Geological survey method, storage medium and electronic equipment

Abstract

The invention provides a geological survey method, a storage medium and electronic equipment, and relates to the technical field of geological survey. The method comprises the following steps: determining a flight area corresponding to a to-be-surveyed area, determining a preset flight route of a surveying unmanned aerial vehicle according to the flight area, and adjusting the preset flight route by using a positioning navigation device; based on radar scanning parameters of the geological radar device, radar scanning is carried out on the to-be-surveyed area along the adjusted actual flight route through the geological radar device, and geological survey data are obtained; and constructing a geological structure model according to the geological survey data and the geographic positioning data, and determining geological features of the to-be-surveyed area by analyzing the geological structure model. According to the invention, rapid, accurate and safe geological structure scanning and analysis of complex terrains can be realized.

Description

Technical Field

[0001] The present disclosure relates to the technical field of geological survey, and in particular to a geological survey method, a storage medium and an electronic device. Background Art

[0002] Geological survey refers to the survey of geological environment through various means and methods to determine the thickness, nature and changes of each stratum, and to determine the geological landforms by dividing the contact relationship of the strata. In the process of geological survey, it is necessary to map the geological landforms so that the results of geological survey can be reflected on the map.

[0003] As an important means of geological survey, UAV geological survey can collect data containing various geological information in a non-contact manner through the equipment carried by the UAV to study the distribution of geological structures or other detection objects. However, the UAVs currently used in geological surveys are limited to capturing surface information, such as high-altitude photography and preliminary assessment of landforms, while the detection of deep geological structures still relies on traditional drilling and manual sampling methods, which are inefficient and cannot highlight the advantages of UAV geological surveys. Moreover, without the support of high-precision navigation and control systems, UAVs are difficult to fly stably under complex meteorological conditions such as strong winds and large temperature differences, resulting in limited continuity and accuracy of data collection, thereby affecting the scanning results of geological structures. In addition, although the inertial navigation system can provide continuous position and attitude information, due to its inherent cumulative error problem, the positioning accuracy will drop significantly after a long flight, which will also affect the final results of geological structure scanning to a certain extent.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0005] The purpose of the embodiments of the present disclosure is to provide a geological survey method, a storage medium and an electronic device, thereby at least to a certain extent solving the problem of low efficiency and low survey accuracy of UAV geological survey in related technologies.

[0006] According to a first aspect of an embodiment of the present disclosure, a geological survey method is provided, comprising: Determine a flight area corresponding to the area to be surveyed, and determine a preset flight route of a survey drone according to the flight area, wherein the survey drone is equipped with at least a positioning navigation device and a geological radar device; Using the positioning and navigation device to control the survey UAV to fly along the preset flight route; Based on the radar scanning parameters of the geological radar device, the geological radar device is used to perform radar scanning on the area to be surveyed along the preset flight route to obtain geological survey data; The geographic positioning data fed back by the positioning and navigation device is obtained, a geological structure model is constructed according to the geological survey data and the geographic positioning data, and the geological structure model is analyzed to determine the geological characteristics of the area to be surveyed.

[0007] In an exemplary embodiment of the present disclosure, the radar scanning parameter includes an initial parameter value and a target parameter value; The method of obtaining geological survey data by using the geological radar device to perform radar scanning on the area to be surveyed along the preset flight route based on the radar scanning parameters of the geological radar device includes: Setting the initial values ​​of the parameters of the geological radar device according to the preset geological type and the preset survey depth of the area to be surveyed; During the flight of the survey UAV along the preset flight route, radar data collected by the geological radar device is obtained, and the initial parameter value is optimized based on the radar data to obtain the target parameter value; Utilizing the geological radar device to transmit corresponding electromagnetic waves to the area to be surveyed according to the parameter target value; Acquire the reflected signal of the electromagnetic wave, and perform signal analysis and processing on the reflected signal to obtain the geological survey data.

[0008] In an exemplary embodiment of the present disclosure, the optimizing the initial parameter value based on the radar data to obtain the target parameter value includes: Setting the initial temperature, cooling rate, and iteration termination condition, and taking the initial values ​​of the parameters as the initial solution; Iterate based on the initial solution, and in each iteration process, generate a neighborhood solution by perturbing the current solution; Calculating respectively a first objective function value of the current solution and a second objective function value of the neighborhood solution based on a preset objective function, wherein the preset objective function is constructed based on the radar data; If the first objective function value is less than the second objective function value, determining the current value of the parameter according to the neighborhood solution; If the first objective function value is not less than the second objective function value, determining an acceptance probability according to the current temperature, the first objective function value, and the second objective function value corresponding to the current solution, and determining a current value of the parameter according to the acceptance probability; The current temperature is updated using the cooling rate, and the current value of the parameter is continuously updated iteratively until an iteration termination condition is met to obtain the parameter target value.

[0009] In an exemplary embodiment of the present disclosure, the geological survey data includes a signal strength peak and a frequency corresponding to the signal strength peak; The performing signal analysis and processing on the reflection signal to obtain the geological survey data comprises: Performing noise suppression and signal enhancement on the reflected signal to obtain an intermediate signal, and converting the intermediate signal into a frequency domain signal; A local maximum amplitude value in the frequency domain signal is determined, the signal strength peak value is determined according to the local maximum amplitude value and a preset amplitude threshold value, and a frequency corresponding to the signal strength peak value is obtained.

[0010] In an exemplary embodiment of the present disclosure, the step of constructing a geological structure model according to the geological survey data and the geographic positioning data includes: A conversion model is established according to the corresponding relationship between the frequency of the reflected signal and the underground depth, and the frequency corresponding to the signal intensity peak is mapped to the target depth position by using the conversion model; Performing spatiotemporal matching of the geolocation data and the target depth position, and constructing a three-dimensional grid based on data points consisting of the matched geolocation data and the target depth position; An interpolation operation is performed based on the attribute values ​​of the known nodes in the three-dimensional grid to obtain the attribute values ​​of the target nodes in the three-dimensional grid, and the geological structure model is constructed according to the attribute values ​​of the target nodes.

