Method for integrating and orienting geomagnetic vector measuring device for exploration

Abstract

To provide an integration and method of a geomagnetic vector measuring device for exploration.SOLUTION: The method includes a step S1 of designing a magnetic vector measurement device body as a cross-shaped frame structure, a step S2 of providing magnetic probes at upper and lower ends of the cross-shaped frame, a step S3 of detecting a rotational relationship between three magnetic axial coordinates of the magnetic probes and three axial coordinates of an attitude meter, and a step S4 of performing correction calculation on each detected parameter. In order to solve the problem in the prior art that the measurement accuracy is not high due to the fact that the magnetometer and the attitude meter are fixedly installed on the aircraft by means of a rigid stand or the like during use and there is no complete calibration scheme, the present invention provides an integration and calibration method for a geomagnetic vector measurement device for exploration, which can greatly improve the accuracy of geomagnetic vector measurement, and can not only be used to develop the operation of measuring the aviation magnetic vector and the magnetic vector vertical gradient, but also be used for the operation of measuring the geomagnetic vector on the ground, and has higher practicability.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to the field of geomagnetic vector measurement and positioning technology, and more particularly to an integration and location method for a geomagnetic vector measurement device for exploration. [Background technology]

[0002] Geophysical exploration technology involves many fields such as gravity, magnetism, electricity, and seismology. Among them, magnetic exploration has a long history, is simple and easy to implement, and can achieve data collection in a variety of scenes such as air, sky, earth, wells, and underwater. Various measurement modes can be adopted, such as total field measurement, total field gradient measurement, three-component measurement, three-component gradient measurement, and orientation measurement (vertical component). In recent years, with the advancement of exploration technology, aeromagnetic vector measurement has attracted more and more attention from the industry, and research into each technological stage of magnetic vector measurement has become more and more in-depth. Three-axis flux gate magnetometers have also been rapidly popularized and applied, and among them, the use of three-axis flux gate magnetometers to conduct aeromagnetic vector (gradient) measurement is one of the important topics.

[0003] Among geophysical surveys, magnetic surveys using magnetometers are the most economical and rapid method, and accurate observation of magnetic vector parameters in the field has been a long-standing research and improvement goal. Therefore, flux gate magnetometers have been widely applied and rapidly improved. Magnetic vector parameters include two items: the strength (amplitude) and direction of the total magnetic field value, and currently field observations are often carried out using a three-axis flux gate magnetometer. That is, a magnetometer with three orthogonal magnetic axes is used to observe the three orthogonal azimuth components of the total magnetic field value, and then the strength and direction of the total magnetic field value are calculated by combining them. The amplitude value of the total magnetic field vector synthesized by this method will not be described here, but accurate measurement of the vector direction requires the use of devices such as an attitude meter. Therefore, how to assemble and install magnetometers, attitude meters, and other related devices and perfectly combine attitude measurement and magnetic vector measurement is an important issue for magnetic measurement practitioners.

[0004] Conventional aeromagnetic vector measurement work mostly uses manned helicopters or fixed-wing aircraft, with magnetometers and attitude indicators firmly mounted on the aircraft using rigid brackets, but since there is no suitable perfect orientation method, the measurement accuracy is insufficient. Therefore, since the existing needs cannot be met, an integration and location method for the geomagnetic vector measurement device for exploration is proposed. Summary of the Invention [Problem to be solved by the invention]

[0005] The object of the present invention is to provide a highly practical integration and location method for a geomagnetic vector measurement device for exploration, which can significantly improve the accuracy of geomagnetic vector measurement and improve the exploration effect, and can be used not only for aeromagnetic vector and magnetic vector vertical gradient measurement work, but also for terrestrial geomagnetic vector measurement work, thereby solving the problems raised in the background art mentioned above. [Means for solving the problem]

