradient measurement device and the magnetometer sensor respectively, to obtain the modified full tensor magnetic gradient information and the modified magnetic field intensity 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 according to the modified magnetic field intensity information, correct the modified full tensor magnetic gradient information to obtain the corrected full tensor magnetic gradient information, which can compensate for the measurement error of the magnetic gradient measurement device itself.

[0123] It should be noted that since the first magnetic gradient correction information can be determined according to the magnetic field intensity 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 according to the magnetic field intensity information. That is, for the same position in the target area, the magnetic gradient full tensor information of this position can be determined according to the magnetic gradient full tensor information corresponding to the magnetometer sensor and the magnetic gradient measurement device respectively, avoiding the problem that the magnetic gradient measurement device may malfunction, resulting in inaccurate measurement of the magnetic gradient full tensor information, and thus improving the accuracy of the target exploration system for measuring the magnetic gradient full tensor information.

[0124] S403: Determine the positioning information of the exploration target based on the corrected magnetic gradient full tensor information.

[0125] Among them, 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, information such as the burial depth of the exploration target. Refer to Figure 5 As shown, the target exploration system can determine the positioning information such as the position and shape of the exploration target according to the corrected magnetic gradient full tensor information.

[0126] In an optional implementation manner, 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, and thus obtain the positioning information of the exploration target based on the position information corresponding to the target magnetic gradient full tensor information.

[0127] Among them, the aforementioned position information represents: multiple first distances between the non-ground terminal including multiple measurement devices in the target exploration system and the exploration target, and the multiple first distances can also be used to determine the shape of the exploration target. In other words, the endpoints corresponding to the multiple first distances can construct the contour of the exploration target.

[0128] Based on the above method, since the magnetic gradient full tensors corresponding to different exploration targets are different, that is, the change rates of the magnetic field intensities are different, therefore, the service device 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 data volume according to the target type of the exploration target, thereby improving the positioning speed of the exploration target and also reducing the complexity of data processing of the service device to a certain extent.

[0129] In order to accurately determine the distribution range of the exploration target in the target area, when the service device obtains the positioning information of the exploration target based on the position information corresponding to the target magnetic gradient full tensor information, it can execute the Figure 6 method steps shown as follows:

[0130] S601: Determine a second distance between the non-ground terminal and the surface of the target area.

[0131] Exemplarily, if the above-mentioned area surface is the ground, the above-mentioned 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 above-mentioned area surface is the sea surface, the above-mentioned second distance may be the distance between the non-ground terminal and the sea surface, or may also be the distance between the non-ground terminal and the seabed surface.

[0132] In an optional implementation manner, when performing step S601, the service device may measure an initial distance between the non-ground terminal and the area surface through a ranging device (such as a laser rangefinder) included in the non-ground terminal, and then, based on the attitude information corresponding to the ranging device collected by the IMU and the area surface information collected by an image acquisition device (such as a ground camera) included in the non-ground terminal, correct the initial distance to obtain the second distance. In this way, the systematic error in the measurement value of the ranging device caused by the movement of the non-ground terminal is compensated according to the attitude information, and the measurement error brought by the area surface to the measurement of the second distance is corrected according to the accurate area surface information provided by the image acquisition device.

[0133] It should be noted that the non-ground terminal device may also record the height (such as altitude) and spatial position coordinates of the non-mobile terminal through a positioning system, as well as the position where the area surface of the target area reflects a ranging signal (such as a radar signal); in addition, the inclination of the non-mobile terminal may also be recorded through the IMU.

[0134] S602: Obtain multiple third distances between the area surface and the exploration target based on the position information corresponding to the target magnetic gradient full tensor information and the second distance.

[0135] Specifically, when performing step S602, after the service device determines the second distance, it can obtain multiple third distances between the area surface and the exploration target, that is, the distances from each contour point of the exploration target to the area surface, according to the multiple first distances between the non-ground terminal and the exploration target characterized by the position information corresponding to the target magnetic gradient full tensor information and the second distance.

[0136] Refer to Figure 7 As shown, taking 6 first distances (i.e., L 1,1 ~ L 1,6 ) as an example, the service device can obtain the second distances corresponding to the aforementioned 6 first distances (such as, L 2,1 ~ L 2,6 ) according to the aforementioned 6 first distances and the second distance L2, and can determine 6 third distances between the area surface and the exploration target (i.e., L 3,1 ~ L3,6 ). Optionally, the second distances corresponding to the foregoing six first distances may be determined according to the included angle between the foregoing six first distances and the second distance between the non-ground terminal and the regional surface of the target area, and of course, other methods may also be used for determination. For example, they may be determined according to the included angles between the six first distances, 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.