[0011] In an exemplary embodiment of the present disclosure, analyzing the geological structure model to determine the geological characteristics of the area to be surveyed includes: Performing cluster analysis on the attribute values ​​of each node in the geological structure model to obtain a cluster label of each node; The cluster labels of the nodes and the location information of the nodes are associated to obtain a plurality of geological features and a distribution map of the geological features, and the distribution map of the geological features is visualized.

[0012] In an exemplary embodiment of the present disclosure, the positioning and navigation device includes a positioning module, an inertial navigation module and a control module; The method of controlling the survey drone to fly along the preset flight route by using the positioning and navigation device includes: Acquiring geographic location information of the survey UAV through the positioning module and acquiring flight status information of the survey UAV through the inertial navigation module; Calculating, by the control module, a position deviation between the geographical location information of the survey UAV and a preset geographical location, and determining a first position adjustment amount according to the position deviation; wherein the preset geographical location is determined according to the preset flight route; The flight status information of the surveying UAV is updated according to the first position adjustment amount to control the surveying UAV to fly along the preset flight route.

[0013] In an exemplary embodiment of the present disclosure, the positioning and navigation device further includes an obstacle detection module, and the method further includes: Acquiring the state information of the target obstacle through the obstacle detection module; Based on the state information of the target obstacle, calculating, by the control module, a second position adjustment amount for the target obstacle; The flight status information of the survey UAV is updated according to the second position adjustment amount to control the survey UAV to avoid the target obstacle.

[0014] According to a second aspect of an embodiment of the present disclosure, there is provided a geological survey device, comprising: A flight route determination module, used to determine the flight area corresponding to the area to be surveyed, and determine the preset flight route of the survey UAV according to the flight area, wherein the survey UAV is equipped with at least a positioning navigation device and a geological radar device; A flight route control module, used to control the survey UAV to fly along the preset flight route using the positioning and navigation device; A survey data acquisition module, used to obtain geological survey data by using the geological radar device to perform radar scanning on the area to be surveyed along the preset flight route based on the radar scanning parameters of the geological radar device; The geological feature determination module is used to obtain the geographic positioning data fed back by the positioning navigation device, construct a geological structure model according to the geological survey data and the geographic positioning data, and analyze the geological structure model to determine the geological features of the area to be surveyed.

[0015] According to a third aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, any step of the geological survey method described in the first aspect is implemented.

[0016] According to a fourth aspect of the present disclosure, there is provided an electronic device, including: A processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, any step of the geological survey method described in the first aspect is implemented.

[0017] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects: The geological survey method provided in the exemplary embodiment of the present disclosure can realize the rapid, accurate and safe geological structure scanning and analysis of complex terrain. Among them, the use of drones instead of manual geological surveys reduces the need for personnel to enter dangerous or difficult-to-reach areas, which can not only reduce the risk of operations and improve the safety of geological surveys, but also improve the speed and breadth of surveys, thereby improving the efficiency of geological surveys; by pre-planning the flight route and using the positioning and navigation device for fine-tuning to ensure that the survey drone flies along the optimal path, the accuracy of data processing can be enhanced, and the safety of continuous operations can be improved; importantly, the geological radar device can provide high-resolution underground structure information, and by optimizing the setting of radar scanning parameters, higher-quality geological data can be obtained to ensure the accuracy of geological surveys. Further, the combination of the geological radar device and the positioning and navigation device can ensure that the location information of each measuring point is accurate, which is convenient for the analysis of subsequent survey data. In addition, the constructed geological structure model can intuitively display the underground structure characteristics, which is convenient for a better understanding of the geological structure. By analyzing the geological structure model, it can also reveal potential geological resources, geological disaster risks and other information, providing a scientific basis for resource development, infrastructure construction and environmental protection.

[0018] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0020] Figure 1 A schematic diagram of a system architecture to which the geological survey method according to the embodiment of the present disclosure can be applied is shown.

[0021] Figure 2 A flow chart of a geological survey method in an embodiment of the present disclosure is shown.

[0022] Figure 3 A flow chart for determining a target road with a risk of collapse within a monitoring area in an embodiment of the present disclosure is shown.

[0023] Figure 4 A block diagram of a geological survey device in an embodiment of the present disclosure is shown.

[0024] Figure 5 A schematic diagram of the structure of an electronic device suitable for implementing the embodiments of the present disclosure is shown.

[0025] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts. DETAILED DESCRIPTION

[0026] The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this specification. The singular forms "a", "the" and "the" used in this specification and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0027] It should be understood that although the terms first, second, third, etc. may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this specification, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0028] Figure 1 A schematic diagram of a system architecture to which the geological survey method according to the embodiment of the present disclosure can be applied is shown.

[0029] like Figure 1 As shown, the system architecture 100 may include one or more of terminal devices such as a smart phone 101, a portable computer 102, a desktop computer 103, a network 104, and a server 105. The network 104 is used to provide a medium for a communication link between the terminal device and the server 105. The network 104 may include various connection types, such as wired, wireless communication links, or optical fiber cables, etc.

[0030] The terminal device can be any electronic device with data processing capabilities, which has a display screen for displaying the preset flight route of the survey drone, the analyzed geological survey data, and the constructed geological structure model to the user. The electronic device includes but is not limited to the above-mentioned desktop computers, portable computers, smart phones, and tablet computers, etc.

[0031] The server 105 can communicate with the remote sensing device to obtain relevant data such as geographic information data of the study area. It should be understood that Figure 1The number of terminal devices, networks and servers in the embodiment is only for illustration. According to the implementation requirements, there may be any number of terminal devices, networks and servers. For example, the server 105 may be a server cluster composed of multiple servers.

[0032] The geological survey method provided in the embodiment of the present disclosure can be executed by a terminal device, and accordingly, the geological survey device can be set in the terminal device. However, it is easy for those skilled in the art to understand that the geological survey method provided in the embodiment of the present disclosure can also be executed by the server 105, and accordingly, the geological survey device can also be set in the server 105, which is not particularly limited in this exemplary embodiment.

