Rotor unmanned aerial vehicle platform aviation vertical magnetic gradient measurement system

Abstract

The utility model discloses an aviation vertical magnetic gradient measurement system for a rotor unmanned aerial vehicle platform. The aviation vertical magnetic gradient measurement system comprises airborne equipment and ground equipment, the airborne equipment comprises an aviation magnetic measurement system; the aeromagnetic measurement system comprises an aeromagnetic system main control module, a sensor probe rod and a data acquisition module; the sensor probe rod comprises a three-axis fluxgate sensor I and a three-axis fluxgate sensor II which are electrically connected with the data acquisition module, and a fluxgate attitude sensor which is directly and electrically connected with the aeromagnetic system main control module; the data acquisition modules are electrically connected with the aeromagnetic system main control module; the first three-axis fluxgate sensor and the second three-axis fluxgate sensor are arranged at an appointed distance in the length direction of a rod body of the sensor probe rod, and the rod body is vertically arranged. The ground equipment comprises a ground station in wireless connection with the aviation magnetic measurement system. According to the utility model, the magnetic gradient data can be obtained in real time without additionally building a ground magnetic daily variation station and an aeromagnetic compensator, the use cost is low, the working efficiency is high, and the installation is convenient.

Description

Technical Field

[0001] The utility model relates to the technical field of aeromagnetic measurement of a rotary-wing unmanned aerial vehicle platform, in particular to an aerovertical magnetic gradient measurement system of a rotary-wing unmanned aerial vehicle platform. Background Art

[0002] Among the many geophysical exploration methods, magnetic exploration has the characteristics of wide application range and rich experience. The development of mineral resources, the exploration of underground pipelines and unexploded bombs are all important application areas of magnetic exploration. Magnetic exploration can be divided into ground magnetic exploration and aeromagnetic exploration from the perspective of exploration space. Among them, ground magnetic survey is easily affected by seasonal factors, geographical factors, human factors, etc., and has certain limitations. Aerial magnetic survey can avoid the interference of the above factors. In recent years, aeromagnetic survey conducted on rotorcraft drone platforms has been a research hotspot in the field of magnetic survey.

[0003] In the related art, the fuselage and other electromechanical equipment of the UAV will cause great magnetic interference to the fluxgate sensor, so some UAV aeromagnetic systems will also combine the attitude information of the UAV and the three-component data of the magnetic field to compensate for the magnetic interference of the data; however, the above-mentioned type of aeromagnetic system can only obtain effective results after the exploration mission is completed and the original data is retrieved for compensation. In military operations, such as emergency tasks such as eliminating unexploded bombs, it is impossible to transmit magnetic anomaly information in real time and quickly lock the location information of the unexploded bomb, resulting in low efficiency and cumbersome process.

[0004] At the same time, in the existing UAV aeromagnetic measurement technology solutions, optically pumped magnetometers are generally selected for total magnetic field measurements or single three-component magnetometers for magnetic three-component measurements. Not only can the advantages of aeromagnetic gradient measurements not be utilized, but additional ground-based magnetic diurnal variation stations are also required to observe magnetic diurnal variations.

[0005] Therefore, how to provide an aerial vertical magnetic gradient measurement system for a rotorcraft UAV platform that does not require the construction of an additional ground magnetic diurnal variation station or an aeromagnetic compensator is a technical problem that needs to be urgently solved by those skilled in the art. Utility Model Content

[0006] In view of the above research status and existing problems, the utility model provides an aeromagnetic vertical magnetic gradient measurement system for a rotary-wing UAV platform, which does not require the construction of a magnetic diurnal variation station and utilizes two three-axis fluxgate sensors and one fluxgate attitude sensor to assist in aeromagnetic gradient measurement.

