Inversion method and system based on transient electromagnetic and ground penetrating radar data collaborative correction

Abstract

The invention belongs to the technical field of geophysical exploration. The invention provides an inversion method and system based on transient electromagnetic and ground penetrating radar data collaborative correction, and the method comprises the steps: converting the preprocessed ground penetrating radar data into a format of transient electromagnetic detection data, or converting the preprocessed transient electromagnetic detection data into the format of the ground penetrating radar data; performing weighted summation on the ground penetrating radar data and the transient electromagnetic detection data after format conversion to obtain fusion data; performing three-dimensional joint inversion according to the fused data to obtain a final three-dimensional joint inversion result; according to the method, collaborative detection of different depths of the detection area is realized, a brand new underground structure detection interpretation scheme is provided through intelligent data preprocessing, intelligent correction and three-dimensional joint inversion technologies, and comprehensive, efficient and high-precision interpretation of the underground structure is realized.

Description

Technical Field

[0001] The present invention relates to the field of geophysical exploration technology, and in particular to an inversion method based on the coordinated correction of transient electromagnetic and ground penetrating radar data, an inversion system based on the coordinated correction of transient electromagnetic and ground penetrating radar data, a computer device, a computer-readable storage medium and a computer program product. Background Art

[0002] The statements in this section merely provide background art related to the present invention and do not necessarily constitute prior art.

[0003] In the field of geophysical exploration, accurate detection and analysis of underground structures are crucial for activities such as geological exploration, environmental monitoring, and engineering surveys. Traditional detection technologies, such as transient electromagnetic method and ground penetrating radar method, each have certain advantages and limitations in underground structure detection. Transient electromagnetic method excels in deep detection, while ground penetrating radar method performs well in shallow structure detection. However, a single technology often cannot meet the needs of comprehensive and high-precision detection of underground structures, especially under complex geological conditions. In order to overcome the limitations of a single technology and improve the depth resolution of detection data and its adaptability to complex geological conditions, the industry has been exploring how to combine the advantages of these two technologies.

[0004] In terms of data preprocessing, although some noise reduction and filtering techniques have been applied to transient electromagnetic and ground penetrating radar data, these methods often lack pertinence and intelligence, and often require a lot of manual intervention, which not only increases the workload, but also affects the accuracy and reliability of the detection results, and is difficult to adapt to the changing detection environment and data characteristics; in addition, the inconsistency of data formats also brings additional challenges to data fusion. Some existing attempts include manually integrating data from two technologies, but this method is inefficient and difficult to achieve optimal data fusion; traditional three-dimensional joint inversion combines data collected by multiple geophysical methods, respectively using the relationship between the rock physical parameters and geometric parameters of the geological body to jointly invert the same underground geological and geophysical models, and cannot be unified into one data format for refined three-dimensional joint inversion. Summary of the invention

[0005] In order to address the shortcomings of the prior art, the present invention provides an inversion method and system based on the collaborative correction of transient electromagnetic and ground penetrating radar data. Through the unmanned aerial vehicle group detection module composed of an unmanned aerial vehicle transient electromagnetic detection module and an unmanned aerial vehicle ground penetrating radar module, collaborative detection of different depths in the detection area is realized. Through intelligent data preprocessing, intelligent correction and three-dimensional joint inversion technology, a new underground structure detection and interpretation scheme is provided, which realizes a comprehensive, efficient and high-precision interpretation of underground structures, and provides strong technical support for resource exploration, environmental monitoring, disaster prevention and other fields.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] In a first aspect, the present invention provides an inversion method based on collaborative correction of transient electromagnetic and ground penetrating radar data.

[0008] An inversion method based on the coordinated correction of transient electromagnetic and ground penetrating radar data, wherein the UAV transient electromagnetic detection module and the UAV ground penetrating radar module constitute a UAV group detection module, wherein the UAV transient electromagnetic detection module is the main detection module and the UAV ground penetrating radar module is the secondary detection module, including the following processes:

[0009] Obtain the UAV transient electromagnetic detection data and UAV ground penetrating radar data in the UAV group detection module;

[0010] Preprocessing the UAV transient electromagnetic detection data and the UAV ground penetrating radar data respectively to obtain preprocessed transient electromagnetic detection data and preprocessed ground penetrating radar data;

[0011] The pre-processed ground penetrating radar data is converted into a format of transient electromagnetic detection data, and weighted summation is performed on the format-converted ground penetrating radar data and the transient electromagnetic detection data to obtain fused data;

[0012] A three-dimensional joint inversion is performed based on the fused data to obtain a final three-dimensional joint inversion result.