[0033] The disclosed embodiment first provides a geological survey method, which realizes fast, accurate and safe scanning and analysis of the geological structure of complex terrain by carrying a positioning navigation device and a geological radar device on a surveying drone.

[0034] refer to Figure 2 As shown, a flow chart of a geological survey method in an embodiment of the present disclosure is shown, and the method may include steps S210 to S240: Step S210, determining a flight area corresponding to the area to be surveyed, and determining a preset flight route of the survey UAV according to the flight area, wherein the survey UAV is equipped with at least a positioning navigation device and a geological radar device; Step S220, using the positioning and navigation device to control the survey UAV to fly along the preset flight route; Step S230, based on the radar scanning parameters of the geological radar device, using the geological radar device to perform radar scanning on the area to be surveyed along the preset flight route to obtain geological survey data; Step S240, obtaining the geographic positioning data fed back by the positioning navigation device, constructing a geological structure model according to the geological survey data and the geographic positioning data, and analyzing the geological structure model to determine the geological characteristics of the area to be surveyed.

[0035] The geological survey method provided by the embodiment of the present disclosure can realize the rapid, accurate and safe geological structure scanning and analysis of complex terrain. Among them, the use of drones instead of manual geological surveys reduces the need for personnel to enter dangerous or difficult-to-reach areas, which can not only reduce the risk of operations and improve the safety of geological surveys, but also improve the speed and breadth of surveys, thereby improving the efficiency of geological surveys; by pre-planning the flight route and using the positioning and navigation device for fine-tuning to ensure that the survey drone flies along the optimal path, the accuracy of data processing can be enhanced, and the safety of continuous operations can be improved; importantly, the geological radar device can provide high-resolution underground structure information, and by optimizing the setting of radar scanning parameters, higher-quality geological data can be obtained to ensure the accuracy of geological surveys. Further, the combination of the geological radar device and the positioning and navigation device can ensure that the location information of each measuring point is accurate, which is convenient for the analysis of subsequent survey data. In addition, the constructed geological structure model can intuitively display the underground structure characteristics, which is convenient for a better understanding of the geological structure. By analyzing the geological structure model, it can also reveal potential geological resources, geological disaster risks and other information, providing a scientific basis for resource development, infrastructure construction and environmental protection.

[0036] Next, the geological survey method in this exemplary embodiment will be described in detail.

[0037] In step S210, the flight area corresponding to the area to be surveyed is determined, and a preset flight route of the survey UAV is determined according to the flight area, wherein the survey UAV is equipped with at least a positioning navigation device and a geological radar device.

[0038] In the example implementation scheme of the present disclosure, the area to be surveyed refers to an area where geological survey is required, the flight area refers to a flyable area above the area to be surveyed, and the preset flight route refers to a flight route planned for the surveying drone that can complete the geological survey of the area to be surveyed.

[0039] The survey drone is equipped with at least a positioning and navigation device and a geological radar device. The positioning and navigation device may include a positioning module, an inertial navigation module and a control module. Among them, the positioning module may be a GPS (Global Positioning System), RTK (Real-Time Kinematic), etc., which is used to provide accurate location information of the survey drone. The inertial navigation module may be an IMU (Inertial Measurement Unit), which is used to measure the flight attitude and motion state of the survey drone, or a magnetometer, which is used to determine the heading angle of the survey drone. The control module is responsible for receiving data from the positioning module and the inertial navigation module, and adjusting the flight attitude and direction of the survey drone according to the received data. Of course, the positioning and navigation device also includes an obstacle detection module, which can realize the automatic obstacle avoidance function in combination with the obstacle detection module, helping the survey drone avoid obstacles and ensure flight safety.

[0040] The geological radar device transmits electromagnetic wave pulses into the ground and receives the reflected signals to obtain information about the underground structure. For example, the geological radar device may include a transmitting antenna, a receiving antenna, a data acquisition and processing unit, and a display and storage unit. Among them, transmitting antennas of different frequencies are suitable for detecting underground structures at different depths. For example, high-frequency antennas have high resolution but shallow penetration depth, while low-frequency antennas are the opposite. The dielectric constants of different materials underground are different, which causes electromagnetic waves to reflect when encountering different medium interfaces. Accordingly, the receiving antenna is used to capture the signals reflected from the underground. The data acquisition and processing unit infers the depth and characteristics of different underground layers by analyzing the time delay and intensity changes of the received signals. The display and storage unit is used to view the geological survey results in real time and save the collected geological survey data for further analysis and archiving.

[0041] Exemplarily, the geographic information of the area to be surveyed can be first collected through satellite images, topographic maps or field surveys. For example, the image data of the area to be surveyed can be obtained by using a remote sensing sensor carried by a satellite. Among them, the remote sensing sensor can be an optical sensor, a radar sensor, a lidar sensor, etc., which is not limited in the present disclosure. Then, the flight planning software can be used to plan a preset flight route according to the geographic information of the area to be surveyed, including setting the flight area, flight altitude and flight speed. For example, when the flight altitude is set to 50 meters, a better scanning resolution can be obtained, and when the flight speed is set to 5m / s, it can ensure that the geological radar device has enough time to collect data.

[0042] By determining the flight area corresponding to the area to be surveyed, and pre-planning the flight route for the survey drone according to the flight area, it is convenient to deduce the flight status of the survey drone later. By using the survey drone to hover along the flight route, the full coverage survey of the drone can be achieved. By using the geological radar device mounted on the survey drone to emit electromagnetic waves to the area to be surveyed at preset time intervals during the hovering flight, the global radar scan of the area to be surveyed is performed, which is convenient for the subsequent generation of geological survey data of the area to be surveyed.

[0043] In step S220, the positioning and navigation device is used to control the survey UAV to fly along the preset flight route.