[0007] The utility model provides a rotor UAV platform aviation vertical magnetic gradient measurement system, including: airborne equipment and ground equipment; wherein,

[0008] The airborne equipment includes a wireless transmission device 1 and an aeromagnetic measurement system; the aeromagnetic measurement system includes an aeromagnetic system main control module, a sensor probe, and a data acquisition module; the sensor probe includes a three-axis fluxgate sensor 1 and a three-axis fluxgate sensor 2 electrically connected to the data acquisition module, and a fluxgate attitude sensor directly electrically connected to the aeromagnetic system main control module; the wireless transmission device 1 and the data acquisition module are both electrically connected to the aeromagnetic system main control module;

[0009] The three-axis fluxgate sensor 1 and the three-axis fluxgate sensor 2 are arranged at a specified distance along the length direction of the sensor probe rod, and the rod body is arranged vertically;

[0010] The ground equipment includes a wireless transmission device 2 wirelessly connected to the wireless transmission device 1, and a ground station electrically connected to the wireless transmission device 2.

[0011] Preferably, the airborne equipment further includes a drone platform system; the drone platform system includes: a drone intelligent power system, a drone flight control system, a drone magnetic compass, a barometric altimeter and an RTKGPS module;

[0012] The UAV intelligent power supply system is electrically connected to the UAV flight control system, the UAV magnetic compass, the barometric altimeter and the RTKGPS module; the UAV magnetic compass, the barometric altimeter and the RTKGPS module are electrically connected to the UAV flight control system; the UAV flight control system is electrically connected to the wireless transmission device.

[0013] Preferably, the data acquisition module includes an anti-aliasing filter circuit, a voltage range matching circuit, a single-ended to differential circuit, an ADC peripheral circuit and an acquisition control circuit which are electrically connected in sequence; the anti-aliasing filter circuit is electrically connected to three-axis fluxgate sensor 1 and three-axis fluxgate sensor 2 respectively, and the acquisition control circuit is electrically connected to the aeromagnetic system main control module.

[0014] Preferably, the airborne equipment is installed on a rotary-wing UAV, a UAV platform bracket is fixed at the bottom of the rotary-wing UAV, a reduction DC motor is rigidly connected to the UAV platform bracket, the output shaft of the reduction DC motor is transmission-connected to the segmented boom, and the sensor probe is rigidly connected to the segmented boom.

[0015] Preferably, the aeromagnetic survey system further comprises an aeromagnetic system power supply module, and the aeromagnetic system power supply module is electrically connected to the aeromagnetic system main control module, the sensor probe and the data acquisition module respectively.

[0016] Preferably, the aeromagnetic measurement system further comprises a data storage module, and the data storage module is electrically connected to the aeromagnetic system main control module.

[0017] Preferably, it also includes an instrument box, in which all components of the aeromagnetic measurement system except the sensor probe are installed; the instrument box is installed at the bottom of the rotary-wing UAV.

[0018] Preferably, the airborne equipment is installed on a rotary-wing drone, and a carbon fiber plate is fixed to the bottom of the rotary-wing drone by means of studs; the top of the stud is installed on the bottom surface of the rotary-wing drone, the bottom of the stud is fixed to the carbon fiber plate with matching threads, and the instrument box is installed on the upper surface of the carbon fiber plate.

[0019] Compared with the prior art, the utility model has the following beneficial effects:

[0020] The utility model utilizes two three-axis fluxgate sensors and one fluxgate attitude sensor to assist in aeromagnetic gradient measurement, which can meet the needs of real-time monitoring of magnetic anomaly information and targeted detection of magnetic anomaly areas in emergency projects such as the elimination of unexploded bombs, and avoids the disadvantages of low efficiency and complicated process of general aeromagnetic systems when facing such projects.

[0021] The utility model can obtain magnetic gradient data with reference significance from the ground station in real time without the need for additional construction of a ground magnetic diurnal variation station or an aeromagnetic compensator, and has the characteristics of low use cost, high work efficiency and easy installation.

[0022] Compared with general aeromagnetic total field measurements, the aeromagnetic gradient measurement adopted in the utility model not only does not require the construction of a magnetic diurnal variation station, but also has the advantages of strong ability to reflect the horizontal or vertical spatial changes of magnetic field intensity and is not affected by magnetic diurnal variations. It can improve spatial resolution and provide more diversified magnetic field information, thereby improving the quality of interpretation of results. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the utility model, and for ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work.

