Real-time aviation geomagnetic anomaly measurement and analysis method and system for unmanned aerial vehicle

Abstract

The invention relates to the technical field of aeromagnetic detection, and discloses a real-time aviation geomagnetic anomaly measurement and analysis method and system for an unmanned aerial vehicle, and the method comprises the steps: analyzing the size and power consumption boundary of an atomic gas chamber under the requirement of a project precision index according to the environmental adaptability problem of a core assembly, affecting the precision of a magnetometer, of the atomic gas chamber and a laser light source; through experimental correction, volume power consumption optimization is realized, the frequency and power of a laser are stabilized by developing a high-precision temperature control circuit, the laser frequency is further stabilized by using atomic spectral line signals, and a humanity magnetic source magnetic anomaly identification and extraction technology is constructed through humanity magnetic source weak magnetic signal identification and anomaly information extraction. A general distribution rule of a magnetic field of a magnetic source body is researched by applying numerical simulation and physical simulation methods under different background magnetic field space distribution of a magnetic body, and a hidden meaningful magnetic body detection and identification technology in a complex disaster environment is broken through.

Description

Technical Field

[0001] The present invention relates to the field of aeromagnetic detection technology, and in particular to a real-time aeromagnetic anomaly measurement and analysis method and system for an unmanned aerial vehicle (UAV). Background Art

[0002] Human magnetic sources are various types of metal components or metal-containing components with ferromagnetic characteristics formed in human production and life. They are magnetized under the action of the geomagnetic field to produce induced magnetic fields and remanent magnetic fields, which are called human magnetic sources. Faced with the rescue needs in disaster environments, the application technology of near-surface human magnetic source detection has not yet been studied and applied. Human magnetic source detection technology is a technology that uses highly sensitive magnetic sensors to measure the weak magnetic field generated by ferromagnetic materials. It has unique environmental adaptability. Its measurement performance will not be weakened by complex natural environmental factors such as rain, snowfall, or burial. Moreover, magnetic detection technology adopts a non-contact passive detection mechanism, which can capture weak magnetic anomaly signals released by static or dynamic ferromagnetic targets in various disaster scenarios. At present, for weak signals in rescue scenarios, existing technologies cannot effectively extract them. In addition, during the rescue process, the magnetic detection system is easily interfered by the magnetic field of the drone itself. For this reason, we propose a real-time aerial geomagnetic anomaly measurement and analysis method and system for drones. Summary of the Invention

[0003] The purpose of the present invention is to provide a real-time aerial geomagnetic anomaly measurement and analysis method and system for unmanned aerial vehicles to solve the problems raised in the above background technology. To achieve the above purpose, the present invention provides the following technical solution: comprising the following steps:

[0004] S1: Based on the environmental adaptability of the atomic gas chamber and laser light source, the core components that affect the accuracy of the magnetometer, the volume and power consumption boundaries of the atomic gas chamber under the project accuracy requirements are analyzed. Combined with experimental corrections, the volume and power consumption are optimized. The frequency and power of the laser are stabilized by developing a high-precision temperature control circuit, and the atomic spectral line signal is used to further stabilize the laser frequency.

[0005] S2: Use numerical and physical simulation methods to conduct forward modeling of different types of magnetic components, realizing a method process that combines field measurement, simulation, and simulation, and classifying different magnetic objects under different disaster scenarios, such as human accessories, practical tools, housing items, and other magnetic objects;

[0006] S3: Conduct a comparative study on anomaly separation effects by comparing bandpass filtering, interpolation cutting, sliding average, trend analysis, artificial intelligence recognition and other means, and select the optimal anomaly separation method in emergency rescue scenarios based on the results of magnetic anomaly feature analysis;

[0007] S4: Real-time data reception from aeromagnetic detection devices, standardized magnetic survey data compensation, data preprocessing, data processing and conversion, shallow magnetic anomaly extraction, magnetic body positioning and range delineation, real-time drawing of various magnetic anomaly maps, geographic map overlay analysis and output of result maps;

[0008] The atomic magnetometer system in S1 has a static sensitivity of 20pT / Hz1 / 2@1Hz, a measurement range of 20,000nT to 80,000nT, a data integration accuracy greater than 99%, and a data transmission delay of less than 1s.