[0013] As a further limitation of the first aspect of the present invention, the UAV transient electromagnetic detection data is preprocessed, including: atmospheric noise removal processing, motion noise removal processing, data superposition processing and time window integration processing; wherein, the atmospheric noise removal processing adopts an α-trimmed mean filter, and the α-trimmed mean filter includes: Where, X α is the data value after α-trimmed mean filtering, α is the trimming parameter; [·] is the rounding function; N is the window width; X iThe i-th data in the sorted data; for removing the motion noise, wavelet decomposition denoising is adopted, and the wavelet basis function selects the dbN wavelet basis function and n-level decomposition, where 1 < n < 10; preprocessing the unmanned aerial vehicle ground penetrating radar data includes: data editing processing, zero-bias correction processing, time zero-point correction processing, filtering processing, and automatic gain processing.

[0014] As a further limitation of the first aspect of the present invention, data weights are respectively given to the unmanned aerial vehicle ground penetrating radar detection module and the unmanned aerial vehicle transient electromagnetic detection module according to the change of detection accuracy with detection depth. The weight value range of the transient electromagnetic detection data is [50% - 100%], and the weight value range of the ground penetrating radar data is [0 - 50%].

[0015] As a further limitation of the first aspect of the present invention, the fused data is: y = ax 1 + bx 2 , where a is the weight of the transient electromagnetic detection data, b is the weight of the ground penetrating radar data, x 1 is the transient electromagnetic detection data, x 2 is the converted ground penetrating radar data, and the fused data y is used as the data for joint inversion; based on the data for joint inversion, three-dimensional joint inversion is performed, including: Among them, is the data fitting term, is the model constraint term, m is the model vector, and λ is the regularization parameter used to balance and Among them, in order to accelerate the three-dimensional joint inversion, the forward and adjoint forward equations are calculated on the GPU.

[0016] In the second aspect, the present invention provides an inversion method based on the collaborative correction of transient electromagnetic and ground penetrating radar data.

[0017] An inversion method based on the collaborative correction of transient electromagnetic and ground penetrating radar data, where the unmanned aerial vehicle transient electromagnetic detection module and the unmanned aerial vehicle ground penetrating radar module form an unmanned aerial vehicle group detection module. Taking the unmanned aerial vehicle ground penetrating radar module as the main detection module and the unmanned aerial vehicle transient electromagnetic detection module as the auxiliary detection module, the method includes the following processes:

[0018] Obtain the unmanned aerial vehicle transient electromagnetic detection data and the unmanned aerial vehicle ground penetrating radar data in the unmanned aerial vehicle group detection module;

[0019] Preprocess the unmanned aerial vehicle transient electromagnetic detection data and the unmanned aerial vehicle ground penetrating radar data respectively to obtain the preprocessed transient electromagnetic detection data and the preprocessed ground penetrating radar data;

[0020] Convert the preprocessed transient electromagnetic detection data into the ground penetrating radar data format, perform weighted summation on the ground penetrating radar data and the transient electromagnetic detection data after format conversion to obtain the fusion data;

[0021] Perform three-dimensional joint inversion based on the fusion data to obtain the final three-dimensional joint inversion result.

[0022] As a further limitation of the second aspect of the present invention, the preprocessing of the unmanned aerial vehicle transient electromagnetic detection data includes: natural electromagnetic noise removal processing, motion noise removal processing, data stacking processing and time window integration processing; wherein, the natural electromagnetic noise removal processing uses an α-trimmed mean filter, and the α-trimmed mean filter includes: In the formula, X α is the data value after α-trimmed mean filtering, α is the trimming parameter; [·] is the rounding function; N is the window width; X i is the i-th data in the sorted data; for the motion noise removal, wavelet decomposition denoising is used, and the wavelet basis function selects the dbN wavelet basis function and n-level decomposition, where 1 < n < 10; the preprocessing of the unmanned aerial vehicle ground penetrating radar data includes: data editing processing, zero-offset correction processing, time zero point correction processing, filtering processing and automatic gain processing.

[0023] As a further limitation of the second aspect of the present invention, data weights are respectively given to the unmanned aerial vehicle ground penetrating radar detection module and the unmanned aerial vehicle transient electromagnetic detection module according to the change of detection accuracy with detection depth. The weight value range of the ground penetrating radar data is [50% - 100%], and the weight value range of the transient electromagnetic detection data is [0 - 50%].

