Unmanned aerial vehicle receiving coil attitude adjusting device and method

Abstract

The invention relates to the technical field of engineering geophysical prospecting, and provides an unmanned aerial vehicle receiving coil attitude adjusting device and method, and the device comprises a fixed flat plate, a controller, three telescoping cylinders, a receiving coil, three laser range finders and a lithium battery. The three telescopic cylinders are arranged in an equilateral triangle shape in the circumferential direction of the receiving coil, one end is fixed on the fixed flat plate, and the other end is hinged with the receiving coil through a connecting rod; the three laser range finders are arranged on the receiving coil, are in one-to-one correspondence with the arrangement positions of the telescopic cylinders, and are used for acquiring distance data from different spatial positions of the receiving coil to the ground surface. And the controller calculates the attitude deviation of the receiving coil based on the distance data, selects one telescopic cylinder as a reference support cylinder, and realizes the adjustment of the attitude of the receiving coil by adjusting the expansion and contraction amounts of the other two telescopic cylinders. According to the method, the attitude and the terrain clearance of the receiving coil are actively adjusted in the measurement process, so that the accuracy of aviation electromagnetic measurement data and the applicability under complex terrain conditions are improved.

Description

Technical Field

[0001] This invention relates to the field of engineering geophysical exploration technology, and in particular to a device and method for adjusting the attitude of a UAV receiving coil. Background Technology

[0002] With the continuous advancement of infrastructure construction in mountainous areas, especially the large-scale implementation of highways, tunnels, and slope engineering, the demand for refined geological surveys of underground structures in complex terrain areas is constantly increasing. These areas are typically characterized by large topographic relief, steep slopes, and poor accessibility. When using traditional surface geological survey methods (such as electrical resistivity tomography, seismic methods, and drilling), problems often arise such as difficulties in operation layout, limited measurement coverage, and high personnel safety risks, making it difficult to obtain continuous, complete, and high-quality geological information.

[0003] To address the aforementioned issues, airborne geophysical exploration technology is increasingly being applied in the field of engineering geology. Among these, airborne electromagnetic methods, by emitting electromagnetic waves and receiving subsurface response signals, enable non-contact detection of underground conductive structures, offering advantages such as high measurement efficiency, wide coverage, and strong adaptability to complex terrain. Compared to fixed-wing aircraft or helicopter platforms, UAV-based airborne electromagnetic systems offer greater flexibility in low-altitude flight and detailed localized exploration, making them particularly suitable for refined surveying tasks in mountainous areas and along engineering routes.

[0004] However, existing airborne electromagnetic systems based on UAV platforms still face significant technical limitations in practical applications. On the one hand, due to the limitations of UAV payload and endurance, the overall miniaturization of the system is high, and the transmission power and effective detection depth are constrained. On the other hand, when flying in complex terrain conditions, the UAV's flight altitude changes frequently with the terrain undulations, making it difficult to maintain a stable height and attitude of the receiving coil relative to the ground surface, which leads to changes in the electromagnetic coupling conditions between the receiving coil and the underground medium.

[0005] It should be noted that changes in the attitude of the receiving coil not only cause changes in the amplitude of the received signal, but also alter the equivalent projected area of ​​the receiving coil plane relative to the ground surface, thus directly affecting the spatial distribution characteristics and intensity of the induced eddy currents. Once this equivalent electromagnetic coupling relationship changes during the signal acquisition stage, it is difficult to accurately reconstruct the true measurement geometry by simply introducing attitude parameters through mathematical compensation or inversion models, which can easily introduce systematic errors into the inversion results. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a device and method for adjusting the attitude of a UAV receiving coil, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, this application provides a drone receiving coil attitude adjustment device, including: a fixed plate fixedly installed on the drone, a controller disposed on the fixed plate, three telescopic cylinders disposed below the fixed plate, a receiving coil, three laser rangefinders disposed on the receiving coil, and a lithium battery. The controller is electrically connected to the telescopic cylinder, the laser rangefinder, and the lithium battery, respectively. The three telescopic cylinders are arranged in an equilateral triangle in the circumferential direction of the receiving coil. One end of each telescopic cylinder is fixed to the bottom of the fixed plate, and the other end is hinged to the receiving coil through a connecting rod. The three laser rangefinders and the connecting rod are arranged in a one-to-one correspondence in the circumferential direction of the receiving coil, and are used to measure the distance from each corresponding position of the receiving coil to the ground surface. The controller calculates the attitude deviation of the receiving coil relative to the ground surface based on multiple distance values ​​measured by three laser rangefinders, and selects one of the telescopic cylinders as the reference support cylinder to keep its telescopic amount constant. By adjusting the telescopic amounts of the other two telescopic cylinders, the attitude of the receiving coil around two mutually perpendicular axes located in the plane of the receiving coil is adjusted so that the receiving coil maintains the preset attitude during the measurement process.