[0024] Figure 1 This is an organizational framework diagram of an aviation vertical magnetic gradient measurement system for a rotary-wing UAV platform provided by an embodiment of the utility model;

[0025] Figure 2 It is a circuit diagram of a data acquisition module provided by an embodiment of the utility model;

[0026] Figure 3 This is a structural diagram of the installation of an aviation vertical magnetic gradient measurement system provided by an embodiment of the utility model on a rotary-wing UAV;

[0027] Figure 4 It is a diagram of the installation structure of the sensor probe provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] The following is combined with Figure 1-4 The application principle of the utility model is described in detail.

[0030] like Figure 1 As shown, the rotary wing UAV platform aviation vertical magnetic gradient measurement system provided in this embodiment can be divided into two parts: airborne equipment and ground equipment.

[0031] The airborne equipment includes a wireless transmission device 1 for data transmission and command reception and transmission between various parts of the airborne equipment and ground equipment, and an aeromagnetic system 3 for measuring magnetic field data and other related data; the aeromagnetic system 3 includes an aeromagnetic system main control module 302, a sensor probe rod 303, and a data acquisition module 304; the sensor probe rod 303 includes a three-axis fluxgate sensor 1 3032 and a three-axis fluxgate sensor 2 3033 electrically connected to the data acquisition module 304, and a fluxgate attitude sensor 3031 directly electrically connected to the aeromagnetic system main control module 302; the wireless transmission device 1 and the data acquisition module 304 are both electrically connected to the aeromagnetic system main control module 302; the three-axis fluxgate sensor 1 3032 and the three-axis fluxgate sensor 2 3033 are arranged at a specified distance along the length direction of the sensor probe rod 303, and the rod body is arranged vertically. The sensor probe rod 303 is used to measure magnetic gradient data and magnetic sensor attitude data, and the data acquisition module 304 is used to collect the measured magnetic gradient data.

[0032] The ground equipment includes a wireless transmission device 24 wirelessly connected to the wireless transmission device 1, and a ground station electrically connected to the wireless transmission device 24. The ground station is deployed in the ground station system 5, and can send operating instructions to the airborne equipment and monitor the magnetic gradient data in real time. The wireless transmission device 24 is used for data transmission and command transmission and reception between various parts of the ground equipment and the airborne equipment.

[0033] In one embodiment, the airborne equipment further includes a drone platform system 2 that serves as a flight carrier of the magnetic measurement system; the drone platform system 2 includes: a drone intelligent power system 201, a drone flight control system 202, a drone magnetic compass 203, a barometric altimeter 204, and an RTKGPS module 205;

[0034] The UAV intelligent power supply system 201 is electrically connected to the UAV flight control system 202, the UAV magnetic compass 203, the barometric altimeter 204 and the RTKGPS module 1 205 and supplies power to them; the UAV magnetic compass 203, the barometric altimeter 204 and the RTKGPS module 1 205 are electrically connected to the UAV flight control system 202 respectively; the UAV flight control system 202 is electrically connected to the wireless transmission device 1, and the UAV flight control system 202 is communicatively connected to the ground station system 5 through the wireless transmission device 1 and the wireless transmission device 2 4.

[0035] It should be noted that the drone magnetic compass 203 is used to provide drone attitude data to assist flight, the barometric altimeter 204 is used to provide altitude data of the drone platform, the RTKGPS module 1 205 and the RTKGPS module 2 504 of the ground equipment calculate the positioning data of the drone platform together, and generate it in the RTKGPS module 1 205, and the drone flight control system 202 is used to integrate the above data to control the flight of the rotor drone, and send the positioning data to the aeromagnetic measurement system 3. The data interaction process of the above-mentioned instruments and equipment is realized by using the known functions of the corresponding instruments and equipment, and does not belong to the improved part of the present utility model.