[0137] S603: Use the position information corresponding to multiple third distances as the positioning information of the exploration target.

[0138] The position information corresponding to the foregoing multiple third distances may also be understood as the point cloud information of the exploration target, that is, the position and shape (such as size and geometric contour) of the exploration target may be determined according to the foregoing position information.

[0139] Based on the method steps described in the foregoing steps S601 to S603, the positional relationship between the exploration target and the regional surface of the target area (that is, the distribution range of the exploration target within the target area) may be determined. Exemplarily, taking the regional surface as the ground, the service device may determine the burial depth of the exploration target, that is, the underground depth, based on the foregoing method.

[0140] In an optional implementation manner, after the service device obtains the target magnetic gradient full tensor information associated with the target type of the exploration target from the corrected magnetic gradient full tensor information, it may also determine the magnetization characteristics of the exploration target through parameter inversion based on the target magnetic gradient full tensor information. Exemplarily, the foregoing magnetization characteristics include, but are not limited to, magnetic parameters or magnetization parameters such as saturation magnetic induction intensity Bs, remanent magnetic induction intensity Br, and coercive force Hc. This is not limited in the present application.

[0141] 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 may display, through the display module, the positioning information of the target area and the exploration target reconstructed by the service device according to the magnetic gradient full tensor information of the target area (such as the depth H from the surface, shape, and size (such as 5078.92 m³)); optionally, the display module may also display the magnetization characteristics of the exploration target (such as saturation magnetic induction intensity Bs, remanent 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 may reproduce the entire process of the non-mobile terminal exploring the target area, and also realize the visualization of the target exploration.

[0142] In summary, in the exploration target positioning method provided by the embodiments of the present application, after performing magnetic gradient measurement on the target area where the exploration target is located to obtain the magnetic gradient full tensor information of the target area, the distribution range of the exploration target within the target area (i.e., the positioning information of the exploration target) can be determined by parameter inversion based on the magnetic gradient full tensor information, which can improve the problem that the detection effect of the exploration target in the related technology is not ideal under complex geological conditions; moreover, 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, improving the accuracy of the magnetic gradient full tensor information, and thus the accuracy of exploration target positioning can be improved.

[0143] Further, based on the same technical concept, the embodiments of the present application provide a positioning device for an exploration target, which can be applied to a target exploration system, and the positioning device for the exploration target is used to implement the above method flow of the embodiments of the present application. Refer to Figure 8 As shown, the positioning device 800 for the exploration target may include: an information measurement module 801, an information correction module 802, and a target positioning module 803, where:

[0144] The information measurement module 801 is configured to perform magnetic gradient measurement on the target area where the exploration target is located to 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 within the target area;

[0145] The information correction module 802 is 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 to obtain 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;

[0146] The target positioning module 803 is configured 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 within the target area.

[0147] In an optional embodiment, when performing magnetic gradient measurement on the target area where the exploration target is located to obtain the magnetic gradient full tensor information of the target area, the information measurement module 801 is specifically configured to:

[0148] Generate a vector magnetic field for detecting the exploration target by using a preset transient electromagnetic method;

[0149] Perform magnetic gradient measurement on the target area where the exploration target is located based on the vector magnetic field, and record the magnetic gradient full tensor information of the target area.

[0150] In an alternative embodiment, at least one magnetic gradient correction information includes: a first magnetic gradient correction information and a second magnetic gradient correction information. The first magnetic gradient correction information is determined by the information correction module 802 according to the magnetic field intensity information of the target area. The second magnetic gradient correction information is determined by the information correction module 802 according to the attitude information of the measuring devices respectively corresponding to the magnetic gradient full tensor information and the magnetic field intensity information in the target exploration system.

[0151] 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 configured to:

[0152] Based on the second magnetic gradient correction information, modify the magnetic gradient full tensor information and the magnetic field intensity information respectively to obtain the modified magnetic gradient full tensor information and the modified magnetic field intensity information.

[0153] Based on the first magnetic gradient correction information determined according to the modified magnetic field intensity information, correct the modified magnetic gradient full tensor information to obtain the corrected magnetic gradient full tensor information.

[0154] In an alternative 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 configured to:

[0155] 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.

[0156] Obtain the positioning information of the exploration target 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 the non-ground terminal including various measuring devices in the target exploration system and the exploration target.