[0008] Preferably, one end of the telescopic cylinder is fixed to the bottom of the fixed plate, and the other end is hinged to one end of the connecting rod, and the other end of the connecting rod is hinged to the receiving coil.

[0009] Preferably, the fixed plate is further provided with a repeater and a GNSS receiving module; the repeater is electrically connected to the receiving coil and the GNSS receiving module respectively; the repeater is used to transmit the data collected by the receiving coil and the GNSS receiving module back to the ground.

[0010] Preferably, the receiving coil is provided with an inertial measurement unit, which is electrically connected to the repeater. The inertial measurement unit is used to record the angle information after the receiving coil is adjusted.

[0011] Secondly, the present invention also provides a method for adjusting the attitude of a UAV receiving coil, based on the above-mentioned UAV receiving coil attitude adjustment device, comprising the following steps: S1. Control the drone to fly to the area to be tested, so that the receiving coil is in the preset initial attitude; S2. Using three laser rangefinders set on the receiving coil, the distance data from the ground surface at three different spatial positions of the receiving coil is obtained respectively; S3. Based on the distance data and the relative arrangement of the three laser rangefinders in the circumferential direction of the receiving coil, calculate the attitude deviation of the receiving coil relative to the ground surface in two mutually perpendicular directions. S4. Select one of the three telescopic cylinders as the reference support cylinder and keep its telescopic amount constant, and control the telescopic amount of the other two telescopic cylinders to adaptively adjust the attitude of the receiving coil. S5. After the receiving coil attitude adjustment is completed, the height of the receiving coil above the ground is adjusted according to the distance data obtained by the laser rangefinder, and the electromagnetic signal is received to complete the electromagnetic signal acquisition process.

[0012] Preferably, the distance data acquired by the three laser rangefinders in S2 are denoted as h1, h2 and h3, respectively.

[0013] Preferably, in step S3, based on the distance data h1, h2, and h3 and the geometric relationship of the three laser rangefinders arranged in an equilateral triangle along the circumference of the receiving coil, the tilt angle of the receiving coil relative to the ground surface in two orthogonal directions is calculated. and This is used to characterize the attitude deviation of the receiving coil relative to the ground surface.

[0014] Preferably, the tilt angle and Calculate using the following formula: ; ; in, This represents the geometric distance between two adjacent laser rangefinders within the plane of the receiving coil.

[0015] Preferably, in step S4, the horizontal distance from the center of the receiving coil to the corresponding point of action of the telescopic cylinder is d. Then, relative to the reference support cylinder, the telescopic adjustment amounts d1 and d3 of the other two telescopic cylinders are calculated according to the following formula: ; .

[0016] The present invention discloses a device and method for adjusting the attitude of a drone receiving coil, which has the following beneficial effects.

[0017] This invention utilizes three laser rangefinders arranged in an equilateral triangle along the circumference of the receiving coil to acquire real-time distance information from different spatial positions of the receiving coil to the ground surface. Based on this distance data, the attitude deviation of the receiving coil relative to the ground surface in two mutually perpendicular directions is calculated. Furthermore, a three-point support structure composed of three telescopic cylinders dynamically adjusts the attitude of the receiving coil, effectively preventing measurement geometry drift caused by attitude changes when the UAV's flight altitude varies with terrain. Since changes in the receiving coil's attitude directly affect its equivalent projected area and electromagnetic coupling state relative to the ground surface, this invention actively controls the receiving coil's attitude during the signal acquisition stage through physical means. This ensures the receiving coil maintains a stable spatial attitude throughout the measurement process, reducing signal amplitude fluctuations and spatial response distortion caused by attitude disturbances at the source. This avoids systematic errors resulting from relying solely on post-processing compensation and improves the reliability of airborne electromagnetic data.

