Magnetic mineral detection method based on mobile terminal and related device

Abstract

The invention relates to a magnetic mineral detection method based on a mobile terminal and a related device, and belongs to the technical field of magnetic mineral exploration. The magnetic mineral detection method based on the mobile terminal comprises the steps that magnetic field calibration data collected when the mobile exploration terminal moves in a preset magnetic field calibration area according to a preset movement track and movement posture information of the mobile exploration terminal are acquired; calibrating the magnetic field acquisition precision of the mobile exploration terminal based on the magnetic field calibration data and the motion attitude information; and acquiring magnetic field data of a to-be-explored area based on the calibrated mobile exploration terminal, and determining magnetic mineral information of the to-be-explored area based on a relationship between the magnetic field data of the to-be-explored area and standard earth magnetic field data of the to-be-explored area. According to the invention, the magnetic mineral information of the to-be-explored area can be accurately positioned, and accurate exploration of the magnetic mineral by the mobile exploration terminal is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of magnetic mineral exploration, and in particular to a magnetic mineral detection method based on a mobile terminal and related devices. BACKGROUND

[0002] In the traditional field of magnetic mineral exploration, professional magnetometers and other equipment are generally used to detect the presence of underground magnetic minerals. These professional devices have the advantages of high precision, high sensitivity, etc., and can accurately measure the small changes in the magnetic field, thereby providing detailed magnetic field data for geologists to help them determine whether there are magnetic minerals underground and the approximate distribution of magnetic minerals.

[0003] However, professional magnetometer devices are usually large in size, expensive, and complex to operate, requiring professional technicians to operate and maintain. This makes the cost of magnetic mineral exploration work relatively high, and in some remote areas or small-scale exploration scenarios, it is inconvenient to carry and use these devices. The mobile exploration terminal is easily affected by interference and cannot accurately measure the magnetic field data, resulting in inaccurate exploration of magnetic minerals.

[0004] Therefore, the existing mobile exploration terminal cannot accurately explore magnetic minerals. SUMMARY

[0005] Therefore, it is necessary to provide a magnetic mineral detection method based on a mobile terminal and related devices to solve the problem that the existing mobile exploration terminal cannot accurately explore magnetic minerals.

[0006] To solve the above problems, in a first aspect, the present application provides a magnetic mineral detection method based on a mobile terminal, applied to a mobile exploration terminal, comprising: Obtaining magnetic field calibration data collected by the mobile exploration terminal when moving in a preset magnetic field calibration area according to a preset motion trajectory and motion posture information of the mobile exploration terminal; Calibrating the magnetic field collection accuracy of the mobile exploration terminal based on the magnetic field calibration data and the motion posture information; Collecting magnetic field data of a to-be-explored area by the mobile exploration terminal based on the calibration, and determining the magnetic mineral information of the to-be-explored area based on the relationship between the magnetic field data of the to-be-explored area and the standard earth magnetic field data of the to-be-explored area.

[0007] In one possible implementation, the magnetic field calibration data collected by the mobile exploration terminal when moving in a preset magnetic field calibration area according to a preset motion trajectory and the motion posture information of the mobile exploration terminal comprise: A three-dimensional rectangular coordinate system of the mobile exploration terminal is constructed, and multi-directional magnetic field calibration data collected by the mobile exploration terminal when moving according to a preset motion trajectory in a preset magnetic field calibration region is obtained, the multi-directional magnetic field calibration data including magnetic field calibration data of three coordinate axes of the three-dimensional rectangular coordinate system of the mobile exploration terminal. The motion trajectory, the pitch angle and the roll angle of the mobile exploration terminal are obtained.

[0008] In a possible implementation, the magnetic field collection accuracy of the mobile exploration terminal is calibrated based on the magnetic field calibration data and the motion posture information, including: The magnetic field of the magnetic field calibration region is ellipsoidally fitted based on the magnetic field calibration data, and fitted magnetic field data is obtained; The magnetic field deviation is solved based on the fitted magnetic field data and the magnetic field calibration data, and the calculation formula of the magnetic field deviation is:

[0009] wherein, is the magnetic field calibration data, is the fitted magnetic field data, S is a soft magnetic distortion matrix, and H is a hard magnetic bias matrix, is an environmental interference; The magnetic field correction matrix is determined based on the magnetic field deviation, and the magnetic field correction matrix includes the soft magnetic distortion matrix, the hard magnetic bias matrix and the environmental interference; The magnetic field collection accuracy of the mobile exploration terminal is calibrated based on the magnetic field correction matrix and the motion posture information.