[0024] As a further limitation of the second aspect of the present invention, the fusion data is: y = ax 1 + bx 2 , where a is the weight of the transient electromagnetic detection data, b is the weight of the ground penetrating radar data, x 1 is the transient electromagnetic detection data, x 2 is the converted ground penetrating radar data, and the fusion data y is used as the data for joint inversion; based on the data for joint inversion, three-dimensional joint inversion is performed, including: Among them, is the data fitting term, is the model constraint term, m is the model vector, λ is the regularization parameter, used to balance and Among them, the forward and adjoint forward equations are calculated on the GPU.

[0025] In the third aspect, the present invention provides an inversion system based on the collaborative correction of transient electromagnetic and ground penetrating radar data.

[0026] An inversion system based on the coordinated correction of transient electromagnetic and ground penetrating radar data, wherein a UAV transient electromagnetic detection module and a UAV ground penetrating radar module constitute a UAV group detection module, wherein the UAV transient electromagnetic detection module is the main detection module and the UAV ground penetrating radar module is the secondary detection module, including:

[0027] The data acquisition unit is configured to: acquire the UAV transient electromagnetic detection data and the UAV ground penetrating radar data in the UAV group detection module;

[0028] The preprocessing unit is configured to: preprocess the UAV transient electromagnetic detection data and the UAV ground penetrating radar data respectively to obtain preprocessed transient electromagnetic detection data and preprocessed ground penetrating radar data;

[0029] The weighted fusion unit is configured to: convert the pre-processed ground penetrating radar data into a format of transient electromagnetic detection data, perform weighted summation on the ground penetrating radar data and the transient electromagnetic detection data after the format conversion, and obtain fused data;

[0030] The three-dimensional joint inversion unit is configured to: perform three-dimensional joint inversion according to the fused data to obtain a final three-dimensional joint inversion result.

[0031] In a fourth aspect, the present invention provides an inversion system based on collaborative correction of transient electromagnetic and ground penetrating radar data.

[0032] An inversion system based on the coordinated correction of transient electromagnetic and ground penetrating radar data, wherein the UAV transient electromagnetic detection module and the UAV ground penetrating radar module constitute a UAV group detection module, wherein the UAV ground penetrating radar module is the main detection module and the UAV transient electromagnetic detection module is the secondary detection module, including:

[0033] The data acquisition unit is configured to: acquire the UAV transient electromagnetic detection data and the UAV ground penetrating radar data in the UAV group detection module;

[0034] The preprocessing unit is configured to: preprocess the UAV transient electromagnetic detection data and the UAV ground penetrating radar data respectively to obtain preprocessed transient electromagnetic detection data and preprocessed ground penetrating radar data;

[0035] The weighted fusion unit is configured to: convert the pre-processed transient electromagnetic detection data into a ground penetrating radar data format, perform weighted summation on the ground penetrating radar data and the transient electromagnetic detection data after the format conversion, and obtain fused data;

[0036] The three-dimensional joint inversion unit is configured to: perform three-dimensional joint inversion according to the fused data to obtain a final three-dimensional joint inversion result.

[0037] In a fifth aspect, the present invention provides a computer device, comprising: a processor and a computer readable storage medium;

[0038] a processor adapted to execute a computer program;

[0039] A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by the processor, an inversion method based on collaborative correction of transient electromagnetic and ground penetrating radar data as described in the first aspect of the present invention is implemented.

[0040] In a sixth aspect, the present invention provides a computer-readable storage medium storing a computer program, wherein the computer program is suitable for being loaded by a processor and executing the inversion method based on collaborative correction of transient electromagnetic and ground penetrating radar data as described in the first aspect of the present invention.

[0041] In a seventh aspect, the present invention provides a computer program product, comprising a computer program, which, when executed by a processor, implements the inversion method based on collaborative correction of transient electromagnetic and ground penetrating radar data as described in the first aspect of the present invention.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] 1. The present invention innovatively proposes a novel data correction method, which is specifically for the data collected by the UAV transient electromagnetic module and the UAV ground penetrating radar module. It emphasizes the importance of automation and intelligence in data processing, reduces human intervention, and improves the speed and reliability of data processing.

[0044] 2. According to the data format of the main detection module, the present invention can convert the detection result data of the auxiliary detection module into a data form that matches the main detection module, and after the conversion is completed, the data of the collaborative detection module is given a corresponding weight according to the change of detection accuracy with the detection depth, so as to achieve more accurate data fusion.

[0045] 3. The data collected by the main detection module and the auxiliary detection module of the present invention will be comprehensively analyzed to obtain more comprehensive underground structure information. Imaging technology is used to combine the data results finally output by the main detection module and the auxiliary detection module to perform three-dimensional joint inversion. This collaborative working mechanism not only improves the depth resolution of the detection data, but also enhances the adaptability to complex geological conditions, ensuring the accuracy and stability of the underground structure inversion.