[0036] In one embodiment, Figure 2 The data acquisition module 304 is shown as a specific solution, wherein the three-axis fluxgate sensor 1 3032, the three-axis fluxgate sensor 2 3033 and Figure 1 The fluxgate attitude sensor 3031 is installed together inside the sensor probe rod 303, and the probes of the three-axis fluxgate sensor 1 3032 and the three-axis fluxgate sensor 2 3033 are placed one meter apart in the vertical direction to obtain magnetic gradient information.

[0037] In one embodiment, the data acquisition module 304 includes an anti-aliasing filter circuit 3041, a voltage range matching circuit 3042, a single-ended to differential circuit 3043, an ADC peripheral circuit 3044 and an acquisition control circuit 3045 which are electrically connected in sequence; the anti-aliasing filter circuit 3041 is electrically connected to the three-axis fluxgate sensor 1 3032 and the three-axis fluxgate sensor 2 3033 respectively, and the acquisition control circuit 3045 is electrically connected to the aeromagnetic system main control module 302.

[0038] Three-axis fluxgate sensor 1 3032 and three-axis fluxgate sensor 2 3033 output a total of 6 analog signals that enter the anti-aliasing filter circuit 3041. The anti-aliasing filter circuit 3041 filters out high-frequency noise, and the remaining signal with low-frequency characteristics is the useful signal containing magnetic field information. The ADC chip selected by the utility model is ADS131E08S, which receives differential signals, and the signal amplitude range is 0 to 2.4V. Therefore, the filtered signal must first pass through the voltage range matching circuit 3042 to modify the signal amplitude, and then enter the single-ended differential circuit 3043 to convert one single-ended signal into two differential signals, and finally can be input into the ADC peripheral circuit 3044 for data acquisition. The acquisition control circuit 3045 is responsible for initializing and selecting functions of the ADC chip, and transmitting the collected magnetic gradient data to the aeromagnetic system main control module 302 via the RS485 bus.

[0039] In one embodiment, Figure 3 As shown, the airborne equipment is installed on the rotary-wing UAV, and a UAV platform bracket 11 is fixed at the bottom of the rotary-wing UAV. A cover 6 is provided on the top of the rotary-wing UAV, and inside the cover 6 are all parts of the UAV platform system 2 except the UAV intelligent power supply system 201. The upper end of the copper stud 7 is installed under the UAV, and the lower end is fixed to the carbon fiber plate 9 with matching threads, so that the carbon fiber plate 9 becomes a support platform under the UAV. All parts of the aeromagnetic measurement system 3 except the sensor probe 303 are installed inside the instrument box 8, and the instrument box 8 is placed on the upper surface of the carbon fiber plate 9, and the UAV intelligent power supply system 201 is installed on the lower surface of the carbon fiber plate 10.

[0040] like Figure 4 As shown, the reduction DC motor 10 is rigidly connected to the UAV platform bracket 11, and the reduction DC motor 10 controls the locking and loosening of the segmented boom 12. The sensor probe rod 303 is rigidly connected to the segmented boom 12. The locked segmented boom 12 can keep the sensor probe rod 303 away from the noise interference of the UAV platform and reduce the swing error.

[0041] The specific structure of the reduction DC motor 10 controlling the locking and loosening of the segmented suspension rod 12 is as follows:

[0042] The segmentable suspension rod 12 includes a plurality of hollow segmented rods movably connected head to tail, and the movable connection can be understood as the segmented rods being sleeved one after another in sequence, and a rope is suspended in the hollow position of the segmentable suspension rod 12, and the rope can be made of a polyester rope with extremely low ductility, and the end of the rope is fixed to the bottom segmented rod, and runs through the entire segmentable suspension rod 12. The head end of the rope is wound on the output shaft of the reduction DC motor 10.

[0043] The length of the branch rods is designed so that when the rope is put to the longest length, the lengths of the branch rods still meet the mutual sleeve state, thereby preventing the branch rods from slipping off.