[0010] In a possible implementation, the magnetic field collection accuracy of the mobile exploration terminal is calibrated based on the magnetic field correction matrix and the motion posture information, including: The inclination bias of the mobile exploration terminal is determined based on the motion trajectory, the pitch angle and the roll angle; The magnetic field calibration data is converted into earth coordinate system magnetic field data in combination with the magnetic field correction matrix and the inclination bias.

[0011] In a possible implementation, the obtaining of the standard earth magnetic field data of the exploration area includes: A plurality of magnetic field reference data of the exploration area collected by the calibrated mobile exploration terminal when stationary in a preset time period is obtained; The average value of the plurality of magnetic field reference data is taken as the standard earth magnetic field data of the exploration area.

[0012] In a possible implementation, the magnetic field data of the exploration area is collected by the calibrated mobile exploration terminal, and the magnetic mineral information of the exploration area is determined based on the relationship between the magnetic field data of the exploration area and the standard earth magnetic field data of the exploration area, including: The to-be-prospected area is grid-divided, and in each grid area, a plurality of magnetic field prospecting data within a preset range collected by the calibrated mobile prospecting terminal at the center of the grid area are acquired; the magnetic field prospecting data include magnetic field prospecting strength and magnetic field prospecting direction; An average value of the plurality of magnetic field prospecting strengths and an average value of the plurality of magnetic field prospecting directions in each grid area are calculated to obtain an average magnetic field prospecting strength and an average magnetic field prospecting direction; A first difference value between the average magnetic field prospecting strength and a standard magnetic field strength of the to-be-prospected area and a second difference value between the average magnetic field prospecting direction and a standard magnetic field direction of the to-be-prospected area are calculated. When the first difference value is greater than a preset magnetic field strength difference threshold value and the second difference value is greater than a preset magnetic field direction difference threshold value, it is determined that there is a magnetic mineral in the grid area.

[0013] In a possible implementation, after the magnetic mineral information of the to-be-prospected area is determined, the method further includes: determining a number of magnetic minerals in the grid area based on the first difference value and the second difference value; differentially labeling the grid area based on the number of magnetic minerals.

[0014] In a second aspect, the present application further provides a mobile terminal-based magnetic mineral detection device, characterized in that it comprises: a data acquisition module configured to acquire magnetic field calibration data collected by the mobile prospecting terminal when the mobile prospecting terminal moves in a preset magnetic field calibration area according to a preset motion trajectory and motion posture information of the mobile prospecting terminal; a precision calibration module configured to calibrate the magnetic field collection precision of the mobile prospecting terminal based on the magnetic field calibration data and the motion posture information; a mineral information determination module configured to collect magnetic field data of a to-be-prospected area by the calibrated mobile prospecting terminal and determine magnetic mineral information of the to-be-prospected area based on a relationship between the magnetic field data of the to-be-prospected area and standard earth magnetic field data of the to-be-prospected area.

[0015] In a third aspect, the present application further provides a mobile prospecting terminal, comprising a memory, a processor and a magnetic sensor, wherein, the memory is configured to store a program; the processor is coupled to the memory and is configured to execute the program stored in the memory to implement the steps in the mobile terminal-based magnetic mineral detection method of any of the above-mentioned embodiments; the magnetic sensor is configured to collect magnetic field data of an area where the mobile prospecting terminal is located.

[0016] In a fourth aspect, the present application further provides a computer readable storage medium for storing computer readable programs or instructions, which can realize the steps of the mobile terminal based magnetic mineral detection method according to any one of the above embodiments when executed by a processor.

