Single-axis magnetic gradient detection method and system based on active attitude

Abstract

The invention provides a single-axis magnetic gradient detection method and system based on an active attitude, and relates to the field of single-axis magnetic gradient detection.The method comprises the steps that the attitude of a carrier is adjusted according to the magnetic gradient detection requirement; acquiring magnetic gradient information, position information of a carrier and attitude information of the carrier; constructing an inversion equation of active attitude single-axis magnetic gradient detection data; and obtaining three-dimensional magnetic distribution of the detection space by combining the magnetic gradient information, the position information and the attitude information with an inversion equation. According to the technical scheme, a solution can be provided for single-axis magnetic gradient detection of the dynamic load platform, and the detection efficiency and the detection precision are effectively improved by actively utilizing the attitude change information.

Description

Technical Field

[0001] This application relates to the field of uniaxial magnetic gradient detection, and particularly to a method and system for uniaxial magnetic gradient detection based on active attitude. Background Art

[0002] Uniaxial magnetic gradient measurement refers to measuring the gradient of the magnetic field in a certain direction, such as horizontal transverse gradient, horizontal longitudinal gradient, vertical gradient or other gradient combination methods. Usually, the gradient value is obtained by taking the difference of the observed values of multiple magnetic sensors.

[0003] The China Aero Geophysical Survey and Remote Sensing Center for Natural Resources has developed an airborne magnetic measurement system based on the Rainbow 4 unmanned aerial vehicle to measure the total magnetic field intensity and its transverse / vertical gradients; the Marine Magnetic Gradient Meter jointly developed by the Second Institute of Oceanography, Ministry of Natural Resources and the 715th Research Institute of CSSC measures the magnetic field components and their longitudinal gradients.

[0004] In the application of uniaxial magnetic gradient measurement, since the measured magnetic gradient direction changes with the attitude, the main countermeasures adopted by predecessors are to keep the carrier stable and ignore the gradient difference caused by attitude changes; or to use a smaller distance between magnetic probes to reduce the influence of attitude changes on magnetic gradient measurement. Generally speaking, no breakthrough has been made in dealing with such variable-attitude uniaxial magnetic gradient anomalies. Summary of the Invention

[0005] The purpose of the present invention is to provide a method and system for uniaxial magnetic gradient detection based on active attitude in order to solve the problem that the existing uniaxial magnetic gradient measurement method cannot effectively solve the influence of attitude changes on magnetic gradient measurement.

[0006] The above object of this application is achieved through the following technical solutions:

[0007] Step S1: Adjust the attitude of the carrier according to the requirements of magnetic gradient detection;

[0008] Step S2: Obtain magnetic gradient information, the position information of the carrier, and the attitude information of the carrier;

[0009] Step S3: Construct an inversion equation for the data of active attitude uniaxial magnetic gradient detection;

[0010] Step S4: Through the magnetic gradient information, position information and attitude information, combined with the inversion equation, obtain the three-dimensional magnetic distribution of the detection space.

[0011] Optionally, step S1 includes:

[0012] The requirements for magnetic gradient detection include: horizontal transverse magnetic gradient detection, horizontal longitudinal magnetic gradient detection or vertical magnetic gradient detection;

[0013] The attitude includes: roll, yaw and pitch;

[0014] The steps of horizontal lateral magnetic gradient detection include: adjusting the attitude of the carrier through roll and yaw;

[0015] The steps of horizontal longitudinal magnetic gradient detection include: adjusting the attitude of the carrier through pitch and yaw;

[0016] The steps of vertical magnetic gradient detection include: adjusting the attitude of the carrier through pitch and roll;

[0017] Design a specific periodic attitude change scheme;

[0018] For towed magnetic gradient detection, adjust the attitude of the carrier through the periodic attitude change scheme.

[0019] Optionally, step S2 includes:

[0020] Utilize the magnetic gradient information d D (j) to construct an inversion equation, the formula is as follows:

[0021]

[0022] where d D (j) represents the magnetic gradient information with the gradient direction D at the j-th observation point; M i represents the magnetization intensity or magnetic susceptibility corresponding to the i-th model unit; represents the response coefficient of the i-th model unit corresponding to d D (j).