[0046] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0048] Figure 1 A schematic flow chart of an inversion method based on collaborative correction of transient electromagnetic and ground penetrating radar data provided in Example 1 of the present invention;

[0049] Figure 2 A schematic diagram of an inversion system based on collaborative correction of transient electromagnetic and ground penetrating radar data provided in Example 2 of the present invention;

[0050] Figure 3 A schematic diagram of a computer device provided in Example 3 of the present invention. DETAILED DESCRIPTION

[0051] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0052] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0053] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0054] Embodiment 1:

[0055] This implementation proposes an inversion method based on the collaborative correction of transient electromagnetic and ground penetrating radar data. It aims to achieve collaborative detection of different depths in the detection area through a UAV group detection module composed of a UAV transient electromagnetic detection module and a UAV ground penetrating radar module, and provide a new underground structure detection and interpretation solution through intelligent data preprocessing, intelligent correction and three-dimensional joint inversion technology, so as to achieve a comprehensive, efficient and high-precision interpretation of underground structures, and provide strong technical support for resource exploration, environmental monitoring and disaster prevention and other fields.

[0056] Specifically, Figure 1 As shown, the following process is included:

[0057] S1: Collaborative detection to obtain detection data.

[0058] The unmanned aerial vehicle (UAV) detection module composed of the UAV transient electromagnetic detection module and the UAV ground penetrating radar module both adopts the detection method of ground transmission and air reception. Among them, the UAV ground penetrating radar module can receive data through low-altitude flight or ground fixed-point reception. During detection, according to the detection accuracy of different depths in the detection area, the main detection module and the secondary detection module can be determined respectively as needed, and they cooperate to detect and obtain detection data.

[0059] S2: Intelligent preprocessing of data.

[0060] The data comes from the collaborative intelligent detection results of UAV transient electromagnetic and UAV ground penetrating radar, and the data collected by the main detection module and the secondary detection module is intelligently processed.

[0061] In this implementation method, the intelligent processing process of UAV transient electromagnetic data includes: removal of telluric noise, removal of motion noise, data stacking, and time window integration.

[0062] For the removal of telluric noise, the α-trimmed mean filter method is used. The formula of the α-trimmed mean filter is shown as follows:

[0063]

[0064] In the formula: X α is the data value after α-trimmed mean filtering, with the unit of volts per square (V / m 2 ); α is the clipping parameter; [·] is the rounding function; N is the window width; X i is the i-th data in the sorted data, with the unit of volts per square meter (V / m 2 ).

[0065] For the removal of motion noise, wavelet decomposition denoising is used. The wavelet basis function selects the dbN wavelet basis function and n-level (1 < n < 10) decomposition as the wavelet denoising scheme for the motion noise of UAV transient electromagnetic data. After wavelet decomposition, the wavelet decomposition coefficients containing motion noise are removed, and the data is reconstructed using the remaining wavelet coefficients to achieve the removal of motion noise.

[0066] For the data stacking, it is realized according to the superposition principle of the multi-period data collected, and is designed according to parameters such as the emission waveform, emission fundamental frequency, and sampling frequency.

[0067] For the time window integration, time windows with different spacings are selected for integration according to the detection requirements. Logarithmic equally spaced time window integration is adopted, and the parameter settings are determined according to the actual acquisition parameter settings, including the start time, end time, and the number of integration time windows.

[0068] In this implementation, the intelligent processing process of the UAV ground penetrating radar data includes: data editing, zero bias correction, time zero point correction, filtering and automatic gain.

[0069] The data editor sorts, rearranges or merges the collected data files to remove obvious waste channel signals in the data, that is, to remove invalid information from the echo data;

[0070] The zero bias correction is to correct the waveform to ensure that the average value of each data is close to zero;

[0071] The time zero point correction is to correct the start time of multiple channels of data and adjust them uniformly to match the surface position;

[0072] The filtering is to suppress noise through noise filtering techniques such as bandpass filters, low-pass filters and high-pass filters to highlight effective information;

[0073] The automatic gain compensates for the attenuation of electromagnetic wave energy information caused by spherical diffusion and absorption attenuation, amplifies the amplitude of the attenuated signal part, and performs envelope superposition after Hilbert transform of each collected data through envelope gain, so as to quickly process a large amount of data.

[0074] S3: Intelligent data correction.

[0075] The data of the detection results of the intelligently processed secondary detection module is converted into the data format of the main detection module. According to the change of detection accuracy with the detection depth, the data weights of the main detection module and the secondary detection module are given respectively to achieve the optimal fusion of data.