[0017] The present application has the following beneficial effects: the mobile terminal based magnetic mineral detection method provided by the present application can be applied to a mobile exploration terminal, is convenient to carry, and is suitable for remote areas or small-scale exploration scenes. By acquiring magnetic field calibration data collected by the mobile exploration terminal when moving in a preset magnetic field calibration area according to a preset motion trajectory and motion posture information of the mobile exploration terminal, the magnetic field collection accuracy of the mobile exploration terminal is calibrated based on the magnetic field calibration data and the motion posture information, so as to ensure the magnetic field collection accuracy of the mobile exploration terminal when exploring in different areas. By moving the mobile exploration terminal in a specific area according to a characteristic motion trajectory, the comprehensiveness of the magnetic field calibration data collected by the mobile exploration terminal is ensured, and the calibration accuracy of the mobile exploration terminal is improved. By collecting magnetic field data of a to-be-explored area by the calibrated mobile exploration terminal, and determining the magnetic mineral information of the to-be-explored area based on the relationship between the magnetic field data of the to-be-explored area and standard earth magnetic field data of the to-be-explored area, the magnetic mineral information of the to-be-explored area can be accurately positioned, and accurate exploration of the magnetic mineral by the mobile exploration terminal is realized. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 A flowchart of a mobile terminal based magnetic mineral detection method provided by the present application is shown in the embodiment. Figure 2 A flowchart of an implementation method of S101 provided by the present application is shown in the embodiment. Figure 3 A flowchart of a calibration method provided by the present application is shown in the embodiment. Figure 4 A flowchart of a standard earth magnetic field data acquisition method provided by the present application is shown in the embodiment. Figure 5 A flowchart of an implementation method of S103 provided by the present application is shown in the embodiment. Figure 6 A flowchart of a magnetic mineral labeling method of S103 provided by the present application is shown in the embodiment. Figure 7 A structure schematic diagram of a mobile terminal based magnetic mineral detection device is provided for an embodiment of the present application. Figure 8 A structure schematic diagram of a mobile exploration terminal is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0020] The preferred embodiments of the present application will be described in detail with reference to the drawings, wherein the drawings form a part of the specification. The drawings, together with the present application, are used to explain the principles of the present application, and are not intended to limit the scope of the present application.

[0021] The terms "first", "second", etc. described in the embodiments of the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the technical features or implicitly indicating the number of the technical features. Therefore, the technical features limited by "first" and "second" can explicitly or implicitly include at least one of the features.

[0022] In this paper, the term "embodiment" means that the specific features, structures or properties described in conjunction with the embodiment can be included in at least one embodiment of the present application. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it independent or alternative to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] One specific embodiment of the present application, as shown in Figure 1 discloses a mobile terminal based magnetic mineral detection method, applied to a mobile exploration terminal, comprising: S101, acquiring magnetic field calibration data collected by the mobile exploration terminal when moving in a preset magnetic field calibration area according to a preset motion trajectory and motion posture information of the mobile exploration terminal.

[0024] In the embodiments of the present application, the mobile exploration terminal based magnetic mineral detection method is applied to a mobile exploration terminal, which can be a mobile device such as a mobile phone, a tablet computer, a watch, a bracelet, etc. that is easy to carry, and the magnetic mineral information of the area to be explored is explored by the magnetic sensor and the application program on the mobile exploration terminal.

[0025] In the embodiments of the present application, the preset magnetic field calibration area is a place where the magnetic field measurement accuracy of the mobile exploration terminal can be calibrated, which is generally a place with little or no magnetic field interference, ensuring that the calibration process is far away from strong magnetic field sources such as electrical appliances, metal objects, magnetic sources, etc. Optionally, to ensure the accuracy of subsequent magnetic mineral exploration, the area near the area to be explored without magnetic field interference can be used as the preset magnetic field calibration area.

[0026] In an embodiment of the present invention, the preset motion trajectory means that the mobile exploration terminal needs to move along a specific trajectory during calibration, such as completing an "8" shape or a three-dimensional rotation movement in the air, and it needs to last for a period of time, such as 10 to 20 seconds, to ensure that the magnetic sensor of the mobile exploration terminal can collect magnetic field data in multiple directions.

[0027] In an embodiment of the present invention, because the mobile exploration terminal may flip, tilt, etc. when moving along a preset motion trajectory, the magnetic field data collected by the sensor in the mobile exploration terminal may also have deviations. Therefore, when the mobile exploration terminal moves along the preset motion trajectory, the motion posture information of the mobile exploration terminal also needs to be recorded to facilitate the subsequent calibration of the magnetic field acquisition accuracy.

[0028] S102: Calibrate the magnetic field acquisition accuracy of the mobile exploration terminal based on the magnetic field calibration data and the motion posture information.

[0029] In an embodiment of the present invention, after obtaining the magnetic field calibration data collected by the mobile exploration terminal in a preset magnetic field calibration area, the motion posture information of the mobile exploration terminal can be collected to calibrate the magnetic field collection accuracy of the mobile exploration terminal. Because when the mobile exploration terminal is exploring for magnetic minerals in a new area to be explored, the accuracy of the magnetic field data collected by the magnetic sensor of the mobile exploration terminal cannot be guaranteed, and in actual applications, the earth's magnetic field will also be different in different geographical locations. Therefore, it is necessary to ensure the accuracy of the magnetic field collection accuracy of the mobile exploration terminal in different geographical locations, and then the magnetic field collection accuracy of the mobile exploration terminal needs to be calibrated. Among them, the specific calibration process of the magnetic field collection accuracy of the mobile exploration terminal will be described in detail later in the present invention.