[0023] A single-axis magnetic gradient detection system based on active attitude, the system includes:

[0024] Magnetic sensors, pose sensors, carriers, processing modules, and display modules;

[0025] The magnetic sensors and pose sensors are arranged on the carrier;

[0026] The magnetic sensors, pose sensors, carriers, processing modules, and display modules are all connected to the processing module;

[0027] The magnetic sensors and pose sensors are used to obtain magnetic gradient information, the position information of the carrier, and the attitude information of the carrier;

[0028] The processing module is used to adjust the attitude of the carrier according to the magnetic gradient detection requirements;

[0029] The attitude adjustment methods include: active adjustment and passive adjustment; active adjustment means adjusting the attitude to a preset direction according to requirements, and passive adjustment means that the attitude of the carrier makes a free adjustment under the influence of external forces;

[0030] The processing module is also used to construct an inversion equation for active attitude single-axis magnetic gradient detection data;

[0031] The processing module is further used to obtain the three-dimensional magnetic distribution of the detection space by combining the magnetic gradient information, position information and attitude information with the inversion equation;

[0032] The display module is used to visualize the three-dimensional magnetic distribution.

[0033] An electronic device includes a processor, a memory, a user interface, and a network interface. The memory is used to store instructions. The user interface and the network interface are used to communicate with other devices. The processor is used to execute the instructions stored in the memory so that the electronic device performs a single-axis magnetic gradient detection method based on active attitude.

[0034] A computer-readable storage medium stores instructions. When the instructions are executed, a single-axis magnetic gradient detection method based on active attitude is performed.

[0035] The beneficial effects of the technical solution provided by this application are:

[0036] By maneuvering the vehicle, it actively generates attitude changes such as pitch, roll, and yaw. Using detection data from the onboard posture sensor and magnetic gradient sensor, the three-dimensional magnetic variations in the detection area are determined by inverting magnetic gradient anomalies. The technology proposed in this paper not only provides a solution for single-axis magnetic gradient detection on a dynamic platform, but also effectively improves detection efficiency and accuracy by actively utilizing attitude change information. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present application will be further described below with reference to the accompanying drawings and embodiments, in which:

[0038] Figure 1 This is a theoretical simulation model diagram of active attitude single-axis magnetic gradient detection in an embodiment of the present application;

[0039] Figure 2 This is a three-dimensional magnetic inversion result diagram obtained by the traditional horizontal transverse magnetic gradient detection method in the embodiment of the present application;

[0040] Figure 3 This is a three-dimensional magnetic inversion result diagram obtained by the active attitude single-axis magnetic gradient detection method in the embodiment of the present application;

[0041] Figure 4 is a step diagram in an embodiment of the present application;

[0042] Figure 5 It is a schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0043] To have a clearer understanding of the technical features, objectives, and effects of this application, the specific implementation manners of this application will now be described in detail with reference to the accompanying drawings.

[0044] An embodiment of this application provides a uniaxial magnetic gradient detection method based on active attitude.

[0045] Please refer to Figure 4 , Figure 4 which is a step diagram of a uniaxial magnetic gradient detection method based on active attitude in an embodiment of this application, including:

[0046] Step S1: Adjust the attitude of the carrier according to the magnetic gradient detection requirements.

[0047] As an embodiment, by designing active attitude change magnetic gradient detection, the direction information of magnetic gradient detection is enriched, and the magnetic gradient detection effect is enhanced.

[0048] Step S2: Obtain magnetic gradient information, the position information of the carrier, and the attitude information of the carrier.

[0049] Step S3: Construct an inversion equation for the active attitude uniaxial magnetic gradient detection data.

[0050] Step S4: Through the magnetic gradient information, position information, and attitude information, combined with the inversion equation, obtain the three-dimensional magnetic distribution of the detection space.

[0051] As an embodiment, actively change the attitude of the carrier according to the detection requirements, that is, make the attitude of the gradient detection system change irregularly or periodically through the maneuver of the carrier or with the help of external forces; measure the magnetic gradient and information such as attitude and position; construct an inversion equation for the active attitude uniaxial magnetic gradient detection data, and solve the large linear equation set to obtain the magnetization intensity (or magnetic susceptibility) model of the detection space.

[0052] Step S1 includes:

[0053] The magnetic gradient detection requirements include: horizontal transverse magnetic gradient detection, horizontal longitudinal magnetic gradient detection, vertical magnetic gradient detection, or free gradient detection method;

[0054] The attitude includes: roll, yaw, and pitch;

[0055] The steps of horizontal transverse magnetic gradient detection include: adjusting the attitude of the carrier through roll and yaw;

[0056] The steps of horizontal longitudinal magnetic gradient detection include: adjusting the attitude of the carrier through pitch and yaw;

[0057] The steps of vertical magnetic gradient detection include: adjusting the attitude of the carrier through pitch and roll;

[0058] Design a specific periodic attitude change scheme;

[0059] For towed magnetic gradient detection, adjust the attitude of the carrier through the periodic attitude change scheme.