[0006] To achieve the above object, the present invention provides the following technical solutions: A method for integrating and locating a geomagnetic vector measurement device for exploration, comprising: S1: The magnetic vector measuring device body is designed as a cross-shaped frame structure, and a rotatable sleeve is provided at the center bottom of the vertical tube of the cross-shaped structure; S2: A step in which magnetic probes are provided at both the upper and lower ends of the cross-shaped frame of the integrated magnetic vector measurement device body, and the magnetic probes are sealed in the cross-shaped frame of the magnetic vector measurement device body by caps; S3: Detect the rotational relationship between the three magnetic axis coordinates of the magnetic probe and the three axis coordinates of the attitude sensor, and convert the three magnetic axis coordinates into (X M , Y M , Z M ), the three axis coordinates of the attitude indicator are written as (Xz, Yz, Zz), and the three axes of the attitude indicator are the roll axis, pitch axis, and azimuth axis, respectively. S4: A step of performing correction calculations for each detected parameter to determine the polar angle and azimuth angle of the geomagnetic vector T in the spherical coordinate system of the D-type vertical tube, then determining the polar angle and azimuth angle of the geomagnetic vector T in the attitude sensor coordinate system, and finally determining the polar angle and azimuth angle of the geomagnetic vector T in the geographic coordinate system; A method for integrating and locating a geomagnetic vector measurement device for exploration, comprising:

[0007] Specifically, the manufacturing method of the magnetic vector measurement device main body includes the following steps: A step of constructing a cross structural frame using a D-shaped vertical tube as a foundation, a D-face of the D-shaped vertical tube as a reference, and two structural horizontal tubes at the center of the D-shaped vertical tube; digging a hole in the center of the D-shaped vertical pipe, connecting two outer thin horizontal pipes to the outside of the two central structural horizontal pipes, and fixing a GPS antenna to the outer upper ends of the two thin horizontal pipes; The method includes the steps of: fixing and installing an electromagnetic shielding cabinet at the joint between the D-shaped vertical pipe and the structural horizontal pipe in the center of the cross-shaped frame; and installing the magnetometer body, recording system, attitude sensor body, and power supply inside the electromagnetic shielding cabinet.

[0008] Preferably, in step S3, the step of detecting the rotational relationship between the three magnetic axis coordinates of the magnetic probe and two sets of coordinates of the roll axis, pitch axis, and azimuth axis of the attitude meter specifically includes: A step of setting a spherical coordinate system of the D-type vertical pipe, in which the spherical coordinate system of the D-type vertical pipe is defined as (γ, θ, φ: Z C , X C ) and the central axis of the D-shaped vertical pipe is Z C The axis is the center of the cross structure frame of the magnetic vector measurement device body as the origin, and the two GPS antenna connection wires of the attitude sensor are connected to the X axis. C The pivotal step, detecting the rotational relationships between the three-axis coordinate system of the magnetic probe and the spherical coordinate system of the D-shaped vertical pipe, and between the three-axis coordinate system of the attitude sensor and the spherical coordinate system of the D-shaped vertical pipe; Organizing the two sets of data obtained from the two inspections, selecting the 10 rows of data with the best quality as the inspection base data, and analyzing and determining the data values ​​of various feature points; X in the spherical coordinate system of the D-type vertical pipe (1) M Axis and Y M Calculating the azimuthal and polar angles of the axis, X in the spherical coordinate system of the D-type vertical pipe (1) M The polar angle of the axis is θ Xm , Y in the spherical coordinate system of the D-type vertical pipe (1) M The polar angle of the axis is θ Ym , X in the spherical coordinate system of the D-type vertical pipe (1) M The azimuth angle of the axis is φ Xm , Y in the spherical coordinate system of the D-type vertical pipe (1) M The azimuth angle of the axis is φ Ym and X in the spherical coordinate system of the D-type vertical pipe (1) Z Axis and Y Z Calculating the azimuthal and polar angles of the axis, X in the spherical coordinate system of the D-type vertical pipe (1) Z The azimuth angle of the axis is φ Xz , Y in the spherical coordinate system of the D-type vertical pipe (1) Z The azimuth angle of the axis is φ Yz , X in the spherical coordinate system of the D-type vertical pipe (1) Z The polar angle of the axis is θ Xz , Y in the spherical coordinate system of the D-type vertical pipe (1) Z The polar angle of the axis is θ Yz and Based on the magnetic measurement data of the second measurement, Z M The azimuth angle of the axis is φ ZD , Z M The polar angle of the axis is θ ZD , X M The axial azimuth is c, and the magnetic north azimuth is φ T0 Then, the azimuth angle φ of the D-type vertical pipe (1) ZD0 and determining:

[0009] Preferably, the step of analyzing and determining the data values ​​of the various feature points includes the steps of: X of the magnetic probe (4) in the first observation data M and Y M The maximum and minimum values ​​of the magnetic field components observed on the magnetic axis of are analyzed and the maximum value is taken as T x11 and T y11 , the minimum value is T x12 and Ty12 and the geographic azimuth angle φ corresponding to the maximum, minimum, and zero points of the magnetic field component mx11 , φ my11 , φ mx12 , φ my12 , φ mxo11 , φ mxo12 , φ myo11 , φ myo12 and analyzing and determining X of the magnetic probe (4) in the second observation data M and Y M The maximum and minimum values ​​of the magnetic field components observed on the magnetic axis of are analyzed and the maximum value is taken as T x21 and T y21 , the minimum value is T x22 and T y22 and the geographic azimuth angle φ corresponding to the maximum, minimum, and zero points of the magnetic field component mx21 , φ my21 , φ mx22 , φ my22 , φ mxo21 , φ mxo22 , φ myo21 , φ myo22 and analyzing and determining Roll axis X in the first observation attitude data Z and pitch axis Y Z The maximum and minimum values ​​of the tilt angle observed in the zx11 and θ zy11 , the minimum value is θ zx12 and θ zy12 and the geographic azimuth angle φ corresponding to the maximum, minimum, and zero points of the tilt angle zx11 , φ zy11 , φ zx12 , φ zy12 , φ zxo11 , φ zxo12 , φ zyo11 , φ zyo12 and analyzing and determining By reanalysis, the roll axis X in the second observation attitude data Z and pitch axis Y Z The maximum and minimum values ​​of the tilt angle observed in the zx21 and θ zy21 , the minimum value is θ zx22 and θ zy22and the geographic azimuth angle φ corresponding to the maximum, minimum, and zero points of the tilt angle zx21 , φ zy21 , φ zx22 , φ zy22 , φ zxo21 , φ zxo22 , φ zyo21 , φ zyo22 and analyzing and determining A step of calculating basic parameters related to subsequent calculations, the basic parameters being the total magnetic field strength value T of the test site, the angle JTI2 between the vertical plane of the central axis of the D-type vertical pipe (1) at the time of the second measurement and the total magnetic field strength value T vector, and M X and a step including an angle Jmx formed between the magnetic axis and a plane perpendicular to the central axis of the D-shaped vertical tube (1).

[0010] Preferably, the formula for calculating the basic parameters is as follows:

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[0011] Preferably, the φ Xm The calculation formula is as follows: φ Xm = φ TO -φ mx11 θ Xm and θ Ym The calculation formula is as follows: θ Xm = 90°-J mx θ Ym = 90°-J my φ Ym The calculation formula is as follows: φ Ym = cos -1 (-cotθ Xm cotθ Ym )+φ Xm φ Xz and φ Yz The calculation formula is as follows: φ Xz = φ zx21 -φ ZD0 φ Yz = φ zy21 -φ ZD0 θ Xz and θ Yz The calculation formula is as follows:

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[0012] Preferably, the azimuth angle φ of the D-shaped vertical tube ZD0 Specifically, the step of obtaining Geomagnetic vector T and X M Calculate the angle D between the axis and the unit vector M in the same direction, and use the result to find X. M The geomagnetic field component value T measured on the axis Xm where the calculation formula is:

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[0013] Preferably, the step of performing a correction calculation for each parameter detected in step S4 specifically includes the steps of: The total magnetic field strength value T vector of the three-axis coordinate system data measured by the magnetic probe is normalized to a unit vector t, and the polar angle θ of the unit vector t in the spherical coordinate system of the D-type vertical pipe is Tc and azimuth angle φ TcThe specific calculation steps are as follows:

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[0014] Compared with the prior art, the present invention has the following beneficial effects.