[0044] After planning the preset flight route of the survey drone, the survey drone will perform a series of self-check procedures before taking off, including but not limited to battery power check, motor operation status check, sensor signal quality check, etc. Then, the survey drone receives the take-off command through the remote control, ground control station or preset automatic task, and uses the sensors at the bottom of the survey drone (such as the downward camera, infrared sensor, ultrasonic sensor, etc.) to detect the environment of the take-off area to ensure that there are no people or other obstacles in the take-off area to avoid collision during take-off. After confirming that the environment in the take-off area is safe, the motor of the survey drone will gradually accelerate to the speed required for take-off, allowing the survey drone to take off smoothly and automatically climb to the preset flight altitude.

[0045] In an example implementation, the positioning and navigation device includes at least a positioning module, an inertial navigation module, and a control module. Exemplarily, during flight, the geographical location information of the survey drone is obtained through the positioning module, and the flight status information of the survey drone is obtained through the inertial navigation module. The control module calculates the position deviation between the geographical location information of the survey drone and a preset geographical location, and determines a first position adjustment amount according to the position deviation; wherein the preset geographical location is determined according to a preset flight route. Finally, the flight status information of the survey drone is updated according to the first position adjustment amount to control the survey drone to fly along the preset flight route.

[0046] For example, the GPS system can be used to obtain the geographic location information of the survey drone, such as the latitude and longitude coordinates and altitude of the survey drone's current location, and the IMU unit can be used to obtain the survey drone's flight status information, such as flight attitude and angular velocity data. The flight attitude includes pitch angle, roll angle, yaw angle, etc. The survey drone's flight status information is crucial for quickly responding to the dynamic changes of the survey drone, especially when the GPS signal is temporarily lost or weakened. This type of information can be used to ensure stable control of the survey drone's flight attitude.

[0047] It is understandable that the GPS system calibration and IMU unit calibration can be performed before the survey drone takes off. For example, the survey drone is kept stationary in an open area so that the GPS system can lock enough satellites to ensure positioning accuracy. The IMU unit is calibrated through a series of specific body movements (such as rotation, flipping, etc.) to ensure that the IMU unit can accurately sense the flight attitude and angular velocity data of the survey drone.

[0048] Furthermore, a PID (proportional–integral–derivative) controller is used to calculate a position deviation between a current geographical location of the survey UAV and a preset geographical location according to a preset flight route and real-time position data of the survey UAV, and a first position adjustment amount is determined according to the position deviation. A corresponding control instruction is generated according to the first position adjustment amount, and the control instruction is used to realize dynamic adjustment of the flight direction and speed of the survey UAV, such as adjusting the throttle of the survey UAV to control the speed to increase or decrease, adjusting the rudder to control the heading, adjusting the elevator to control the pitch angle, and adjusting the aileron to control the roll of the survey UAV, thereby realizing accurate flight path tracking and speed control, and ensuring that the survey UAV can accurately fly along the preset flight route during the geological survey process.

[0049] In addition, the positioning and navigation device also includes an obstacle detection module, which may include multiple types of obstacle avoidance sensors such as ultrasonic sensors, lidars, and infrared sensors, for real-time detection of obstacles on the flight path. For example, when an obstacle is detected, the flight path can be automatically adjusted to avoid the obstacle according to the distance and size of the obstacle. Among them, ultrasonic sensors are good at short-range detection and are suitable for rapid response during low-speed flight. Lidars can provide high-precision long-range measurements and are suitable for precise obstacle avoidance in complex environments. Infrared sensors are less sensitive to ambient light and are suitable for nighttime or environments with large light changes.

[0050] Accordingly, when the survey drone flies along the preset flight route, the obstacle detection module can continuously scan the front path of the survey drone, and when a target obstacle located on the front path is detected, the state information of the target obstacle is obtained. Then, based on the state information of the target obstacle, the control module calculates the second position adjustment amount for the target obstacle, and updates the flight state information of the survey drone according to the second position adjustment amount, so as to control the survey drone to avoid the target obstacle. The state information of the target obstacle may include the size, position and distance of the target obstacle from the survey drone.

[0051] For example, if the target obstacle is small and far enough away, the survey drone can be controlled to slightly adjust its heading according to the calculated second position adjustment amount, bypass the target obstacle and continue to fly along the preset flight route. If the target obstacle is large or close, the survey drone can be controlled to slow down first, and then a new flight path can be determined and bypassed according to the calculated second position adjustment amount. For ground obstacles, if the height permits, the survey drone can be controlled to climb briefly to cross the obstacle, and then restore the original altitude to continue flying. After controlling the survey drone to perform obstacle avoidance operations, the flight status of the survey drone is quickly adjusted through the PID controller to ensure that it is restored to the preset flight route and flight parameters as soon as possible to ensure mission continuity.

[0052] By using positioning and navigation devices, survey drones can not only achieve accurate navigation and positioning in complex terrain, but also make rapid and reasonable avoidance decisions when faced with sudden obstacles, ensuring the smooth progress of flight missions.

[0053] In step S230, based on the radar scanning parameters of the geological radar device, the geological radar device is used to perform a radar scan on the area to be surveyed along the preset flight route to obtain geological survey data.

[0054] In the exemplary implementation of the present disclosure, the radar scanning parameters of the geological radar device include the initial parameter value and the target parameter value. The initial parameter value refers to the radar scanning parameter set according to the preset geological type and the preset survey depth of the area to be surveyed, and the target parameter value refers to the radar scanning parameter adjusted from the initial parameter value according to the specific detection requirements to obtain a better detection effect. Among them, the radar scanning parameters at least include the transmission frequency, pulse width and other parameters of the geological radar device.

[0055] Geological survey data is data containing various geological information collected in a non-contact manner by a geological radar device mounted on a survey drone. The geological survey data can be presented in at least one form such as pictures, videos or data tables, and the present disclosure does not limit this.

[0056] In one example implementation, reference is made to Figure 3 As shown, step S230 may further include steps S310 to S340: In step S310, the initial values ​​of the parameters of the geological radar device are set according to the preset geological type and the preset survey depth of the area to be surveyed; The preset geological type refers to the underground structure type of the area to be surveyed determined through preliminary investigation and data analysis, such as sedimentary rock layers, bedrock, cavities, etc. The preset survey depth refers to the detection depth range determined according to the preset geological type and detection requirements.