[0044] The segmented boom 12 also has a tightening limit structure, such as each segmented boom is a cylindrical structure with a cone angle, and the wide end of one of the two segmented booms connected to each other is sleeved outside the narrow end of the other segmented boom. When the reduction DC motor 10 rotates, the rope is wound around the output shaft, pulling the end of the rope upward, forcing the segmented booms 12 to tighten with each other, forming a long pole with greatly reduced bending and swinging. When the system experiment is completed, the reduction DC motor 10 controls the segmented boom 12 to relax to facilitate the landing of the UAV platform.

[0045] In one embodiment, the aeromagnetic survey system 3 further includes an aeromagnetic system power module 301 , which is electrically connected to the aeromagnetic system main control module 302 , the sensor probe 303 , and the data acquisition module 304 and supplies power to them.

[0046] In one embodiment, the aeromagnetic measurement system 3 further includes a data storage module 305 , and the data storage module 305 is electrically connected to the aeromagnetic system main control module 302 .

[0047] The aeromagnetic system main control module 302 is used to control the sensor probe 303, the data acquisition module 304 and the data storage module 305. At the same time, it also receives the positioning data from the UAV flight control system 202 and sends it to the data storage module 305. The data storage module 305 stores the positioning data, the magnetic gradient data of the sensor probe 303 and the magnetic sensor attitude data in a one-to-one correspondence.

[0048] In one embodiment, an instrument box 8 is also included, in which all components of the aeromagnetic measurement system 3 except the sensor probe rod 303 are installed; the instrument box 8 is installed at the bottom of the rotary-wing UAV.

[0049] In one embodiment, the airborne equipment is installed on a rotary-wing UAV, and a carbon fiber plate 9 is fixed to the bottom of the rotary-wing UAV by means of studs 7; the top end of the stud 7 is installed on the bottom surface of the rotary-wing UAV, and the bottom end of the stud 7 is fixed to the carbon fiber plate 9 with matching threads, and the instrument box 8 is installed on the upper surface of the carbon fiber plate 9.

[0050] In one embodiment, the ground station system 5 includes a system error correction module 501, an unmanned aerial vehicle ground control software 502, a magnetic anomaly monitoring module 503, an RTKGPS module 2 504 and a waypoint planning system 505. The system error correction module 501, the magnetic anomaly monitoring module 503 and the waypoint planning system 505 are built-in functions of the unmanned aerial vehicle ground control software 502. The system error correction module 501 is used to perform error correction on the magnetic gradient data and magnetic sensor attitude data received by the wireless transmission device 2 4. The RTKGPS module 2 504 and the RTKGPS module 1 205 of the airborne equipment calculate the positioning data of the unmanned aerial vehicle platform together. The waypoint planning system 505 is used to demarcate the measurement area and design the flight trajectory for the unmanned aerial vehicle platform. The magnetic anomaly monitoring module 503 is used to visualize the corrected magnetic gradient data on the unmanned aerial vehicle ground control software 502.

[0051] The above is a detailed introduction to the aviation vertical magnetic gradient measurement system of a rotorcraft UAV platform provided by the utility model. This article uses specific examples to illustrate the principle and implementation method of the utility model. The description of the above embodiments is only used to help understand the method and core idea of ​​the utility model; at the same time, for general technical personnel in this field, according to the idea of ​​the utility model, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the utility model.

[0052] In this article, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

Claims

1. A rotary wing UAV platform aviation vertical magnetic gradient measurement system, characterized in that: include: Airborne equipment and ground equipment; among them, The airborne equipment comprises a wireless transmission device (1) and an aeromagnetic measurement system (3); the aeromagnetic measurement system (3) comprises an aeromagnetic system main control module (302), a sensor probe (303), and a data acquisition module (304); the sensor probe (303) comprises a three-axis fluxgate sensor (3032) and a three-axis fluxgate sensor (3033) electrically connected to the data acquisition module (304), and a fluxgate attitude sensor (3031) directly electrically connected to the aeromagnetic system main control module (302); the wireless transmission device (1) and the data acquisition module (304) are both electrically connected to the aeromagnetic system main control module (302); The three-axis fluxgate sensor 1 (3032) and the three-axis fluxgate sensor 2 (3033) are arranged at a specified distance along the length direction of the sensor probe rod (303), and the rod body is arranged vertically; The ground equipment includes a wireless transmission device 2 (4) wirelessly connected to the wireless transmission device 1 (1), and a ground station electrically connected to the wireless transmission device 2 (4).