[0076] The data of the detection results of the intelligently processed secondary detection module is converted into the data format of the main detection module. When the main detection module is a UAV transient electromagnetic module, the data conversion module automatically converts the reflected echo data of the UAV ground penetrating radar module into the UAV transient electromagnetic data format; when the main detection module is a UAV ground penetrating radar module, the data conversion module automatically converts the induced electromagnetic signal data of the UAV transient electromagnetic into the UAV ground penetrating radar data format. This process ensures that the data from different detection modules have a unified data structure before further analysis.

[0077] According to the change of detection accuracy with detection depth, the data weights of the main detection module and the auxiliary detection module are given respectively. In this way, we can assign a reasonable weight to the data of each module. The sum of the weights of the two is 1. The weight range of the main detection module is [50%-100%], and the weight range of the auxiliary detection module is [0-50%]. Through precise weight allocation, the optimal fusion of data is achieved, and finally a data result is output.

[0078] The present invention realizes the optimal fusion of the data of the main detection module and the auxiliary detection module, and improves the overall quality of the detection data. The optimally fused data can more comprehensively reflect the real situation of the underground structure, and provide a solid foundation for subsequent data analysis and interpretation.

[0079] S4: 3D joint inversion.

[0080] Using imaging technology, combined with the final output of the main detection module and the auxiliary detection module, three-dimensional joint inversion is performed using imaging technology. In order to accelerate the three-dimensional joint inversion, the forward modeling and adjoint forward modeling equations are calculated on the GPU, and the imaging results are finally output to achieve three-dimensional reconstruction of the underground structure, improving the accuracy of the inversion results.

[0081] The final output data result is:

[0082] y=ax 1 +bx 2 (2);

[0083] Where a is the weight of the main detection module; b is the weight of the secondary detection module; x 1 is the main detection module dataset, x 2 is the converted sub-detection module dataset; y is the joint inversion dataset.

[0084] The joint three-dimensional inversion includes:

[0085]

[0086] in, is the data fitting term, is the model constraint term, m is the model vector, and λ is the regularization parameter used to balance and

[0087] Through the above-mentioned three-dimensional joint inversion technology, the present invention can output high-resolution imaging results, which not only accurately reflect the details of the underground structure, but also show good stability in the face of noise and data incompleteness. This is crucial for geological exploration and engineering applications, providing reliable underground structure information and a scientific basis for decision-making.

[0088] Embodiment 2:

[0089] like Figure 2 As shown, this implementation provides an inversion system based on the coordinated correction of transient electromagnetic and ground penetrating radar data. The UAV transient electromagnetic detection module and the UAV ground penetrating radar module constitute a UAV group detection module, with the UAV transient electromagnetic detection module as the main detection module and the UAV ground penetrating radar module as the auxiliary detection module, including:

[0090] The data acquisition unit is configured to: acquire the UAV transient electromagnetic detection data and the UAV ground penetrating radar data in the UAV group detection module;

[0091] The preprocessing unit is configured to: preprocess the UAV transient electromagnetic detection data and the UAV ground penetrating radar data respectively to obtain preprocessed transient electromagnetic detection data and preprocessed ground penetrating radar data;

[0092] The weighted fusion unit is configured to: convert the pre-processed ground penetrating radar data into a format of transient electromagnetic detection data, perform weighted summation on the ground penetrating radar data and the transient electromagnetic detection data after the format conversion, and obtain fused data;

[0093] The three-dimensional joint inversion unit is configured to: perform three-dimensional joint inversion according to the fused data to obtain a final three-dimensional joint inversion result.

[0094] Alternatively, in some other implementations, the UAV transient electromagnetic detection module and the UAV ground penetrating radar module constitute a UAV group detection module, with the UAV ground penetrating radar module as the main detection module and the UAV transient electromagnetic detection module as the secondary detection module, which includes:

[0095] The data acquisition unit is configured to: acquire the UAV transient electromagnetic detection data and the UAV ground penetrating radar data in the UAV group detection module;

[0096] The preprocessing unit is configured to: preprocess the UAV transient electromagnetic detection data and the UAV ground penetrating radar data respectively to obtain preprocessed transient electromagnetic detection data and preprocessed ground penetrating radar data;

[0097] The weighted fusion unit is configured to: convert the pre-processed transient electromagnetic detection data into a ground penetrating radar data format, perform weighted summation on the ground penetrating radar data and the transient electromagnetic detection data after the format conversion, and obtain fused data;

[0098] The three-dimensional joint inversion unit is configured to: perform three-dimensional joint inversion according to the fused data to obtain a final three-dimensional joint inversion result.