[0057] For example, the initial values ​​of the parameters of the geological radar device include an initial value of the pulse width and an initial value of the transmission frequency. The initial value of the transmission frequency can be determined according to the preset geological type and the preset survey depth, and an initial pulse width can be further selected according to the initial value of the transmission frequency. The present disclosure does not specifically limit the method for selecting the initial values ​​of the parameters of the geological radar device.

[0058] In step S320, when the survey UAV flies along the preset flight route, radar data collected by the geological radar device is obtained, and the initial parameter value is optimized based on the radar data to obtain the target parameter value; When the survey drone flies along a preset flight route, the geological radar device will continuously emit electromagnetic waves within a certain frequency range (such as 500MHz~2GHz) along the flight path to adapt to different detection needs and geological conditions, thereby achieving detailed detection of underground structures.

[0059] The emitted electromagnetic waves are sent into the ground in the form of pulses. When the electromagnetic waves encounter different underground media, reflection, refraction and other phenomena will occur. The geological radar device will receive the reflected electromagnetic waves, which are the radar data collected by the geological radar device. The geological radar device converts the received electromagnetic waves into electrical signals, which are also amplified and filtered to improve the signal-to-noise ratio and remove noise interference. Subsequently, the electrical signals are digitized for subsequent data processing and analysis.

[0060] In an example implementation, the initial values ​​of parameters may be optimized based on radar data, such as adjusting the initial values ​​of pulse width and transmission frequency, to find the optimal combination of transmission frequency and pulse width to maximize the detection effect of the geological radar.

[0061] For example, the initial temperature is set , Cooling rate , iterative termination conditions, and take the preset parameter initial values ​​as the initial solution, such as the initial value of the pulse width and the initial value of the transmission frequency as the initial solution, recorded as . Initial temperature The cooling rate can be gradually reduced with iterations. Used to control the speed of temperature drop, the iteration termination condition may be reaching the maximum number of iterations, the temperature dropping below a preset temperature threshold, or the change of the objective function is less than a preset change threshold, etc., which is not limited in the present disclosure.

[0062] At the same time, it is necessary to preset an objective function to quantify the radar performance of the geological radar device. For example, the objective function can be constructed based on at least one of multiple indicators such as detection depth, resolution, signal-to-noise ratio, etc. The detection depth, resolution, signal-to-noise ratio, etc. can all be calculated based on the radar data collected by the geological radar device. For example, an objective function that considers both detection depth and resolution can be defined to balance the relationship between the two.

[0063] Then, iterate based on the initial solution. In each iteration, the current solution (denoted as ) produces a neighborhood solution, denoted as The neighborhood solution refers to a new set of parameter combinations generated on the basis of the current solution, which can be achieved by making a small random perturbation to the current solution. For example, a new pulse frequency and pulse width can be obtained by adding a small random value to the current pulse frequency and pulse width, that is, the neighborhood solution.

[0064] Calculate the first objective function value of the current solution based on the preset objective function and the second objective function value of the neighborhood solution .like , then the current value of the parameter is determined according to the neighborhood solution, that is, the neighborhood solution is accepted and used as the current value of the parameter. , then the probability can be accepted p Accept the neighborhood solution and use it as the current value of the parameter.

[0065] For example, according to the current temperature corresponding to the current solution , the first objective function value and the second objective function value Determine the probability of acceptance p ,have: (1) Then, using the cooling rate Update current temperature ,have: (2) in, For the i Update the obtained temperature after iterations.

[0066] After obtaining the current value of the parameter, similarly, the current value of the parameter is continuously iteratively updated until the iteration termination condition is met, and the target value of the parameter, that is, the optimized pulse width and emission frequency, can be obtained.

[0067] In step S330, the geological radar device is used to transmit corresponding electromagnetic waves to the area to be surveyed according to the parameter target value; The geological radar device transmits corresponding electromagnetic waves to the area to be surveyed according to the pulse width and transmission frequency optimized in step S320 to ensure the detection effect of the geological radar.

[0068] In step S340, the reflection signal of the electromagnetic wave is acquired, and the reflection signal is subjected to signal analysis and processing to obtain the geological survey data.

[0069] After obtaining the reflected signal of the electromagnetic wave, the reflected signal can be subjected to signal analysis and processing to extract information related to the underground structure.

[0070] In an example implementation, the geological survey data may include a signal strength peak and a frequency corresponding to the signal strength peak. Exemplarily, the reflected signal is subjected to noise suppression and signal enhancement to obtain an intermediate signal, and the intermediate signal is converted into a frequency domain signal.

[0071] The noise in the reflected signal may come from the electronic noise of the device, environmental interference or other unknown factors. In order to suppress these noises, various filters such as low-pass filter, high-pass filter, band-pass filter or band-stop filter can be used to suppress the noise of the reflected signal.

[0072] Taking the low-pass filter as an example, the low-pass filter can filter out high-frequency noise and only allow signals below the preset cutoff frequency to pass through, which can be expressed as: (3) in, is the reflected signal of the current input, is the reflected signal after the nth filtering, is the reflected signal after the n-1th filtering, is the filter coefficient, The value of is usually close to 1 and determines the performance of the low-pass filter.

[0073] Furthermore, in order to highlight the reflected signal of a specific frequency related to the underground structure, a bandpass filter can be used to enhance the signal and obtain an intermediate signal. The bandpass filter allows signals within a preset frequency range to pass through, while suppressing signals outside the range. For example, the transfer function of the bandpass filter is It can be expressed as: (4) in, is the frequency variable, is the center frequency of the bandpass filter, Q is the quality factor of the bandpass filter, which determines the bandwidth of the bandpass filter. Is an imaginary unit.

[0074] Then, the intermediate signal can be converted into a frequency domain signal by fast Fourier transform, which makes it easier to analyze the frequency components in the signal. The formula for fast Fourier transform is: (5) in, is the intermediate signal at time n The time domain representation of The intermediate signal In frequency k The frequency domain representation of , that is, the converted frequency domain signal, N is the length of the intermediate signal, Is an imaginary unit.