[0030] S103, collecting magnetic field data of the area to be explored based on the calibrated mobile exploration terminal, and determining magnetic mineral information of the area to be explored based on the relationship between the magnetic field data of the area to be explored and the standard earth magnetic field data of the area to be explored.

[0031] In an embodiment of the present invention, after the mobile exploration terminal completes the calibration of the magnetic field acquisition accuracy, the magnetic field data of the area to be explored is collected, and then the magnetic field data of the area to be explored is compared with the standard earth magnetic field data of the area to be explored, so as to determine the magnetic mineral information of the area to be explored. When comparing the magnetic field data of the area to be explored with the standard earth magnetic field data of the area to be explored, the magnetic field strength and magnetic field direction can be compared. The specific comparison method will be described in detail later in the present invention.

[0032] The mobile terminal-based magnetic mineral detection method provided by the application can be applied to a mobile exploration terminal, is convenient to carry, is suitable for remote areas or small-scale exploration scenes, and can ensure the magnetic field collection precision of the mobile exploration terminal when exploring different areas. The mobile exploration terminal is moved in a specific area according to a characteristic motion track, the comprehensiveness of the magnetic field calibration data collected by the mobile exploration terminal is ensured, and the calibration precision of the mobile exploration terminal is improved. The magnetic field data of the area to be explored are collected by the calibrated mobile exploration terminal, and the magnetic mineral information of the area to be explored is determined based on the relationship between the magnetic field data of the area to be explored and the standard earth magnetic field data of the area to be explored, so that the magnetic mineral information of the area to be explored can be accurately positioned, and accurate exploration of the magnetic mineral by the mobile exploration terminal is realized.

[0033] In some possible embodiments of the application, as shown in Figure 2 The magnetic field calibration data collected by the mobile exploration terminal in the preset magnetic field calibration area according to the preset motion track and the motion posture information of the mobile exploration terminal include: S201, a three-dimensional rectangular coordinate system of the mobile exploration terminal is constructed, and multi-directional magnetic field calibration data collected by the mobile exploration terminal in the preset magnetic field calibration area according to a preset motion track are acquired, the multi-directional magnetic field calibration data containing magnetic field calibration data in three coordinate axis directions of the three-dimensional rectangular coordinate system of the mobile exploration terminal; S202, the motion track, the pitch angle and the roll angle of the mobile exploration terminal are acquired.

[0034] In the embodiments of the application, when the magnetic field collection precision of the mobile exploration terminal is calibrated, a three-dimensional rectangular coordinate system of the mobile exploration terminal needs to be constructed first, and the three-dimensional rectangular coordinate system takes the mobile exploration terminal as the origin. When the multi-directional magnetic field calibration data are collected, it is necessary to ensure that the magnetic field calibration data in each coordinate axis direction are collected. Based on this, the mobile exploration terminal can be controlled to complete an "8" shape or three-dimensional rotation action in the air, and the motion posture of the mobile exploration terminal, including but not limited to the motion track, the pitch angle and the roll angle, is collected through the accelerometer, the gyroscope and other devices loaded on the mobile exploration terminal. Further, the geographic coordinates of the magnetic field calibration area can also be marked by a positioning module (such as a GPS module or a Beidou positioning system), so as to facilitate the recording of the magnetic field data in different positions.

[0035] The embodiment of the present application collects the magnetic field data in multiple directions in the magnetic field calibration area and the motion trajectory, the pitch angle and the roll angle of the mobile exploration terminal, so as to provide accurate data source for subsequent calibration of the magnetic field collection accuracy of the mobile exploration terminal.

[0036] In some possible embodiments of the present application, the magnetic field collection accuracy of the mobile exploration terminal is calibrated based on the magnetic field calibration data and the motion posture information, comprising: Ellipsoidal fitting is performed on the magnetic field of the magnetic field calibration area based on the magnetic field calibration data, so as to obtain the fitted magnetic field data; The magnetic field deviation is solved based on the fitted magnetic field data and the magnetic field calibration data, and the calculation formula of the magnetic field deviation is:

[0037] Among them, is the magnetic field calibration data, is the fitted magnetic field data, S is a soft magnetic distortion matrix, and H is a hard magnetic bias matrix, is the environmental interference; The magnetic field correction matrix is determined based on the magnetic field deviation, and the magnetic field correction matrix comprises the soft magnetic distortion matrix, the hard magnetic bias matrix and the environmental interference; The magnetic field collection accuracy of the mobile exploration terminal is calibrated based on the magnetic field correction matrix and the motion posture information.