[0009] The data processing time of the magnetic detection device in S4 is less than 10 minutes, the target resolution is greater than 0.2m, the single-function data processing response time is less than 3 seconds, and the data mapping response time is less than 10 seconds;

[0010] The atomic magnetometer in S1 uses a low-power, small-volume vertical cavity surface laser as its light source. The light source quality is optimized through atomic spectral lines and high-precision temperature control technology to improve the measurement accuracy, stability and sensitivity of the atomic magnetometer.

[0011] A real-time aerial geomagnetic anomaly measurement and analysis system for drones, including a miniaturized magnetometer that detects weak magnetic field signals in the environment and can accurately capture magnetic field changes caused by human magnetic sources;

[0012] High-precision locator provides accurate geographic coordinate information for magnetic detection data, and uses RTK to achieve centimeter-level positioning accuracy, ensuring that the drone accurately records the spatial position corresponding to each magnetic detection data during flight;

[0013] Altimeter: measures the height of the drone from the ground or target in real time, providing elevation information for magnetic exploration data collection;

[0014] Magnetic compensator, used to eliminate or reduce the influence of external interference magnetic field on magnetic detection measurement results;

[0015] The video image acquisition device collects real-time video image information during the flight of the UAV, which complements the magnetic detection data.

[0016] The positioning accuracy of the drone's magnetic detection and positioning system is 0.1m in the horizontal direction and 0.1m in the vertical direction. The sampling rate of the magnetic measurement acquisition system data set is greater than 200Hz, the data integration accuracy is greater than 99%, and the data transmission delay is less than 1s.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. In this invention, the magnetic compensation technology of the rotorcraft UAV magnetic measurement system is used. The rotorcraft UAV, as the main carrier of the magnetometer, generates an electromagnetic field far greater than the magnetic field of the detection target due to its own magnetic induction in the Earth's magnetic field and the coil current, effectively eliminating the magnetic interference field of the UAV itself.

[0019] 2. In this invention, by identifying weak magnetic signals from human magnetic sources and extracting abnormal information, a technology for identifying and extracting magnetic anomalies from human magnetic sources is constructed. Numerical simulation and physical simulation methods are applied to study the general distribution law of the magnetic field of the magnetic source under different background magnetic field spatial distributions, thus achieving a breakthrough in the detection and identification technology of hidden and meaningful magnetic bodies in complex disaster environments.

[0020] 3. In the present invention, the magnetic field characteristics of human magnetic sources and the detection mechanism under disaster environments are studied, and the magnetic field characteristic models and measurements of human magnetic sources that may be buried in various disaster scenarios such as geological landslides, mudslides, mountain collapses, bridge collapses, tunnel collapses, earthquake collapses, floods and water burials are completed, and a complete magnetic feature library is established as the basis for magnetic source identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 Schematic diagram of the airborne geomagnetic anomaly measurement and analysis method of the present invention;

[0022] Figure 2 Schematic diagram of the human magnetic source magnetic characteristics database of the present invention. DETAILED DESCRIPTION

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0024] Example 1:

[0025] The present invention provides a technical solution: S1: Based on the environmental adaptability of the core components of the atomic gas chamber and laser light source that affect the accuracy of the magnetometer, the volume and power consumption boundaries of the atomic gas chamber under the project accuracy requirements are analyzed, and combined with experimental corrections, the volume and power consumption are optimized. The frequency and power of the laser are stabilized by developing a high-precision temperature control circuit, and the atomic spectral line signal is used to further stabilize the laser frequency.