2. The rotary wing UAV platform aviation vertical magnetic gradient measurement system according to claim 1, characterized in that: The airborne equipment also includes an unmanned aerial vehicle platform system (2); the unmanned aerial vehicle platform system (2) includes: an unmanned aerial vehicle intelligent power system (201), an unmanned aerial vehicle flight control system (202), an unmanned aerial vehicle magnetic compass (203), a barometric altimeter (204) and an RTKGPS module 1 (205); The drone intelligent power supply system (201) is electrically connected to the drone flight control system (202), the drone magnetic compass (203), the barometric altimeter (204) and the RTKGPS module one (205) respectively; the drone magnetic compass (203), the barometric altimeter (204) and the RTKGPS module one (205) are electrically connected to the drone flight control system (202) respectively; and the drone flight control system (202) is electrically connected to the wireless transmission device one (1).

3. The rotary wing UAV platform aviation vertical magnetic gradient measurement system according to claim 1, characterized in that: The data acquisition module (304) comprises an anti-aliasing filter circuit (3041), a voltage range matching circuit (3042), a single-ended to differential circuit (3043), an ADC peripheral circuit (3044) and an acquisition control circuit (3045) which are electrically connected in sequence; the anti-aliasing filter circuit (3041) is electrically connected to a three-axis fluxgate sensor 1 (3032) and a three-axis fluxgate sensor 2 (3033), respectively, and the acquisition control circuit (3045) is electrically connected to an aeromagnetic system main control module (302).

4. The rotary wing UAV platform aviation vertical magnetic gradient measurement system according to claim 1, characterized in that: The airborne equipment is installed on a rotary wing drone, a drone platform bracket (11) is fixed at the bottom of the rotary wing drone, a reduction DC motor (10) is rigidly connected to the drone platform bracket (11), an output shaft of the reduction DC motor (10) is drivingly connected to a segmentable suspension rod (12), and a sensor probe rod (303) is rigidly connected to the segmentable suspension rod (12).

5. The rotary wing UAV platform aviation vertical magnetic gradient measurement system according to claim 1, characterized in that: The aeromagnetic measurement system (3) further comprises an aeromagnetic system power supply module (301), and the aeromagnetic system power supply module (301) is electrically connected to the aeromagnetic system main control module (302), the sensor probe (303), and the data acquisition module (304) respectively.

6. The rotary wing UAV platform aviation vertical magnetic gradient measurement system according to claim 1, characterized in that: The aeromagnetic measurement system (3) further comprises a data storage module (305), wherein the data storage module (305) is electrically connected to the aeromagnetic system main control module (302).

7. The rotary wing UAV platform aviation vertical magnetic gradient measurement system according to claim 1, characterized in that: It also comprises an instrument box (8), wherein all components of the aeromagnetic measurement system (3) except the sensor probe rod (303) are installed inside the instrument box (8); the instrument box (8) is installed at the bottom of the rotary-wing UAV.

8. The rotary wing UAV platform aviation vertical magnetic gradient measurement system according to claim 7, characterized in that: The airborne equipment is installed on a rotary-wing unmanned aerial vehicle, and a carbon fiber plate (9) is hoisted and fixed at the bottom of the rotary-wing unmanned aerial vehicle via a stud (7); the top end of the stud (7) is installed on the bottom surface of the rotary-wing unmanned aerial vehicle, the bottom end of the stud (7) is fixed to the carbon fiber plate (9) with matching threads, and the instrument box (8) is installed on the upper surface of the carbon fiber plate (9).

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