[0075] Once the frequency domain signal is generated, the spectrum can be analyzed for peaks or other specific patterns, as these peaks or patterns correspond to reflections between different layers of the subsurface medium.

[0076] Exemplarily, the frequency domain signal can be subjected to peak detection, such as determining the local maximum amplitude in the frequency domain signal. In this case, the local maximum amplitude may represent a reflected signal. The signal strength peak is determined based on the local maximum amplitude and a preset amplitude threshold. For example, when the local maximum amplitude is greater than the preset amplitude threshold, the local maximum amplitude can be determined to be a valid reflected signal. The local maximum amplitude is recorded as the signal strength peak, and the frequency corresponding to the signal strength peak is obtained, that is, the position of the peak is recorded. It should be noted that peaks at different positions correspond to different layers of the underground structure. The geological survey data obtained by analyzing and processing the reflected signal can provide a data basis for subsequent three-dimensional modeling.

[0077] It is understandable that during the radar data collection process, it is necessary to ensure the stability of the survey drone flight and the normal operation of the geological radar device to ensure the accuracy and reliability of the radar data. In addition, attention should be paid to safety issues to avoid collisions between the survey drone and obstacles or damage to the geological radar device. In addition, before noise suppression and signal enhancement of the reflected signal, a preliminary check of the acquired reflected signal is required, such as checking whether there is data loss, signal interference or outliers, etc., to confirm the integrity and quality of the data.

[0078] In step S240, the geographic positioning data fed back by the positioning navigation device is obtained, a geological structure model is constructed according to the geological survey data and the geographic positioning data, and the geological structure model is analyzed to determine the geological characteristics of the area to be surveyed.

[0079] In the exemplary implementation of the present disclosure, a conversion model can be established based on the corresponding relationship between the frequency of the reflected signal and the underground depth. For example, a functional relationship between the frequency of the reflected signal and the underground depth is established through a known underground structure, that is, a conversion model is established. Then, the frequency corresponding to the signal intensity peak is mapped to the target depth position using the conversion model. For example, the frequency corresponding to the signal intensity peak is input into the conversion model to obtain the corresponding target depth position.

[0080] Furthermore, the geolocation data and the target depth position are matched in time and space, which requires geographic coordinate conversion and data registration, and a three-dimensional grid is constructed based on the data points composed of the matched geolocation data and the target depth position. Then, an interpolation algorithm (such as Kriging interpolation) is applied to estimate the attribute value of each node in the three-dimensional grid, such as conductivity or dielectric constant, to form a continuous three-dimensional geological model. For example, an interpolation operation can be performed based on the attribute values ​​of known nodes in the three-dimensional grid to obtain the attribute value of the target node in the three-dimensional grid, and a geological structure model can be constructed based on the attribute value of the target node. Finally, the constructed three-dimensional geological model is smoothed to reduce the jagged or irregular surface that may be generated during the interpolation process.

[0081] After obtaining the geological structure model, the geological characteristics of the area to be surveyed can be determined by analyzing the geological structure model. For example, the attribute values ​​of each node in the geological structure model can be clustered, such as using algorithms such as k-means clustering and hierarchical clustering, to obtain cluster labels of each node, that is, to identify geological units with similar characteristics. Among them, nodes with the same cluster label are a cluster, and each cluster represents a geological feature.

[0082] Finally, the cluster labels of each node and the location information of each node are associated to obtain multiple geological features and distribution maps of each geological feature, and the distribution maps of each geological feature are visualized. For each geological feature, a distribution map containing the locations of all nodes of the feature is generated, and the distribution maps of various geological features are superimposed together to form a comprehensive geological feature distribution map. Moreover, the geological feature distribution map can be an interactive map that allows users to view detailed information of a specific location.

[0083] In addition, a detailed geological structure report can be automatically generated based on the geological analysis results of the area to be surveyed, including key information such as geological stratification maps, groundwater level distribution, potential landslide areas, etc., so that relevant users can formulate subsequent geological survey plans or take corresponding preventive measures based on the geological analysis results of the area to be surveyed, such as reinforcing landslide areas, adjusting building foundation designs, etc.

[0084] Compared with traditional manual surveys, the use of this geological survey and mapping system can significantly improve work efficiency and shorten the survey cycle. It can save manpower and material resources and reduce survey costs. The automated navigation and obstacle avoidance functions can reduce the risks of manual surveys. The three-dimensional model can intuitively display the underground structure, accelerate the identification of resources and risks, scientifically guide decision-making, and optimize resource utilization.

[0085] In this exemplary embodiment, a geological survey device is also provided. Figure 4 As shown, the device may include a flight path determination module 410, a flight path control module 420, a survey data acquisition module 430 and a geological feature determination module 440, wherein: The flight route determination module 410 is used to determine the flight area corresponding to the area to be surveyed, and determine the preset flight route of the survey UAV according to the flight area, wherein the survey UAV is equipped with at least a positioning navigation device and a geological radar device; A flight route control module 420 is used to control the survey UAV to fly along the preset flight route using the positioning navigation device; A survey data acquisition module 430 is used to obtain geological survey data by using the geological radar device to perform radar scanning on the area to be surveyed along the preset flight route based on the radar scanning parameters of the geological radar device; The geological feature determination module 440 is used to obtain the geographic positioning data fed back by the positioning navigation device, construct a geological structure model according to the geological survey data and the geographic positioning data, and analyze the geological structure model to determine the geological features of the area to be surveyed.

[0086] In an exemplary embodiment of the present disclosure, the radar scanning parameters include an initial parameter value and a target parameter value; when the survey data acquisition module 430 executes the radar scanning parameters based on the geological radar device, uses the geological radar device to perform radar scanning along the preset flight route to the area to be surveyed, and obtains geological survey data, it is specifically used to: Setting the initial values ​​of the parameters of the geological radar device according to the preset geological type and the preset survey depth of the area to be surveyed; During the flight of the survey UAV along the preset flight route, radar data collected by the geological radar device is obtained, and the initial parameter value is optimized based on the radar data to obtain the target parameter value; Utilizing the geological radar device to transmit corresponding electromagnetic waves to the area to be surveyed according to the parameter target value; Acquire the reflected signal of the electromagnetic wave, and perform signal analysis and processing on the reflected signal to obtain the geological survey data.