[0099] It is understandable that the above-mentioned various units can be separately or all combined into one or several other units to constitute, or some (some) units therein can also be split into multiple smaller units in function to constitute, which can achieve the same operation without affecting the realization of the technical effects of the embodiments of the present application. The above-mentioned units are divided based on logical functions. In practical applications, the function of a unit can also be realized by multiple units, or the function of multiple units can be realized by one unit. In other embodiments of the present application, the system can also include other units. In practical applications, these functions can also be implemented with the assistance of other units, and can be implemented by the collaboration of multiple units.

[0100] According to another embodiment of the present application, the system described in this embodiment can be constructed, and the method of Example 1 of the present application can be implemented by running a computer program (including program code) capable of executing the steps involved in the corresponding method described in Example 1 on a general computing device such as a computer including processing elements and storage elements such as a central processing unit (CPU), random access memory (RAM), and read-only memory (ROM). The computer program can be recorded on, for example, a computer-readable recording medium, and loaded into the above-mentioned computing device through the computer-readable recording medium and run therein.

[0101] Embodiment 3:

[0102] like Figure 3 As shown, this implementation provides an electronic device, which includes a processor 1001, a communication interface 1002, and a computer-readable storage medium 1003. The processor 1001, the communication interface 1002, and the computer-readable storage medium 1003 may be connected via a bus or other means.

[0103] Among them, the communication interface 1002 is used to receive and send data, the computer-readable storage medium 1003 can be stored in the memory of the electronic device, the computer-readable storage medium 1003 is used to store a computer program, the computer program includes program instructions, and the processor 1001 is used to execute the program instructions stored in the computer-readable storage medium 1003.

[0104] Processor 1001 (or CPU (Central Processing Unit)) is the computing core and control core of the electronic device, which is suitable for implementing one or more instructions, specifically suitable for loading and executing one or more instructions to implement corresponding method processes or corresponding functions.

[0105] The processor 1001 is configured to execute the following process:

[0106] Obtain the UAV transient electromagnetic detection data and UAV ground penetrating radar data in the UAV group detection module;

[0107] Preprocessing the UAV transient electromagnetic detection data and the UAV ground penetrating radar data respectively to obtain preprocessed transient electromagnetic detection data and preprocessed ground penetrating radar data;

[0108] Converting the preprocessed ground penetrating radar data into a format of transient electromagnetic detection data, or converting the preprocessed transient electromagnetic detection data into a format of ground penetrating radar data;

[0109] Perform weighted summation on the format-converted ground penetrating radar data and transient electromagnetic detection data to obtain fused data;

[0110] A three-dimensional joint inversion is performed based on the fused data to obtain a final three-dimensional joint inversion result.

[0111] The detailed process is described in Example 1 and will not be repeated here.

[0112] Embodiment 4:

[0113] This implementation provides a computer-readable storage medium (Memory), which is a memory device in an electronic device for storing programs and data. It is understandable that the computer-readable storage medium here can include both built-in storage media in the electronic device and, of course, extended storage media supported by the electronic device. The computer-readable storage medium provides a storage space that stores the processing system of the electronic device.

[0114] In addition, the storage space also stores one or more instructions suitable for being loaded and executed by the processor, and these instructions may be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here may be a high-speed RAM memory, or a non-volatile memory, such as at least one disk memory; optionally, it may also be at least one computer-readable storage medium located away from the aforementioned processor.

[0115] In one embodiment, the computer-readable storage medium stores one or more instructions; the processor loads and executes the one or more instructions stored in the computer-readable storage medium to implement the following process:

[0116] Obtain the UAV transient electromagnetic detection data and UAV ground penetrating radar data in the UAV group detection module;

[0117] Preprocessing the UAV transient electromagnetic detection data and the UAV ground penetrating radar data respectively to obtain preprocessed transient electromagnetic detection data and preprocessed ground penetrating radar data;

[0118] Converting the preprocessed ground penetrating radar data into a format of transient electromagnetic detection data, or converting the preprocessed transient electromagnetic detection data into a format of ground penetrating radar data;

[0119] Perform weighted summation on the format-converted ground penetrating radar data and transient electromagnetic detection data to obtain fused data;

[0120] A three-dimensional joint inversion is performed based on the fused data to obtain a final three-dimensional joint inversion result.

[0121] The detailed process is described in Example 1 and will not be repeated here.