[0026] S2: Use numerical and physical simulation methods to conduct forward modeling of different types of magnetic components, realizing a method process that combines field measurement, simulation, and simulation, and classifying different magnetic objects under different disaster scenarios, such as human accessories, practical tools, housing items, and other magnetic objects;

[0027] S3: Conduct a comparative study on anomaly separation effects by comparing bandpass filtering, interpolation cutting, sliding average, trend analysis, artificial intelligence recognition and other means, and select the optimal anomaly separation method in emergency rescue scenarios based on the results of magnetic anomaly feature analysis;

[0028] S4: Real-time data reception from aeromagnetic detection devices, standardized magnetic survey data compensation, data preprocessing, data processing and conversion, shallow magnetic anomaly extraction, magnetic body positioning and range delineation, real-time drawing of various magnetic anomaly maps, geographic map overlay analysis and output of result maps;

[0029] The atomic magnetometer system in S1 has a static sensitivity of 20pT / Hz1 / 2@1Hz, a measurement range of 20,000nT to 80,000nT, a data integration accuracy greater than 99%, and a data transmission delay of less than 1s.

[0030] The data processing time of the magnetic detection device in S4 is less than 10 minutes, the target resolution is greater than 0.2m, the single-function data processing response time is less than 3 seconds, and the data mapping response time is less than 10 seconds;

[0031] The atomic magnetometer in S1 uses a low-power, small-volume vertical cavity surface laser as its light source. The light source quality is optimized through atomic spectral lines and high-precision temperature control technology to improve the measurement accuracy, stability and sensitivity of the atomic magnetometer.

[0032] In this embodiment, the miniaturized magnetometer was optimized: Based on project requirements (static sensitivity ≥ 20pT / Hz¹ / ²@1Hz, measurement range 20,000nT to 80,000nT), the minimum volume and power consumption of the atomic gas chamber were determined through theoretical calculations. Twenty sets of experiments were conducted within a temperature range of -20°C to 50°C to calibrate the gas chamber parameters. A low-power vertical-cavity surface mount laser (VCSEL) was used as the light source, and a high-precision temperature control circuit (temperature control accuracy ±0.05°C) was developed to stabilize the laser frequency. Real-time feedback adjustment using atomic spectral line signals ensured light source stability.

[0033] Sensor integration: The high-precision locator uses RTK mode to achieve a horizontal / vertical positioning accuracy of 0.1m; the altimeter monitors the drone's height above the ground in real time with an error of ±3cm; and the magnetic compensator uses a preset compensation algorithm for geomagnetic field fluctuations to reduce background interference.

[0034] Data acquisition parameters: The magnetic measurement acquisition system is set to a sampling rate of 200 Hz, a data integration accuracy target of >99%, and a transmission delay of <1s;

[0035] Magnetometer optimization verification: The optimized magnetometer was tested in a laboratory environment simulating the magnetic field interference of a debris flow. The results showed that the static sensitivity reached 21pT / Hz¹ / ²@1Hz, meeting the index requirements.

[0036] Magnetic characteristic simulation: Numerical simulation software (such as COMSOL) is used to conduct forward analysis of magnetic objects such as metal farm tools and vehicles in debris flow scenarios. Combined with physical simulation (building scaled models), 100 sets of magnetic characteristic data are generated to construct a scenario-based magnetic characteristic library.

[0037] Optimization of anomaly separation algorithm: The collected magnetic exploration data was processed using bandpass filtering, interpolation cutting, and artificial intelligence recognition (based on convolutional neural networks (CNN)). Comparison found that the CNN algorithm had the highest accuracy rate (98.5%) for identifying weak magnetic anomalies, making it the optimal method.

[0038] Real-time data processing: The drone conducted a grid-like survey of the affected area at a speed of 12m / s and an altitude of 80m. The aeromagnetic detection device received real-time magnetic, positioning, altitude, and video data. After the magnetic compensator eliminated the geomagnetic field interference, the data was processed through standardized preprocessing, shallow magnetic anomaly extraction (using the Euler deconvolution algorithm), and magnetic body positioning. The total data processing time took 7 minutes, and the target resolution reached 0.18m. Finally, the magnetic anomaly map was superimposed on the satellite map to generate a visual map of the results.