[0018] This invention employs three telescopic cylinders to support the receiving coil. During attitude adjustment, one of the telescopic cylinders is selected as the reference support cylinder, maintaining its extension / retraction constant. The attitude adjustment of the receiving coil around two mutually perpendicular axes can be achieved simply by adjusting the remaining two cylinders. This control method fully utilizes the actual degrees of freedom of the receiving coil's attitude adjustment, avoids the control redundancy problem caused by simultaneous adjustment of multiple actuators, and improves the stability and reliability of the attitude adjustment process.

[0019] This invention is based on the equilateral triangle arrangement of a laser rangefinder. It calculates the tilt angle of the receiving coil in two orthogonal directions through a clear geometric model, and further establishes a quantitative relationship between the tilt angle and the adjustment amount of the telescopic cylinder. This enables a clear and feasible technical link between attitude perception, attitude calculation and actuator action, reduces the difficulty of system design and debugging, and facilitates integrated application on different UAV platforms. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the application scenario structure of the present invention; Figure 2 For UAV receiver coil attitude adjustment device; Figure 3 This is a schematic diagram of the receiving coil of the present invention; Figure 4 This is a side view of the receiving device of the present invention after attitude adjustment; Figure 5 This is a front view of the receiving device of the present invention after attitude adjustment; Figure 6 This is a schematic diagram illustrating the acquisition of the tilt angle according to the present invention.

[0021] In the attached diagram: 1-Mountain; 2-UAV; 3-Attitude adjustment device; 301-Fixed plate; 302-Controller; 303-Telescopic cylinder; 304-Receiver coil; 305-Laser rangefinder; 306-Lithium battery; 307-Support; 308-Linking rod; 309-Rangefinder mounting base; 310-Hinged support; 311-Repeater; 312-GNSS receiver module; 313-Inertial measurement unit; 4-Transmitting coil; 5-Ground device. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0023] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0024] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0025] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0026] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. For those skilled in the art to which this application pertains, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0027] Example 1 As in the background art, embodiment 1 As described in the background section, existing airborne electromagnetic systems based on the UAV2 platform still face significant technical limitations in practical applications. On the one hand, due to the limitations of the UAV2's payload and endurance, the overall miniaturization of the system is high, and the transmission power and effective detection depth are constrained. On the other hand, when flying in complex terrain conditions, the UAV2's flight altitude changes frequently with the terrain undulations, making it difficult to maintain a stable height and attitude of the receiving coil 304 relative to the ground surface, which leads to changes in the electromagnetic coupling conditions between the receiving coil 304 and the underground medium.

[0028] To address the shortcomings of existing technologies, such as Figures 2 to 5 As shown, this embodiment proposes an attitude adjustment device 3 for a drone 2 receiving coil 304, including: a fixed plate 301 fixedly installed on the drone 2, a controller 302 disposed on the fixed plate 301, three telescopic cylinders 303 disposed below the fixed plate 301, a receiving coil 304, three laser rangefinders 305 disposed on the receiving coil 304, and a lithium battery 306. The controller 302 is electrically connected to the telescopic cylinder 303, the laser rangefinder 305, and the lithium battery 306, respectively. Three telescopic cylinders 303 are arranged in an equilateral triangle in the circumferential direction of the receiving coil 304. One end of each telescopic cylinder 303 is fixed to the bottom of the fixed plate 301, and the other end is hinged to the receiving coil 304 through the connecting rod 308. In this embodiment, each telescopic cylinder 303 is hinged to the connecting rod 308 via a support 307. The support 307 has a U-shaped opening at its end, and the connecting rod 308 is hinged in the U-shaped opening at the end of the support 307. The connecting rod 308 is hinged to the receiving coil 304 via the hinged support 307, and the corresponding connecting rod 308 is arranged in an equilateral triangle in the circumferential direction of the receiving coil 304.