[0122] Embodiment 5:

[0123] The present implementation provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device performs the following process:

[0124] Obtain the UAV transient electromagnetic detection data and UAV ground penetrating radar data in the UAV group detection module;

[0125] Preprocessing the UAV transient electromagnetic detection data and the UAV ground penetrating radar data respectively to obtain preprocessed transient electromagnetic detection data and preprocessed ground penetrating radar data;

[0126] Converting the preprocessed ground penetrating radar data into a format of transient electromagnetic detection data, or converting the preprocessed transient electromagnetic detection data into a format of ground penetrating radar data;

[0127] Perform weighted summation on the format-converted ground penetrating radar data and transient electromagnetic detection data to obtain fused data;

[0128] A three-dimensional joint inversion is performed based on the fused data to obtain a final three-dimensional joint inversion result.

[0129] The detailed process is described in Example 1 and will not be repeated here.

[0130] A person skilled in the art can appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0131] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loading and executing computer program instructions on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instruction can be stored in a computer-readable storage medium or transmitted by a computer-readable storage medium. The computer instruction can be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (for example, coaxial cable, optical fiber, digital line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data processing device such as a server, a data center, etc. that contains one or more available media integration. Available media can be magnetic media (for example, floppy disk, hard disk, tape), optical media (for example, DVD), or semiconductor media (for example, solid-state drive (Solid State Disk, SSD)) and the like.

[0132] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An inversion method based on collaborative correction of transient electromagnetic and ground penetrating radar data, characterized in that: The UAV transient electromagnetic detection module and the UAV ground penetrating radar module constitute the UAV group detection module, with the UAV transient electromagnetic detection module as the main detection module and the UAV ground penetrating radar module as the auxiliary detection module, including the following processes: Obtain the UAV transient electromagnetic detection data and UAV ground penetrating radar data in the UAV group detection module; Preprocessing the UAV transient electromagnetic detection data and the UAV ground penetrating radar data respectively to obtain preprocessed transient electromagnetic detection data and preprocessed ground penetrating radar data; The pre-processed ground penetrating radar data is converted into a format of transient electromagnetic detection data, and weighted summation is performed on the format-converted ground penetrating radar data and the transient electromagnetic detection data to obtain fused data; A three-dimensional joint inversion is performed based on the fused data to obtain a final three-dimensional joint inversion result.

2. The inversion method based on collaborative correction of transient electromagnetic and ground penetrating radar data according to claim 1, characterized in that: The transient electromagnetic detection data of the UAV is preprocessed, including: atmospheric noise removal processing, motion noise removal processing, data superposition processing and time window integration processing; wherein, the atmospheric noise removal processing adopts an α-trimmed mean filter, and the α-trimmed mean filter includes: Where, X α is the data value after α-trimmed mean filtering, α is the trimming parameter; [·] is the rounding function; N is the window width; X i is the i-th data in the sorted data; the motion noise removal adopts wavelet decomposition denoising, and the wavelet basis function selects dbN wavelet basis function and n-level decomposition, where 1 <n<10; The UAV ground penetrating radar data is preprocessed, including: data editing processing, zero bias correction processing, time zero point correction processing, filtering processing and automatic gain processing.

3. The inversion method based on collaborative correction of transient electromagnetic and ground penetrating radar data according to claim 1, characterized in that: According to the change of detection accuracy with detection depth, data weights are given to the UAV transient electromagnetic detection module and the UAV ground penetrating radar detection module respectively. The weight range of transient electromagnetic detection data is [50%-100%], and the weight range of ground penetrating radar data is [0-50%].

4. The inversion method based on collaborative correction of transient electromagnetic and ground penetrating radar data according to claim 1, characterized in that: The fused data is: y=ax1+bx2, where a is the weight of transient electromagnetic detection data, b is the weight of ground penetrating radar data, x1 is transient electromagnetic detection data, x2 is converted ground penetrating radar data, and the fused data y is used as the data for joint inversion; Based on the joint inversion data, three-dimensional joint inversion is performed, including: in, is the data fitting term, is the model constraint term, m is the model vector, and λ is the regularization parameter used to balance and Among them, the forward modeling and adjoint forward modeling equations are calculated on the GPU.

5. An inversion method based on collaborative correction of transient electromagnetic and ground penetrating radar data, characterized in that: The UAV transient electromagnetic detection module and the UAV ground penetrating radar module constitute the UAV group detection module, with the UAV ground penetrating radar module as the main detection module and the UAV transient electromagnetic detection module as the auxiliary detection module, including the following processes: Obtain the UAV transient electromagnetic detection data and UAV ground penetrating radar data in the UAV group detection module; Preprocessing the UAV transient electromagnetic detection data and the UAV ground penetrating radar data respectively to obtain preprocessed transient electromagnetic detection data and preprocessed ground penetrating radar data; The pre-processed transient electromagnetic detection data is converted into a ground penetrating radar data format, and weighted summation is performed on the ground penetrating radar data after the format conversion and the transient electromagnetic detection data to obtain fused data; A three-dimensional joint inversion is performed based on the fused data to obtain a final three-dimensional joint inversion result.