[0060] Step S2 includes:

[0061] Utilize the magnetic gradient information d D (j) to construct an inversion equation, and the formula is as follows:

[0062]

[0063] where d D (j) represents the magnetic gradient information with the gradient direction D at the j-th observation point; M i represents the magnetization intensity or magnetic susceptibility corresponding to the i-th model unit; represents the response coefficient of the i-th model unit corresponding to d D (j).

[0064] In a specific embodiment given in this application, different carrier attitudes (pitch, roll, yaw) generate different gradient directions D(j). Therefore, the response coefficient is affected not only by the position i of the model unit and the position j of the measurement point, but also by the carrier attitude. Represent the gradient direction D(j) as the direction cosine (L1, M1, N1) in three-dimensional space, and assume are the response coefficients of the i-th model unit M i along the three fixed directions x, y, and z at the j-th observation point respectively. Then the response coefficient of the i-th model unit corresponding to d D (j) can be expressed as

[0065]

[0066] A single-axis magnetic gradient detection system based on active attitude, the system includes:

[0067] Magnetic sensors, pose sensors, carriers, processing modules, and display modules;

[0068] The magnetic sensors and pose sensors are arranged on the carrier;

[0069] The magnetic sensors, pose sensors, carriers, processing modules, and display modules are all connected to the processing module;

[0070] The magnetic sensors and pose sensors are used to obtain magnetic gradient information, the position information of the carrier, and the attitude information of the carrier;

[0071] The processing module is used to adjust the attitude of the carrier according to the magnetic gradient detection requirements;

[0072] The attitude adjustment methods include: active adjustment and passive adjustment; active adjustment means adjusting the attitude to a preset direction according to requirements, and passive adjustment means that the carrier attitude makes free adjustment under the influence of external forces;

[0073] The processing module is also used to construct an inversion equation for the detection data of the active attitude single-axis magnetic gradient;

[0074] The processing module is also used to obtain the three-dimensional magnetic distribution of the detection space by combining the magnetic gradient information, position information, and attitude information with the inversion equation;

[0075] The display module is used to visually display the three-dimensional magnetic distribution.

[0076] To intuitively reflect the exploration effect of the present invention, a theoretical simulation experiment on traditional horizontal transverse magnetic gradient detection and active attitude magnetic gradient detection is designed as Figure 1 shown. The theoretical model includes two types of abnormal bodies. The center burial depths of models A1 and A2 are 230 meters, and the scales of models B1 - B5 are smaller with a center burial depth of 100 meters. The spatial distribution characteristics of the abnormal bodies are as Figure 1 shown. The magnetization intensity is set to 20 A / m. The inclination angle and declination angle of the geomagnetic field are 45° and 0° respectively. Based on the horizontal transverse magnetic gradient detection, the horizontal transverse magnetic gradient anomaly generated is as Figure 1 shown in the a horizontal cross-section diagram (red line); the magnetic gradient anomaly obtained based on the active attitude single-axis magnetic gradient detection is as Figure 1 shown in the a horizontal cross-section diagram (blue line), where the inclination angle and azimuth angle of the attitude are as Figure 1 b, Figure 1 c shown.

[0077] Analyzing the magnetic gradient anomalies in the figure, the horizontal transverse magnetic gradient anomalies caused by A1 and A2 are relatively simple. The P1 survey line is located on the west side of the target body, and its horizontal transverse magnetic gradient anomaly shows the characteristic of south positive and north negative; while the P3 survey line is located on the east side of the target body, and its horizontal transverse magnetic gradient anomaly shows the characteristic of south negative and north positive. The P2 survey line has more abnormal bodies, resulting in abnormal superposition and making the gradient anomaly more complex. Figure 2 is the magnetization intensity distribution obtained by inverting the horizontal transverse magnetic gradient anomaly under the ideal condition of assuming stable attitude; Figure 3 is the magnetization intensity distribution obtained by inverting the active attitude single-axis magnetic gradient anomaly of the present patent technology. As Figure 2 shown, even assuming that the attitude remains stable, there are large deviations in the positions of the magnetic bodies obtained by using traditional horizontal transverse magnetic gradient detection, especially for geological bodies A2, B2, and B3, and no obvious detection effect is obtained. Using the present patent technology, that is, the results obtained by active attitude single-axis magnetic gradient detection relatively more clearly show information such as the horizontal positions, depths, and scales of all abnormal bodies.