[0029] The three laser rangefinders 305 and the connecting rod 308 are arranged in a one-to-one correspondence in the circumferential direction of the receiving coil 304, and are used to measure the distance from each corresponding position of the receiving coil 304 to the ground surface. Three laser rangefinders 305 extend from the upper surface of the receiving coil 304 through the rangefinder mounting base 309, and measure the distance from each corresponding position of the receiving coil 304 to the ground surface.

[0030] The controller 302 calculates the attitude deviation of the receiving coil 304 relative to the ground surface based on multiple distance values ​​measured by three laser rangefinders 305, and selects one of the telescopic cylinders 303 as the reference support cylinder to keep its telescopic amount constant. By adjusting the telescopic amount of the other two telescopic cylinders 303, the attitude of the receiving coil 304 around two mutually perpendicular axes located in the plane of the receiving coil 304 is adjusted so that the receiving coil 304 maintains the preset attitude during the measurement process.

[0031] Preferably, in this embodiment, one end of the telescopic cylinder 303 is fixed to the bottom of the fixed plate 301, and the other end is hinged to one end of the connecting rod 308, and the other end of the connecting rod 308 is hinged to the receiving coil 304.

[0032] Preferably, in this embodiment, the fixed plate 301 is also provided with a repeater 311 and a GNSS receiving module 312; the repeater 311 is electrically connected to the receiving coil 304 and the GNSS receiving module 312 respectively; the repeater 311 is used to transmit the data collected by the receiving coil 304 and the GNSS receiving module 312 back to the ground.

[0033] Preferably, in this embodiment, an inertial measurement unit 313 is provided on the receiving coil 304. The inertial measurement unit 313 is electrically connected to the repeater 311 and is used to record the angle information of the receiving coil 304 after adjustment. Example 2 Based on Embodiment 1, the present invention also provides a method for adjusting the attitude of the receiving coil 304 of a UAV 2, which includes the following steps based on the above-described attitude adjustment device 3 for the receiving coil 304 of a UAV 2: S1, such as Figure 1 As shown, the drone 2 is controlled to fly to the area to be measured on the mountain 1, so that the receiving coil 304 is in the preset initial attitude; S2. Using three laser rangefinders 305 mounted on the receiving coil 304, the distance data from three different spatial positions of the receiving coil 304 to the ground surface is obtained respectively. Preferably, in this embodiment, during the measurement process in S2, the three laser rangefinders 305 respectively acquire distance data from different positions of the receiving coil 304 to the ground surface, which are recorded as h1, h2 and h3 respectively.

[0034] h1, h2, and h3 correspond to the ranging results of the three laser rangefinders 305, respectively, and their numerical changes reflect the height differences of the receiving coil 304 relative to the ground surface in different directions.

[0035] In this embodiment, it should be noted that three laser rangefinders 305 are fixedly installed on the same side of the receiving coil 304, with their ranging direction substantially perpendicular to the plane of the receiving coil 304 and pointing towards the ground surface. The three laser rangefinders 305 are arranged in an equilateral triangle along the circumference of the receiving coil 304 and are located in the same plane, with equal planar geometric distances between adjacent laser rangefinders 305. This equilateral triangle arrangement allows for the acquisition of distance information from the receiving coil 304 to the ground surface at different spatial positions, thereby reflecting the overall attitude change of the receiving coil 304 relative to the ground surface.

[0036] S3. Based on the distance data and the relative arrangement of the three laser rangefinders 305 in the circumferential direction of the receiving coil 304, calculate the attitude deviation of the receiving coil 304 relative to the ground surface in two mutually perpendicular directions. In this embodiment, it should be noted that, based on the distance data h1, h2 and h3 obtained by the three laser rangefinders 305 and their equilateral triangle arrangement in the plane of the receiving coil 304, the receiving coil 304 can be approximated as a rigid plane.

[0037] like Figure 6 As shown, by analyzing the height difference relationship of the plane at different measurement points, the tilt angle of the receiving coil 304 relative to the ground surface in two orthogonal directions can be calculated. and This characterizes the attitude deviation of the receiving coil 304.

[0038] To facilitate the description and calculation of the attitude of the receiving coil 304, this embodiment establishes a local coordinate system based on the plane where the receiving coil 304 is located.