6. The inversion method based on collaborative correction of transient electromagnetic and ground penetrating radar data according to claim 5, characterized in that: Preprocess the transient electromagnetic detection data of the UAV, including: natural electromagnetic noise removal processing, motion noise removal processing, data stacking processing, and time window integration processing; among them, the natural electromagnetic noise removal processing uses an α-trimmed mean filter, and the α-trimmed mean filter includes: In the formula, X α is the data value after α-trimmed mean filtering, α is the trimming parameter; [·] is the rounding function; N is the window width; X i is the i-th data in the sorted data; for the motion noise removal, wavelet decomposition denoising is used, and the wavelet basis function selects the dbN wavelet basis function and n-level decomposition, where 1 < n < 10; preprocess the ground penetrating radar data of the UAV, including: data editing processing, zero-offset correction processing, time zero point correction processing, filtering processing, and automatic gain processing; Alternatively, according to the change of detection accuracy with detection depth, weights are given to the data of the UAV ground penetrating radar detection module and the UAV transient electromagnetic detection module respectively, the weight range of the ground penetrating radar data is [50%-100%], and the weight range of the transient electromagnetic detection data is [0-50%]; Alternatively, the fused data is: y=ax1+bx2, wherein a is the weight of the transient electromagnetic detection data, b is the weight of the ground penetrating radar data, x1 is the transient electromagnetic detection data, and x2 is the converted ground penetrating radar data. The fused data y is used as the data for joint inversion; based on the data for joint inversion, a three-dimensional joint inversion is performed, including: in, is the data fitting term, is the model constraint term, m is the model vector, and λ is the regularization parameter used to balance and Among them, the forward modeling and adjoint forward modeling equations are calculated on the GPU.

7. An inversion system based on collaborative correction of transient electromagnetic and ground penetrating radar data, characterized in that: The UAV transient electromagnetic detection module and the UAV ground penetrating radar module constitute the UAV group detection module, with the UAV transient electromagnetic detection module as the main detection module and the UAV ground penetrating radar module as the auxiliary detection module, including: The data acquisition unit is configured to: acquire the UAV transient electromagnetic detection data and the UAV ground penetrating radar data in the UAV group detection module; The preprocessing unit is configured to: preprocess the UAV transient electromagnetic detection data and the UAV ground penetrating radar data respectively to obtain preprocessed transient electromagnetic detection data and preprocessed ground penetrating radar data; The weighted fusion unit is configured to: convert the pre-processed ground penetrating radar data into a format of transient electromagnetic detection data, perform weighted summation on the ground penetrating radar data and the transient electromagnetic detection data after the format conversion, and obtain fused data; The three-dimensional joint inversion unit is configured to: perform three-dimensional joint inversion according to the fused data to obtain a final three-dimensional joint inversion result; or, The UAV transient electromagnetic detection module and the UAV ground penetrating radar module constitute the UAV group detection module, with the UAV ground penetrating radar module as the main detection module and the UAV transient electromagnetic detection module as the auxiliary detection module, including: The data acquisition unit is configured to: acquire the UAV transient electromagnetic detection data and the UAV ground penetrating radar data in the UAV group detection module; The preprocessing unit is configured to: preprocess the UAV transient electromagnetic detection data and the UAV ground penetrating radar data respectively to obtain preprocessed transient electromagnetic detection data and preprocessed ground penetrating radar data; The weighted fusion unit is configured to: convert the pre-processed transient electromagnetic detection data into a ground penetrating radar data format, perform weighted summation on the ground penetrating radar data and the transient electromagnetic detection data after the format conversion, and obtain fused data; The three-dimensional joint inversion unit is configured to: perform three-dimensional joint inversion according to the fused data to obtain a final three-dimensional joint inversion result.

8. A computer device, characterized in that: include: a processor and a computer readable storage medium; a processor adapted to execute a computer program; A computer-readable storage medium having a computer program stored therein, wherein the computer program, when executed by the processor, implements the inversion method based on collaborative correction of transient electromagnetic and ground penetrating radar data as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which is suitable for being loaded by a processor and executing the inversion method based on collaborative correction of transient electromagnetic and ground penetrating radar data as described in any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the inversion method based on collaborative correction of transient electromagnetic and ground penetrating radar data as claimed in any one of claims 1 to 6 is implemented.

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