[0078] The present application also discloses an electronic device. Referring to Figure 5 , Figure 5 is a schematic structural diagram of an electronic device disclosed in an embodiment of the present application. The electronic device 500 may include: at least one processor 501, at least one network interface 504, a user interface 503, a memory 505, and at least one communication bus 502.

[0079] Among them, the communication bus 502 is used to implement connection communication between these components.

[0080] Among them, the user interface 503 may include a display screen, and optionally the user interface 503 may further include a standard wired interface and a wireless interface.

[0081] Among them, the network interface 504 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).

[0082] The present application also discloses a computer-readable storage medium, which stores multiple instructions adapted to be loaded by a processor to execute the above-mentioned method for single-axis magnetic gradient detection based on active attitude.

[0083] The above are only exemplary embodiments of the present disclosure and should not be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made in accordance with the teachings of the present disclosure still fall within the scope covered by the present disclosure.

[0084] The present application aims to cover any variations, uses, or adaptive changes of the present disclosure, which follow the general principles of the present disclosure and include common general knowledge or conventional technical means in the technical field not recorded in the present disclosure. The description and embodiments are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

1. A single-axis magnetic gradient detection method based on active attitude, characterized in that, The method includes the following steps: Step S1: Adjust the attitude of the carrier according to the requirements of magnetic gradient detection; Step S2: Obtain magnetic gradient information, the position information of the carrier, and the attitude information of the carrier; Step S3: Construct an inversion equation for the active attitude uniaxial magnetic gradient detection data; Step S4: Obtain the three-dimensional magnetic distribution of the detection space through the magnetic gradient information, position information, and attitude information, in combination with the inversion equation.

2. The single-axis magnetic gradient detection method based on the active attitude according to claim 1, characterized in that, Step S1 includes: The requirements for magnetic gradient detection include: horizontal transverse magnetic gradient detection, horizontal longitudinal magnetic gradient detection, or vertical magnetic gradient detection; The attitude includes: roll, yaw, and pitch; The steps for horizontal transverse magnetic gradient detection include: adjusting the attitude of the carrier through roll and yaw; The steps for horizontal longitudinal magnetic gradient detection include: adjusting the attitude of the carrier through pitch and yaw; The steps for vertical magnetic gradient detection include: adjusting the attitude of the carrier through pitch and roll; Design a specific periodic attitude change scheme; For towed magnetic gradient detection, adjust the attitude of the carrier through the periodic attitude change scheme.

3. A single-axis magnetic gradient detection method based on active attitude as described in claim 1, characterized in that Step S2 includes: Utilize magnetic gradient information d D (j) to construct an inversion equation, and the formula is as follows: where d D (j) represents the magnetic gradient information with the gradient direction D at the j-th observation point; M i represents the magnetization intensity or magnetic susceptibility corresponding to the i-th model unit; represents the response coefficient corresponding to the i-th model unit for d D (j).

4. A single-axis magnetic gradient detection system based on active attitude is used to implement a single-axis magnetic gradient detection method based on active attitude as described in any one of claims 1-3, characterized in that, The system includes: a magnetic sensor, a pose sensor, a carrier, a processing module, and a display module.

5. The single-axis magnetic gradient detection system based on active attitude according to claim 4, wherein The magnetic sensor and the pose sensor are arranged on the carrier; the magnetic sensor, the pose sensor, the carrier, the processing module, and the display module are all connected to the processing module.

6. The single-axis magnetic gradient detection system based on active attitude according to claim 4, characterized in that The magnetic sensor and the pose sensor are used to obtain magnetic gradient information, the position information of the carrier, and the attitude information of the carrier; The processing module is used to adjust the attitude of the carrier according to the requirements of magnetic gradient detection; The attitude adjustment methods include: active adjustment and passive adjustment; active adjustment means adjusting the attitude to a preset direction according to requirements, and passive adjustment means that the attitude of the carrier makes a free adjustment under the influence of external forces; The processing module is also used to construct an inversion equation for the active attitude uniaxial magnetic gradient detection data; The processing module is also used to obtain the three-dimensional magnetic distribution of the detection space through the magnetic gradient information, position information, and attitude information, in combination with the inversion equation; The display module is used to visually display the three-dimensional magnetic distribution.

7. An electronic device, characterized in that, It includes a processor, a memory, a user interface, and a network interface. The memory is used to store instructions. The user interface and the network interface are used to communicate with other devices. The processor is used to execute the instructions stored in the memory so that the electronic device executes the method according to any one of claims 1-3.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions, and when the instructions are executed by a computer, the method according to any one of claims 1-3 is executed.

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