[0157] In an alternative 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 configured to:

[0158] Determine the magnetization characteristics of the exploration target based on the target magnetic gradient full tensor information.

[0159] In an alternative 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 configured to:

[0160] Determine the second distance between the non-ground terminal and the surface of the target area.

[0161] Obtain a plurality of third distances between the regional surface and the exploration target based on the position information corresponding to the target magnetic gradient full tensor information and the second distance;

[0162] Use the position information corresponding to the plurality of third distances as the positioning information of the exploration target.

[0163] In an alternative embodiment, when determining the second distance between the non-ground terminal and the regional surface of the target area, the target positioning module 803 is specifically configured to:

[0164] Measure the initial distance between the non-ground terminal and the regional surface through a ranging device included in the non-ground terminal;

[0165] Based on the attitude information corresponding to the ranging device and the regional surface information collected by an image acquisition device included in the non-ground terminal, correct the initial distance to obtain the second distance.

[0166] Based on the descriptions of the above method embodiments and apparatus embodiments, an exemplary embodiment of the present invention further provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores a computer program capable of being executed by the at least one processor, and when the computer program is executed by the at least one processor, it is used to cause the electronic device to execute the method according to the embodiment of the present invention.

[0167] An embodiment of the present application further provides a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is used to cause a computer to execute the method according to the embodiment of the present application when executed by a processor of the computer.

[0168] An embodiment of the present application further provides a computer program product, including a computer program, wherein the computer program is used to cause a computer to execute the method according to the embodiment of the present application when executed by a processor of the computer.

[0169] Refer to Figure 9 As shown, the structural block diagram of an electronic device 900 that can be used as a server or a client of the present application will now be described. It is an example of a hardware device that can be applied to various aspects of the present application. The electronic device is intended to represent various forms of digital electronic computer devices, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described herein and / or claimed.

[0170] AsFigure 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 into 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.

[0171] Multiple 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 can be any type of device capable of inputting information into the electronic device 900. The input unit 906 can receive input digital or character information and generate key signal inputs related to the user settings and / or function controls of the electronic device. The output unit 907 can be any type of device capable of presenting information and can 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 can include, but is not limited to, a magnetic disk and an optical disk. The communication unit 909 allows the electronic device 900 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks and can 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.

[0172] The computing unit 901 may be various general-purpose and / or special-purpose 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 dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 901 executes the various methods and processes described above. For example, in some embodiments, the above-described method for locating exploration targets may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 908. In some embodiments, part or all of the computer program may be loaded and / or installed onto 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 execute the above-described method for locating exploration targets in any other suitable manner (e.g., by means of firmware).

[0173] The program code for implementing the methods of the present application may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program codes are executed by the processor or controller, the functions / operations specified in the flowchart and / or block diagram are implemented. The program code may be executed entirely on the machine, partially on the machine, as an independent software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0174] In the context of this application, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM) or 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.

[0175] As used in this application, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and / or device (e.g., a disk, optical disk, memory, programmable logic device (PLD)) used to provide 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 used to provide machine instructions and / or data to a programmable processor.

[0176] To provide for 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 tube (CRT) or a liquid crystal display (LCD) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide for interaction with the user; for example, 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, speech, or tactile input).

[0177] The systems and techniques described herein can be implemented in a computing system that includes backend 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 frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0178] A computer system can include clients and servers. The clients and servers are generally far apart from each other and typically interact through a communication network. The client-server relationship is created by computer programs that run on the respective computers and have a client-server relationship with each other.

[0179] Moreover, it should be understood that the above-disclosed is only a preferred embodiment of the present application, and of course it cannot be used to limit the scope of the rights of the present invention. Therefore, equivalent changes made according to the claims of the present invention still fall 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, and 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 the 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, including: based on the second magnetic gradient correction information, the magnetic gradient full tensor information and the magnetic field strength information are respectively modified to obtain modified magnetic gradient full tensor information and modified magnetic field strength information; 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 corrected 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 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.

4. The method according to claim 3, 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.

5. The method according to claim 3, 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.

6. The method according to claim 5, 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.

7. 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 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, and 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 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 includes: based on the second magnetic gradient correction information, respectively modifying the magnetic gradient full tensor information and the magnetic field strength information to obtain modified magnetic gradient full tensor information and modified magnetic field strength information; based on the first magnetic gradient correction information determined by the modified magnetic field strength information, correcting the modified magnetic gradient full tensor information to obtain corrected 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.

8. 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 6.

9. 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 6.

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