[0038] In the embodiment of the present application, after the magnetic field calibration data of the magnetic field calibration area is obtained, the least square method is used to perform ellipsoidal fitting on the magnetic field of the magnetic field calibration area, so as to obtain the fitted magnetic field data of the magnetic field calibration area. The fitted magnetic field data can accurately reflect the magnetic field condition of the magnetic field calibration area. Then, the magnetic field deviation is solved based on the fitted magnetic field data and the magnetic field calibration data, and the magnetic field correction matrix is determined based on the soft magnetic distortion matrix, the hard magnetic bias matrix and the environmental interference. Then, the collected magnetic field calibration data of the magnetic field calibration area is corrected based on the magnetic field correction matrix, so as to obtain the real magnetic field data of the magnetic field calibration area, and the calibration of the magnetic field collection accuracy of the mobile exploration terminal is completed.

[0039] Further, as shown in the figure, Figure 3 The magnetic field collection accuracy of the mobile exploration terminal is calibrated based on the magnetic field correction matrix and the motion posture information, comprising: S301, the inclination bias of the mobile exploration terminal is determined based on the motion trajectory, the pitch angle and the roll angle; S302, the magnetic field calibration data is converted into the earth coordinate system magnetic field data in combination with the magnetic field correction matrix and the inclination bias.

[0040] In the embodiment of the present application, since the mobile exploration terminal will appear flip, tilt and other actions when collecting the magnetic field calibration data of the magnetic field calibration area, resulting in deviation of the magnetic field calibration data collected by the mobile exploration terminal, at this time, the inclination bias of the mobile exploration terminal needs to be determined based on the motion trajectory, pitch angle and roll angle of the mobile exploration terminal, and then the magnetic field calibration data is converted into the earth coordinate system magnetic field data in combination with the magnetic field correction matrix and the inclination bias. Further, the calibrated magnetic field data is converted from the three-dimensional rectangular coordinate system of the mobile exploration terminal to the earth coordinate system, such as the northeast sky ENU coordinate system, to complete the calibration of the magnetic field collection accuracy of the mobile exploration terminal. After the calibration is completed, the mobile exploration terminal can directly display the corrected magnetic field intensity and magnetic field direction in the earth coordinate system when collecting the magnetic field data of the area to be explored, which is more accurate for collecting the magnetic field data and is convenient for the explorer to view and compare.

[0041] In some possible embodiments of the present application, as shown in Figure 4 The acquisition of the standard earth magnetic field data of the area to be explored includes: S401, acquiring a plurality of magnetic field reference data of the area to be explored collected by the calibrated mobile exploration terminal when the mobile exploration terminal is stationary in a preset time period; S402, taking the average value of the plurality of magnetic field reference data as the standard earth magnetic field data of the area to be explored.

[0042] In the embodiment of the present application, when the area to be explored is explored for magnetic minerals, a plurality of magnetic field reference data of the area to be explored collected by the calibrated mobile exploration terminal is used, wherein the mobile exploration terminal needs to be kept in a delicate state and maintained for a period of time, such as 10 seconds, when collecting the magnetic field reference data, so that a plurality of magnetic field reference data can be obtained, and then the average value of the plurality of magnetic field reference data is calculated, which is taken as the standard earth magnetic field data of the area to be explored.

[0043] Specifically, as shown in Figure 5 Based on the magnetic field data of the area to be explored collected by the calibrated mobile exploration terminal, and based on the relationship between the magnetic field data of the area to be explored and the standard earth magnetic field data of the area to be explored, the magnetic mineral information of the area to be explored is determined, including: S501, dividing the area to be explored into grids, and in each grid area, acquiring a plurality of magnetic field exploration data within a preset range collected by the calibrated mobile exploration terminal at the center of the grid area; the magnetic field exploration data includes magnetic field exploration intensity and magnetic field exploration direction; S502, calculating the average value of the plurality of magnetic field exploration intensities and the average value of the plurality of magnetic field exploration directions in each grid area to obtain the average magnetic field exploration intensity and the average magnetic field exploration direction; S503, calculate a first difference value between the average magnetic field exploration intensity and the standard magnetic field intensity of the region to be explored, and a second difference value between the average magnetic field exploration direction and the standard magnetic field direction of the region to be explored; S504, when the first difference value is greater than a preset magnetic field intensity difference threshold value and the second difference value is greater than a preset magnetic field direction difference threshold value, it is judged that there is a magnetic mineral in the grid region.