[0039] For weak magnetic signals, research on magnetic anomaly identification and extraction technology based on human magnetic source disaster environments, solve technical problems such as magnetic compensation for drones under strong magnetic fields, study human magnetic source signal enhancement processing methods suitable for application scenarios with strong interference in complex disaster environments, and select the optimal processing method that can effectively extract weak magnetic characteristic signals and suppress noise signals;

[0040] Example 2:

[0041] The present invention provides a technical solution: including a miniaturized magnetometer, which is responsible for detecting weak magnetic field signals in the environment and can accurately capture the magnetic field changes generated by human magnetic sources;

[0042] High-precision locator provides accurate geographic coordinate information for magnetic detection data, and uses RTK to achieve centimeter-level positioning accuracy, ensuring that the drone accurately records the spatial position corresponding to each magnetic detection data during flight;

[0043] Altimeter: measures the height of the drone from the ground or target in real time, providing elevation information for magnetic exploration data collection;

[0044] Magnetic compensator, used to eliminate or reduce the influence of external interference magnetic field on magnetic detection measurement results;

[0045] Video image acquisition device, which collects real-time video image information during the UAV flight, complementing the magnetic detection data;

[0046] The positioning accuracy of the UAV magnetic detection and positioning system is 0.1m in the horizontal direction and 0.1m in the vertical direction. The sampling rate of the magnetic measurement acquisition system data set is greater than 200Hz, the data integration accuracy is greater than 99%, and the data transmission delay is less than 1s.

[0047] In this embodiment, based on the construction of a UAV magnetic detection and measurement system, the magnetometer and magnetic compensator mounting modes and data acquisition integration technology are studied. GPU processing is used to achieve a one-stop solution for measurement, processing, mapping, positioning, and anomaly identification. A wireless RF communication module is integrated to achieve self-organizing networking and real-time transmission of monitoring data in "three-break" scenarios. The system design features a compact multi-module structure, flexible maneuverability, few accessories, strong adaptability, dustproof and waterproof, low power consumption, and cost-effective sensors.

[0048] In this embodiment, the miniaturized magnetometer uses an optimized atomic magnetometer with a static sensitivity of 20pT / Hz¹ / ²@1Hz and a measurement range of 20,000nT-80,000nT. This can effectively capture weak magnetic field changes generated by metal objects in ruins or metal objects carried by people.

[0049] The high-precision locator uses RTK real-time dynamic positioning technology to achieve centimeter-level positioning accuracy of 0.1m in the horizontal direction and 0.1m in the vertical direction, ensuring that magnetic detection data accurately matches geographic coordinates;

[0050] The altimeter monitors the drone's height above the ground in real time with an accuracy of ±3cm, assisting the drone in maintaining a safe detection altitude and providing a basis for height calibration of magnetic detection data.

[0051] The magnetic compensator has a preset adaptive compensation algorithm to offset complex electromagnetic interference in urban environments (such as underground cables and transformer magnetic fields) in real time, improving the accuracy of measurement data.

[0052] The video image acquisition device captures real-time images at 1080P / 30fps, synchronizes them with magnetic detection data through time stamps, and intuitively presents the real scene of the detection area;

[0053] Data performance parameters: The sampling rate of the magnetic measurement acquisition system is set to 250Hz, the data integration accuracy reaches 99.2%, and the data transmission delay is only 0.7s, meeting the real-time requirements in emergency scenarios;

[0054] Human magnetic source magnetic signature library call: The system has a built-in magnetic signature library containing 320 samples, covering common magnetic objects in building collapse scenarios, such as steel structures (magnetic field characteristics of different diameters and burial depths), personal belongings of trapped people (mobile phones, keys, metal jewelry), furniture and electrical appliances (refrigerators, metal doors and windows), etc.