[0039] In the local coordinate system, the X-axis and Y-axis lie in the plane of the receiving coil 304 and are perpendicular to each other; the Z-axis is perpendicular to the plane of the receiving coil 304 and points towards the ground surface.

[0040] When the plane of receiving coil 304 tilts relative to the ground surface, its attitude can be decomposed into two tilt components around the X-axis and around the Y-axis, denoted as follows: and ,in This indicates the tilt angle of the receiving coil 304 around the X-axis. This indicates the tilt angle of the receiving coil 304 around the Y-axis.

[0041] Preferably, in this embodiment, in step S3, based on the distance data h1, h2, and h3 and the geometric relationship of the three laser rangefinders 305 arranged in an equilateral triangle along the circumference of the receiving coil 304, the tilt angle of the receiving coil 304 relative to the ground surface in two orthogonal directions is calculated. and This is used to characterize the attitude deviation of the receiving coil 304 relative to the ground surface.

[0042] Preferably, in this embodiment, the tilt angle and Calculate using the following formula: ; ; in, This refers to the geometric distance between two adjacent laser rangefinders 305 within the plane of the receiving coil 304. This distance is predetermined during device manufacturing and installation and is a fixed structural parameter. During attitude adjustment, this parameter... It does not change with the extension and retraction of the telescopic cylinder 303 and is used as a geometric reference in attitude calculation.

[0043] S4. Select one of the three telescopic cylinders 303 as the reference support cylinder to keep its telescopic amount constant, and control the telescopic amount of the other two telescopic cylinders 303 to adaptively adjust the attitude of the receiving coil 304. It should be noted that, in this embodiment, the receiving coil 304 forms a three-point support structure through three telescopic cylinders 303, and its attitude adjustment only involves the change in the tilt state of the receiving coil 304 relative to the ground surface. This tilt state can be equivalently represented as rotation about two mutually perpendicular axes located in the plane of the receiving coil 304, where one axis corresponds to the pitch change of the receiving coil 304 relative to the ground surface, and the other axis corresponds to the roll change of the receiving coil 304 relative to the ground surface.

[0044] Since rotation around the normal axis of the receiving coil 304 does not change the relative tilt relationship between the receiving coil 304 and the ground surface, there is no need to control the rotation in this direction during attitude adjustment. Based on the above degree of freedom analysis, one of the three telescopic cylinders 303 is selected as the reference support cylinder and its telescopic amount is kept constant. The relative telescopic changes of the other two telescopic cylinders can uniquely determine the tilt attitude of the receiving coil 304, thereby achieving precise adjustment of the attitude of the receiving coil 304, while avoiding control redundancy and improving system stability.

[0045] Preferably, in this embodiment, in S4, the horizontal distance from the center of the receiving coil 304 to the action point of the corresponding telescopic cylinder 303 is set as d. Then, relative to the reference support cylinder, the telescopic adjustment amounts d1 and d3 of the other two telescopic cylinders 303 are calculated according to the following formula: ; .

[0046] Specifically, parameter d is the horizontal distance between the center position of the receiving coil 304 and the hinge point between the corresponding telescopic cylinder 303 and the receiving coil 304. This distance is predetermined during the structural design and is a fixed geometric parameter.

[0047] The adjustment amount of each telescopic cylinder 303 is calculated through the geometric relationship between the parameter d and the tilt angle of the receiving coil 304, thereby achieving precise adjustment of the attitude of the receiving coil 304.

[0048] S5. After the attitude adjustment of the receiving coil 304 is completed, the height of the receiving coil 304 above the ground is adjusted according to the distance data obtained by the laser rangefinder 305, and the electromagnetic signal is received to complete the electromagnetic signal acquisition process.

[0049] In this embodiment, after the height of the receiving coil 304 above the ground is adjusted, the ground device 5 starts the transmitting coil 4, and the receiving coil synchronously starts signal reception to complete the electromagnetic signal acquisition process.