[0044] In the embodiment of the present application, when determining the magnetic mineral information of the area to be explored, the area to be explored can be divided into a plurality of grid regions, and in each grid region, the magnetic field data is collected within a circular range with a radius of 5 meters and taking the center of the grid as the starting point. Then, the collected magnetic field exploration data is compared with the magnetic field reference data. Specifically, the magnetic field strength and the magnetic field direction can be compared. For example, in the first grid, the magnetic field data is collected at intervals of 1 meter in the grid region, and a total of 20 data points are collected. After data processing, the average value of the magnetic field strength in the range is 52 μT, and the average value of the magnetic field direction is magnetic north 12° east. The collected average magnetic field strength 52 μT is compared with the calibrated reference strength 50 μT, and the strength change amount is calculated as 52-50 = 2 μT, which indicates that the magnetic field strength of the region has increased compared to the calibrated earth magnetic field strength. The collected average magnetic field direction magnetic north 12° east is compared with the calibrated reference direction magnetic north 10° east, and the direction change amount is calculated as 12-10 = 2°, which indicates that the magnetic field direction has also changed to a certain extent. According to experience, if the magnetic field strength change amount exceeds 1 μT and the direction change amount exceeds 1°, it is considered that the region has a magnetic field anomaly. In this example, the strength and direction change amounts both exceed the set threshold, and it is preliminarily judged that the region may have magnetic minerals. For another example, the magnetic field data is collected in a grid region with a radius of 5 meters, and after 20 data points are collected, the average value of the magnetic field strength is 49 μT, and the average value of the magnetic field direction is magnetic north 9° east. The strength change amount is calculated as 49-50 =-1 μT, i.e. the magnetic field strength of the region has decreased slightly compared to the reference value. The direction change amount is calculated as 9-10 =-1°, and the magnetic field direction has also changed slightly. Although the strength and direction both change, the change amounts are within the set threshold range, so it is judged that the magnetic field of the region is basically normal and there may be no obvious magnetic minerals. For another example, after the magnetic field data of the region is collected, the average value of the magnetic field strength is 60 μT, and the average value of the magnetic field direction is magnetic north 20° east. The strength change amount is 60-50 = 10 μT, and the magnetic field strength has increased significantly. The direction change amount is 20-10 = 10°, and the magnetic field direction has also changed significantly. The strength and direction change amounts both far exceed the set threshold, and it is highly suspected that the region has magnetic minerals, which needs to be further detected and analyzed. Through the collection and comparison of the magnetic field data in a plurality of grid regions, a magnetic field change map of the entire detection region can be drawn, and the magnetic mineral information in the area to be explored can be accurately determined.

[0045] In some possible embodiments of the present application, as shown in Figure 6 After determining the magnetic mineral information of the area to be explored, the method comprises: S601, determining the number of magnetic minerals in the grid region based on the first difference value and the second difference value. S602, differentially label the grid area based on the number of magnetic minerals.

[0046] In the embodiment of the present application, as shown in the foregoing embodiment, the size of the first difference and the second difference can represent the probability of the presence of magnetic minerals in the area to be explored and the number of magnetic minerals present. Based on this, a differential labeling method can be used to label the possibility and number of magnetic minerals in the grid area, such as using different colors or symbols to represent the degree of change in magnetic field strength and direction, thereby intuitively showing the area of magnetic field anomaly. Different colors or icons are used to represent different magnetic field changes, for example, green represents a normal magnetic field, and red represents a magnetic field anomaly, which may indicate the presence of magnetic minerals. Users can quickly understand the magnetic field distribution of the exploration area through the color change. Display the specific numerical value of the magnetic field change, including the magnetic field strength change and the direction change, etc., so that users can understand the magnetic field change in more detail. Display the location information of the magnetic field anomaly area, mark the area where magnetic minerals may exist in the form of a map, and users can intuitively see the distribution of the abnormal area.

[0047] Further, the collected magnetic field data and analysis results can be stored in the local storage, and users can view historical data at any time. At the same time, users can also share the exploration results with other personnel, and send data and map information through email, SMS or social networks, etc., to facilitate team collaboration and communication.

[0048] In order to better implement the mobile terminal-based magnetic mineral detection method in the embodiment of the present application, on the basis of the mobile terminal-based magnetic mineral detection method, as shown in Figure 7 The embodiment of the present application also provides a mobile terminal-based magnetic mineral detection device. The mobile terminal-based magnetic mineral detection device 700 includes: The data acquisition module 701 is configured to acquire magnetic field calibration data collected by the mobile exploration terminal when moving along a preset motion trajectory in a preset magnetic field calibration area and motion posture information of the mobile exploration terminal. The precision calibration module 702 is configured to calibrate the magnetic field acquisition precision of the mobile exploration terminal based on the magnetic field calibration data and the motion posture information. The mineral information determination module 703 is configured to acquire magnetic field data of the area to be explored by the mobile exploration terminal based on the calibration, and determine the magnetic mineral information of the area to be explored based on the relationship between the magnetic field data of the area to be explored and the standard earth magnetic field data of the area to be explored.