[0087] In an exemplary embodiment of the present disclosure, when the survey data acquisition module 430 optimizes the initial parameter value based on the radar data to obtain the target parameter value, it is specifically used to: Setting the initial temperature, cooling rate, and iteration termination condition, and taking the initial values ​​of the parameters as the initial solution; Iterate based on the initial solution, and in each iteration process, generate a neighborhood solution by perturbing the current solution; Calculating respectively a first objective function value of the current solution and a second objective function value of the neighborhood solution based on a preset objective function, wherein the preset objective function is constructed based on the radar data; If the first objective function value is less than the second objective function value, determining the current value of the parameter according to the neighborhood solution; If the first objective function value is not less than the second objective function value, determining an acceptance probability according to the current temperature, the first objective function value, and the second objective function value corresponding to the current solution, and determining a current value of the parameter according to the acceptance probability; The current temperature is updated using the cooling rate, and the current value of the parameter is continuously updated iteratively until an iteration termination condition is met to obtain the parameter target value.

[0088] In an exemplary embodiment of the present disclosure, the geological survey data includes a signal strength peak and a frequency corresponding to the signal strength peak; when the survey data acquisition module 430 performs signal analysis processing on the reflection signal to obtain the geological survey data, it is specifically used to: Performing noise suppression and signal enhancement on the reflected signal to obtain an intermediate signal, and converting the intermediate signal into a frequency domain signal; A local maximum amplitude value in the frequency domain signal is determined, the signal strength peak value is determined according to the local maximum amplitude value and a preset amplitude threshold value, and a frequency corresponding to the signal strength peak value is obtained.

[0089] In an exemplary embodiment of the present disclosure, when constructing a geological structure model according to the geological survey data and the geographic positioning data, the geological feature determination module 440 is specifically used to: A conversion model is established according to the corresponding relationship between the frequency of the reflected signal and the underground depth, and the frequency corresponding to the signal intensity peak is mapped to the target depth position by using the conversion model; Performing spatiotemporal matching of the geolocation data and the target depth position, and constructing a three-dimensional grid based on data points consisting of the matched geolocation data and the target depth position; An interpolation operation is performed based on the attribute values ​​of the known nodes in the three-dimensional grid to obtain the attribute values ​​of the target nodes in the three-dimensional grid, and the geological structure model is constructed according to the attribute values ​​of the target nodes.

[0090] In an exemplary embodiment of the present disclosure, when analyzing the geological structure model to determine the geological characteristics of the area to be surveyed, the geological feature determination module 440 is specifically used to: Performing cluster analysis on the attribute values ​​of each node in the geological structure model to obtain a cluster label of each node; The cluster labels of the nodes and the location information of the nodes are associated to obtain a plurality of geological features and a distribution map of the geological features, and the distribution map of the geological features is visualized.

[0091] In an exemplary embodiment of the present disclosure, the positioning and navigation device includes a positioning module, an inertial navigation module and a control module; when the flight route control module 420 uses the positioning and navigation device to control the survey drone to fly along the preset flight route, it is specifically used to: Acquiring geographic location information of the survey UAV through the positioning module and acquiring flight status information of the survey UAV through the inertial navigation module; Calculating, by the control module, a position deviation between the geographical location information of the survey UAV and a preset geographical location, and determining a first position adjustment amount according to the position deviation; wherein the preset geographical location is determined according to the preset flight route; In an exemplary embodiment of the present disclosure, the positioning and navigation device further includes an obstacle detection module, and the flight path control module 420 further includes: Acquiring the state information of the target obstacle through the obstacle detection module; Based on the state information of the target obstacle, calculating, by the control module, a second position adjustment amount for the target obstacle; The flight status information of the survey UAV is updated according to the second position adjustment amount to control the survey UAV to avoid the target obstacle.

[0092] The specific details of each module of the above-mentioned geological survey device have been described in detail in the corresponding geological survey method, so they will not be repeated here.

[0093] The exemplary embodiments of the present disclosure also provide a computer-readable storage medium on which a program product capable of implementing the above-mentioned method of the present specification is stored. In some possible implementations, various aspects of the present disclosure may also be implemented in the form of a program product, which includes a program code, and when the program product is run on an electronic device, the program code is used to enable the electronic device to perform the steps according to various exemplary embodiments of the present disclosure described in the above-mentioned "Exemplary Method" section of the present specification.

[0094] The program product may be in the form of a portable compact disk read-only memory (CD-ROM) and include program code, and may be run on an electronic device, such as a personal computer. However, the program product of the present disclosure is not limited thereto, and in this document, a readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0095] The program product may adopt any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0096] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0097] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0098] Program code for performing the operations of the present disclosure may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C#, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0099] In addition, an exemplary embodiment of the present disclosure also provides an electronic device capable of implementing the above-mentioned geological survey method.

[0100] Refer to the following Figure 5 hereinafter describes an electronic device 500 according to such an embodiment of the present disclosure. Figure 5 The electronic device 500 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0101] like Figure 5 As shown, the electronic device 500 is in the form of a general computing device. The components of the electronic device 500 may include but are not limited to: at least one processing unit 510, at least one storage unit 520, a bus 530 connecting different system components (including the storage unit 520 and the processing unit 510), and a display unit 540.

[0102] The storage unit 520 stores program codes, which can be executed by the processing unit 510, so that the processing unit 510 performs the steps according to various exemplary embodiments of the present disclosure described in the above “Exemplary Method” section of this specification. For example, the processing unit 510 can perform the method steps in the exemplary embodiments of the present disclosure.

[0103] The storage unit 520 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 521 and / or a cache memory unit (Cache) 522 , and may further include a read-only memory unit (ROM) 523 .