[0055] Flight detection mission: The UAV conducts a spiral scan of the collapse area at a speed of 8m / s and an altitude of 30m, simultaneously collecting magnetic field, positioning, altitude and video data.

[0056] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A real-time aerial geomagnetic anomaly measurement and analysis method for an unmanned aerial vehicle, characterized in that: The steps include: S1: Based on the environmental adaptability of the atomic gas chamber and laser light source, the core components that affect the accuracy of the magnetometer, the volume and power consumption boundaries of the atomic gas chamber under the project accuracy requirements are analyzed. Combined with experimental corrections, the volume and power consumption are optimized. The frequency and power of the laser are stabilized by developing a high-precision temperature control circuit, and the atomic spectral line signal is used to further stabilize the laser frequency. S2: Use numerical and physical simulation methods to conduct forward modeling of different types of magnetic components, realizing a method process that combines field measurement, simulation, and simulation, and classifying different magnetic objects under different disaster scenarios, such as human accessories, practical tools, housing items, and other magnetic objects; S3: Conduct a comparative study on anomaly separation effects by comparing bandpass filtering, interpolation cutting, sliding average, trend analysis, artificial intelligence recognition and other means, and select the optimal anomaly separation method in emergency rescue scenarios based on the results of magnetic anomaly feature analysis; S4: Real-time data reception from aeromagnetic detection devices, standardized magnetic survey data compensation, data preprocessing, data processing and conversion, shallow magnetic anomaly extraction, magnetic body positioning and range delineation, real-time drawing of various magnetic anomaly maps, geographic map overlay analysis and result map output.

2. The real-time aeromagnetic anomaly measurement and analysis method for an unmanned aerial vehicle according to claim 1, characterized in that: The atomic magnetometer system in S1 has a static sensitivity of 20pT / Hz1 / 2@1Hz, a measurement range of 20,000nT to 80,000nT, a data integration accuracy greater than 99%, and a data transmission delay of less than 1s.

3. The real-time aeromagnetic anomaly measurement and analysis method for an unmanned aerial vehicle according to claim 1, characterized in that: The data processing time of the magnetic detection device in S4 is less than 10 minutes, the target body resolution is greater than 0.2m, the single-function data processing response time is less than 3 seconds, and the data mapping response time is less than 10 seconds.

4. The real-time aeromagnetic anomaly measurement and analysis method for an unmanned aerial vehicle according to claim 1, characterized in that: The atomic magnetometer in S1 uses a low-power, small-volume vertical cavity surface laser as its light source. The light source quality is optimized through atomic spectral lines and high-precision temperature control technology to improve the measurement accuracy, stability and sensitivity of the atomic magnetometer.

5. A real-time aerial geomagnetic anomaly measurement and analysis system for unmanned aerial vehicles, characterized by: It includes a miniaturized magnetometer, which is responsible for detecting weak magnetic field signals in the environment and can accurately capture the magnetic field changes caused by human magnetic sources; High-precision locator provides accurate geographic coordinate information for magnetic detection data, and uses RTK to achieve centimeter-level positioning accuracy, ensuring that the drone accurately records the spatial position corresponding to each magnetic detection data during flight; Altimeter: measures the height of the drone from the ground or target in real time, providing elevation information for magnetic exploration data collection; Magnetic compensator, used to eliminate or reduce the influence of external interference magnetic field on magnetic detection measurement results; The video image acquisition device collects real-time video image information during the flight of the UAV, which complements the magnetic detection data.

6. The real-time airborne geomagnetic anomaly measurement and analysis system for an unmanned aerial vehicle according to claim 5, characterized in that: The positioning accuracy of the drone's magnetic detection and positioning system is 0.1m in the horizontal direction and 0.1m in the vertical direction. The sampling rate of the magnetic measurement acquisition system data set is greater than 200Hz, the data integration accuracy is greater than 99%, and the data transmission delay is less than 1s.

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