[0049] The mobile terminal-based magnetic mineral detection device 700 provided by the above embodiments can implement the technical solutions described in the above mobile terminal-based magnetic mineral detection method embodiments, and the principles of implementation of the above modules or units can be referred to the corresponding content in the above mobile terminal-based magnetic mineral detection method embodiments, which will not be described here again.

[0050] As shown in Figure 8 The present application also correspondingly provides a mobile exploration terminal 800. The mobile exploration terminal 800 includes a processor 801, a memory 802 and a magnetic sensor 803. Figure 8 Only part of the components of the mobile exploration terminal 800 are shown, but it should be understood that all the shown components are not required to be implemented, and more or less components can be alternatively implemented.

[0051] The processor 801 can be a central processing unit (CPU), a microprocessor or other data processing chip in some embodiments, used to run the program code or process data stored in the memory 802, such as the mobile terminal-based magnetic mineral detection method in the present application.

[0052] In some embodiments, the electronic device can exchange data with an external server through the processor 801. In some embodiments, the processor 801 can also exchange data with a cloud platform, which can include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multiple cloud, etc., or any combination of the above.

[0053] The memory 802 can be an internal storage unit of the mobile exploration terminal 800 in some embodiments, such as a hard disk or a memory of the mobile exploration terminal 800. The memory 802 can also be an external storage device of the mobile exploration terminal 800 in other embodiments, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the mobile exploration terminal 800.

[0054] Further, the memory 802 can include both the internal storage unit and the external storage device of the mobile exploration terminal 800. The memory 802 is used to store application software and various data installed on the mobile exploration terminal 800.

[0055] In some embodiments, when the processor 801 executes the magnetic mineral exploration program in the memory 802, the following steps can be implemented: Obtaining magnetic field calibration data collected by the mobile exploration terminal when moving along a preset motion trajectory in a preset magnetic field calibration area and motion posture information of the mobile exploration terminal; The magnetic field collection precision of the mobile exploration terminal is calibrated based on the magnetic field calibration data and the motion posture information. The magnetic field data of the to-be-explored region is collected by the calibrated mobile exploration terminal, and the magnetic mineral information of the to-be-explored region is determined based on the relationship between the magnetic field data of the to-be-explored region and the standard earth magnetic field data of the to-be-explored region.

[0056] It should be understood that, in addition to the above functions, the processor 801 can also implement other functions when executing the magnetic mineral exploration program in the memory 802. For details, refer to the description of the corresponding method embodiments.

[0057] Correspondingly, the embodiments of the present application also provide a computer readable storage medium, which is used to store computer readable programs or instructions. When the programs or instructions are executed by a processor, the steps or functions in the magnetic mineral exploration method based on a mobile terminal provided by the above method embodiments can be implemented.

[0058] Those skilled in the art can understand that all or part of the processes of the above-mentioned embodiments can be completed by a computer program instructing related hardware, and the program can be stored in a computer readable storage medium. The computer readable storage medium includes a magnetic disk, an optical disk, a read-only memory, a random access memory, etc.

[0059] The above description is only the preferred embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A magnetic mineral detection method based on a mobile terminal, applied to a mobile prospecting terminal, characterized in that: include: Acquiring magnetic field calibration data and motion posture information of the mobile exploration terminal collected when the mobile exploration terminal moves along a preset motion trajectory in a preset magnetic field calibration area; Calibrate the magnetic field acquisition accuracy of the mobile exploration terminal based on the magnetic field calibration data and the motion posture information; The magnetic field data of the area to be explored is collected based on the calibrated mobile exploration terminal, and the magnetic mineral information of the area to be explored is determined based on the relationship between the magnetic field data of the area to be explored and the standard earth magnetic field data of the area to be explored.

2. The magnetic mineral detection method based on a mobile terminal according to claim 1, characterized in that: The acquiring of magnetic field calibration data and motion posture information of the mobile exploration terminal collected when the mobile exploration terminal moves along a preset motion trajectory in a preset magnetic field calibration area includes: Constructing a three-dimensional rectangular coordinate system for the mobile exploration terminal, and obtaining multi-directional magnetic field calibration data collected when the mobile exploration terminal moves along a preset motion trajectory in a preset magnetic field calibration area, wherein the multi-directional magnetic field calibration data includes magnetic field calibration data in three coordinate axis directions of the three-dimensional rectangular coordinate system of the mobile exploration terminal; Obtain the motion trajectory, pitch angle, and roll angle of the mobile exploration terminal.