[0050] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A drone receiving coil attitude adjustment device, characterized in that, include: The fixed plate is mounted on the drone, the controller is located on the fixed plate, three telescopic cylinders are located below the fixed plate, the receiving coil is located, three laser rangefinders are located on the receiving coil, and the lithium battery is located. The controller is electrically connected to the telescopic cylinder, the laser rangefinder, and the lithium battery, respectively. The three telescopic cylinders are arranged in an equilateral triangle in the circumferential direction of the receiving coil. One end of each telescopic cylinder is fixed to the bottom of the fixed plate, and the other end is hinged to the receiving coil through a connecting rod. The three laser rangefinders and the connecting rod are arranged in a one-to-one correspondence in the circumferential direction of the receiving coil, and are used to measure the distance from each corresponding position of the receiving coil to the ground surface. The controller calculates the attitude deviation of the receiving coil relative to the ground surface based on multiple distance values ​​measured by three laser rangefinders, and selects one of the telescopic cylinders as the reference support cylinder to keep its telescopic amount constant. By adjusting the telescopic amounts of the other two telescopic cylinders, the attitude of the receiving coil around two mutually perpendicular axes located in the plane of the receiving coil is adjusted so that the receiving coil maintains the preset attitude during the measurement process.

2. The attitude adjustment device for a UAV receiving coil as described in claim 1, characterized in that, One end of the telescopic cylinder is fixed to the bottom of the fixed plate, and the other end is hinged to one end of the connecting rod, while the other end of the connecting rod is hinged to the receiving coil.

3. The attitude adjustment device for a UAV receiving coil as described in claim 1 or 2, characterized in that, The fixed plate is also equipped with a repeater and a GNSS receiving module; the repeater is electrically connected to the receiving coil and the GNSS receiving module respectively; the repeater is used to transmit the data collected by the receiving coil and the GNSS receiving module back to the ground.

4. The attitude adjustment device for a UAV receiving coil as described in claim 3, characterized in that, The receiving coil is equipped with an inertial measurement unit, which is electrically connected to the repeater. The inertial measurement unit is used to record the angle information after the receiving coil is adjusted.

5. A method for adjusting the attitude of a UAV receiver coil, based on the UAV receiver coil attitude adjustment device according to claim 4, characterized in that, Includes the following steps: S1. Control the drone to fly to the area to be tested, so that the receiving coil is in the preset initial attitude; S2. Using three laser rangefinders set on the receiving coil, the distance data from the ground surface at three different spatial positions of the receiving coil is obtained respectively; S3. Based on the distance data and the relative arrangement of the three laser rangefinders in the circumferential direction of the receiving coil, calculate the attitude deviation of the receiving coil relative to the ground surface in two mutually perpendicular directions. S4. Select one of the three telescopic cylinders as the reference support cylinder and keep its telescopic amount constant, and control the telescopic amount of the other two telescopic cylinders to adaptively adjust the attitude of the receiving coil. S5. After the receiving coil attitude adjustment is completed, the height of the receiving coil above the ground is adjusted according to the distance data obtained by the laser rangefinder, and the electromagnetic signal is received to complete the electromagnetic signal acquisition process.

6. The method for adjusting the attitude of a UAV receiving coil as described in claim 5, characterized in that, The distance data acquired by the three laser rangefinders in S2 are denoted as h1, h2 and h3, respectively.

7. The method for adjusting the attitude of a UAV receiving coil as described in claim 6, characterized in that, In step S3, based on the distance data h1, h2, and h3 and the geometric relationship of the three laser rangefinders arranged in an equilateral triangle along the circumference of the receiving coil, the tilt angle of the receiving coil relative to the ground surface in two orthogonal directions is calculated. and This is used to characterize the attitude deviation of the receiving coil relative to the ground surface.

8. The method for adjusting the attitude of a UAV receiving coil as described in claim 7, characterized in that, The tilt angle and Calculate using the following formula: ； ； in, This represents the geometric distance between two adjacent laser rangefinders within the plane of the receiving coil.

9. The method for adjusting the attitude of a UAV receiving coil as described in claim 8, characterized in that, In S4, let the horizontal distance from the center of the receiving coil to the corresponding telescopic cylinder's point of action be d. Then, relative to the reference support cylinder, the telescopic adjustment amounts d1 and d3 of the other two telescopic cylinders are calculated using the following formula: ； 。

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