[0104] The storage unit 520 may also include a program / utility 524 having a set (at least one) of program modules 525, such program modules 525 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0105] Bus 530 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0106] The electronic device 500 may also communicate with one or more external devices 600 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 500, and / or communicate with any device that enables the electronic device 500 to communicate with one or more other computing devices (e.g., routers, modems, etc.). This communication may be performed through an input / output (I / O) interface 550. In addition, the electronic device 500 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter 560. As shown, the network adapter 560 communicates with other modules of the electronic device 500 through a bus 530. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0107] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the embodiment of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiment of the present disclosure.

[0108] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present disclosure, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0109] Through the description of the above embodiments, it is easy for those skilled in the art to understand that the example embodiments described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the embodiment of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiment of the present disclosure.

[0110] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the claims.

[0111] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A geological survey method, characterized in that: include: Determine a flight area corresponding to the area to be surveyed, and determine a preset flight route of a survey drone according to the flight area, wherein the survey drone is equipped with at least a positioning navigation device and a geological radar device; Using the positioning and navigation device to control the survey UAV to fly along the preset flight route; Based on the radar scanning parameters of the geological radar device, the geological radar device is used to perform radar scanning on the area to be surveyed along the preset flight route to obtain geological survey data; The geographic positioning data fed back by the positioning and navigation device is obtained, a geological structure model is constructed according to the geological survey data and the geographic positioning data, and the geological structure model is analyzed to determine the geological characteristics of the area to be surveyed.

2. The geological survey method according to claim 1, characterized in that: The radar scanning parameters include parameter initial values ​​and parameter target values; The method of obtaining geological survey data by using the geological radar device to perform radar scanning on the area to be surveyed along the preset flight route based on the radar scanning parameters of the geological radar device includes: Setting the initial values ​​of the parameters of the geological radar device according to the preset geological type and the preset survey depth of the area to be surveyed; During the flight of the survey UAV along the preset flight route, radar data collected by the geological radar device is obtained, and the initial parameter value is optimized based on the radar data to obtain the target parameter value; Utilizing the geological radar device to transmit corresponding electromagnetic waves to the area to be surveyed according to the parameter target value; The reflected signal of the electromagnetic wave is acquired, and the reflected signal is subjected to signal analysis and processing to obtain the geological survey data.

3. The geological survey method according to claim 2, characterized in that: The step of optimizing the initial parameter value based on the radar data to obtain the target parameter value includes: Set the initial temperature, cooling rate, and iteration termination condition, and use the initial values ​​of the parameters as the initial solution; Iterate based on the initial solution, and in each iteration process, generate a neighborhood solution by perturbing the current solution; Calculating respectively a first objective function value of the current solution and a second objective function value of the neighborhood solution based on a preset objective function, wherein the preset objective function is constructed based on the radar data; If the first objective function value is less than the second objective function value, determining the current value of the parameter according to the neighborhood solution; If the first objective function value is not less than the second objective function value, determining an acceptance probability according to the current temperature, the first objective function value, and the second objective function value corresponding to the current solution, and determining a current value of the parameter according to the acceptance probability; The current temperature is updated using the cooling rate, and the current value of the parameter is continuously updated iteratively until an iteration termination condition is met to obtain the parameter target value.

4. The geological survey method according to claim 2, characterized in that: The geological survey data includes a signal strength peak and a frequency corresponding to the signal strength peak; The performing signal analysis and processing on the reflection signal to obtain the geological survey data comprises: Performing noise suppression and signal enhancement on the reflected signal to obtain an intermediate signal, and converting the intermediate signal into a frequency domain signal; A local maximum amplitude value in the frequency domain signal is determined, the signal strength peak value is determined according to the local maximum amplitude value and a preset amplitude threshold value, and a frequency corresponding to the signal strength peak value is obtained.

5. The geological survey method according to claim 4, characterized in that: The step of constructing a geological structure model according to the geological survey data and the geographic positioning data comprises: A conversion model is established according to the corresponding relationship between the frequency of the reflected signal and the underground depth, and the frequency corresponding to the signal intensity peak is mapped to the target depth position by using the conversion model; Performing spatiotemporal matching of the geolocation data and the target depth position, and constructing a three-dimensional grid based on data points consisting of the matched geolocation data and the target depth position; An interpolation operation is performed based on the attribute values ​​of the known nodes in the three-dimensional grid to obtain the attribute values ​​of the target nodes in the three-dimensional grid, and the geological structure model is constructed according to the attribute values ​​of the target nodes.

6. The geological survey method according to claim 5, characterized in that: The step of analyzing the geological structure model to determine the geological characteristics of the area to be surveyed includes: Performing cluster analysis on the attribute values ​​of each node in the geological structure model to obtain a cluster label of each node; The cluster labels of the nodes and the location information of the nodes are associated to obtain a plurality of geological features and a distribution map of the geological features, and the distribution map of the geological features is visualized.

7. The geological survey method according to claim 1, characterized in that: The positioning and navigation device comprises a positioning module, an inertial navigation module and a control module; The method of controlling the survey drone to fly along the preset flight route by using the positioning and navigation device includes: Acquiring geographic location information of the survey UAV through the positioning module and acquiring flight status information of the survey UAV through the inertial navigation module; Calculating, by the control module, a position deviation between the geographical location information of the survey UAV and a preset geographical location, and determining a first position adjustment amount according to the position deviation; wherein the preset geographical location is determined according to the preset flight route; The flight status information of the surveying UAV is updated according to the first position adjustment amount to control the surveying UAV to fly along the preset flight route.

8. The geological survey method according to claim 7, characterized in that: The positioning and navigation device further includes an obstacle detection module, and the method further includes: Acquiring the state information of the target obstacle through the obstacle detection module; Based on the state information of the target obstacle, calculating, by the control module, a second position adjustment amount for the target obstacle; The flight status information of the survey UAV is updated according to the second position adjustment amount to control the survey UAV to avoid the target obstacle.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the geological survey method according to any one of claims 1 to 8 is implemented.

10. An electronic device, characterized in that: include: processor; as well as A memory having computer-readable instructions stored thereon, wherein the computer-readable instructions, when executed by the processor, implement the geological survey method according to any one of claims 1 to 8.

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