3. The magnetic mineral detection method based on a mobile terminal according to claim 2, characterized in that: The calibrating the magnetic field acquisition accuracy of the mobile exploration terminal based on the magnetic field calibration data and the motion posture information includes: performing ellipsoid fitting on the magnetic field of the magnetic field calibration area based on the magnetic field calibration data to obtain fitting magnetic field data; The magnetic field deviation is solved based on the fitting magnetic field data and the magnetic field calibration data. The calculation formula of the magnetic field deviation is: in, is the magnetic field calibration data, To fit the magnetic field data, S is the soft magnetic distortion matrix, H is the hard magnetic bias matrix, for environmental interference; Determining a magnetic field correction matrix based on the magnetic field deviation, wherein the magnetic field correction matrix includes the soft magnetic distortion matrix, the hard magnetic bias matrix, and environmental interference; The magnetic field acquisition accuracy of the mobile exploration terminal is calibrated based on the magnetic field correction matrix and the motion posture information.

4. The method for detecting magnetic minerals based on a mobile terminal according to claim 3, characterized in that: The calibrating the magnetic field acquisition accuracy of the mobile exploration terminal based on the magnetic field correction matrix and the motion posture information includes: Determining the tilt bias of the mobile exploration terminal based on the motion trajectory, the pitch angle, and the roll angle; The magnetic field calibration data is converted into earth coordinate system magnetic field data in combination with the magnetic field correction matrix and the tilt bias.

5. The magnetic mineral detection method based on a mobile terminal according to claim 1, characterized in that: The acquisition of standard geomagnetic field data of the area to be explored includes: Acquire multiple magnetic field reference data of the area to be surveyed collected by the calibrated mobile survey terminal when it is stationary within a preset time period; The average value of the plurality of magnetic field reference data is used as the standard earth magnetic field data of the area to be explored.

6. The method for detecting magnetic minerals based on a mobile terminal according to claim 1, characterized in that: The collecting magnetic field data of the area to be explored based on the calibrated mobile exploration terminal, and determining the magnetic mineral information of the area to be explored based on the relationship between the magnetic field data of the area to be explored and the standard earth magnetic field data of the area to be explored, includes: Divide the area to be surveyed into a grid, and within each grid area, obtain a plurality of magnetic field survey data within a preset range collected by the calibrated mobile survey terminal at the center of the grid area; the magnetic field survey data includes magnetic field survey intensity and magnetic field survey direction; Calculating an average value of a plurality of magnetic field exploration intensities and an average value of a plurality of magnetic field exploration directions in each of the grid areas to obtain an average magnetic field exploration intensity and an average magnetic field exploration direction; Calculating a first difference between the average magnetic field exploration intensity and the standard magnetic field intensity of the area to be explored, and a second difference between the average magnetic field exploration direction and the standard magnetic field direction of the area to be explored; When the first difference is greater than a preset magnetic field intensity difference threshold and the second difference is greater than a preset magnetic field direction difference threshold, it is determined that magnetic minerals exist in the grid area.

7. The method for detecting magnetic minerals based on a mobile terminal according to claim 6, characterized in that: After determining the magnetic mineral information of the area to be explored, the method includes: determining the amount of magnetic minerals in the grid area based on the first difference and the second difference; The grid areas are differentially labeled based on the amount of the magnetic minerals.

8. A magnetic mineral detection device based on a mobile terminal, characterized in that: include: A data acquisition module, configured to acquire magnetic field calibration data and motion posture information of the mobile exploration terminal collected when the mobile exploration terminal moves along a preset motion trajectory in a preset magnetic field calibration area; An accuracy calibration module, configured to calibrate the magnetic field acquisition accuracy of the mobile exploration terminal based on the magnetic field calibration data and the motion posture information; The mineral information determination module is used to collect magnetic field data of the area to be explored based on the calibrated mobile exploration terminal, and determine the magnetic mineral information of the area to be explored based on the relationship between the magnetic field data of the area to be explored and the standard earth magnetic field data of the area to be explored.

9. A mobile exploration terminal, characterized in that: including a memory, a processor and a magnetic sensor, wherein: The memory is used to store programs; The processor is coupled to the memory and is configured to execute the program stored in the memory to implement the steps of the mobile terminal-based magnetic mineral detection method according to any one of claims 1 to 7; The magnetic sensor is used to collect magnetic field data of the area where the mobile exploration terminal is located.

10. A computer-readable storage medium, characterized in that Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps of the mobile terminal-based magnetic mineral detection method as described in any one of claims 1 to 7.

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