[0015] The present invention can significantly improve the accuracy of geomagnetic vector measurement and improve the exploration effect. The integrated magnetic vector measurement device body is a pod device that automatically stabilizes its attitude for carrying out aeromagnetic vector and magnetic vector vertical gradient measurement work, which can solve the problems of measuring the amplitude value and direction of magnetic vector measurement in the background art mentioned above. In addition, by appropriately simplifying the device by removing parts such as the tail rudder and sling, it can be used for ground geomagnetic vector measurement work, making it more practical. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a schematic diagram of the magnetic vector measurement device of the present invention. [Figure 2] FIG. 2 is a diagram showing the magnetic vector measurement device of the present invention placed vertically on a stand. [Figure 3] FIG. 3 is a diagram showing the magnetic vector measurement device of the present invention placed at an angle on a stand. [Figure 4] FIG. 4 is a cross-sectional view of a D-shaped vertical pipe of the present invention. [Figure 5] FIG. 5 is a diagram showing a coordinate system of the magnetic vector measurement device body of the present invention. [Figure 6] FIG. 6 is a schematic diagram of the orientation method of the present invention. [Explanation of symbols]

[0017] 1 D-type vertical pipe 2 Structure horizontal pipe 3 Electromagnetically shielded cabinet 4 Magnetic Probes 5 Rotatable sleeve DETAILED DESCRIPTION OF THE INVENTION

[0018] The technical solutions in the embodiments of the present invention will be described below clearly and completely with reference to the drawings in the embodiments of the present invention, but it is clear that the described embodiments are only a part of the embodiments of the present invention and do not represent all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without any inventive ideas fall within the protection scope of the present invention.

[0019] In most of the conventional aeromagnetic vector measurement work, manned helicopters or fixed-wing aircraft are used, and magnetometers and attitude indicators are firmly installed on the aircraft using rigid brackets or the like. However, there is no suitable perfect positioning solution, and therefore the measurement accuracy is insufficient. To solve this problem, with reference to Figures 1 to 6, this embodiment provides the following technical solution.

[0020] A method for integrating and locating a geomagnetic vector measurement device for exploration, as shown in FIG. 6, S1: The magnetic vector measuring device body is designed as a cross-shaped frame structure, and a rotatable sleeve 5 is provided at the bottom of the vertical tube of the cross-shaped structure; S2: A step in which the magnetic probes 4 are provided at both the upper and lower ends of the cross-shaped frame of the integrated magnetic vector measurement device body, and the magnetic probes 4 are sealed in the cross-shaped frame of the magnetic vector measurement device body by caps; S3: Detect the rotational relationship between the three magnetic axis coordinates of the magnetic probe 4 and the three axis coordinates of the attitude sensor, and convert the three magnetic axis coordinates into (X M , Y M , Z M ), the three axis coordinates of the attitude indicator are written as (Xz, Yz, Zz), and the three axes of the attitude indicator are the roll axis, pitch axis, and azimuth axis, respectively. S4: A step of performing correction calculations for each detected parameter to determine the polar angle and azimuth angle of the geomagnetic vector T in the spherical coordinate system of the D-type vertical tube 1, then determining the polar angle and azimuth angle of the geomagnetic vector T in the attitude indicator coordinate system, and finally determining the polar angle and azimuth angle of the geomagnetic vector T in the geographic coordinate system; A method for integrating and locating a geomagnetic vector measurement device for exploration, comprising:

[0021] The magnetic probe 4 is organically integrated with the attitude sensor body, GPS antenna, etc., and an electromagnetic shield cabinet 3 is used to reduce interference with the magnetic probe 4 from devices such as the power supply and the body. The orientation of the magnetic vector measuring device itself mainly includes two aspects: detection and correction calculation. That is, the (X M , Y M , Z M ) and the three magnetic axes of the attitude sensor (X Z , Y Z , Z Z ) and the original magnetic three-component data (X M , Y M , Z M ) is converted into a geographic coordinate system (X D , Y D , Z D ) to convert it into magnetic three-component data.

[0022] Specifically, the manufacturing method of the magnetic vector measurement device main body is as follows: The integrated magnetic vector measurement device body is designed as a cross-shaped frame structure, and a stable rotatable sleeve 5 is provided at the bottom of the vertical tube of the cross-shaped structure, and after the rotatable sleeve 5 is fixed to a stable bracket, the entire cross-shaped frame can be rotated around the D-shaped vertical tube 1 as a rotation axis; a step of constructing a cross structural frame using a D-shaped vertical tube 1 as a base, with the D-face of the D-shaped vertical tube 1 as a reference, and two structural horizontal tubes 2 in the center of the D-shaped vertical tube 1, so that the cross between the D-shaped vertical tube 1 and the two central structural horizontal tubes 2 is perpendicular, the D-face of the D-shaped vertical tube 1 is perpendicular to the cross face, and the two central horizontal tubes are in a straight line, so that the arc surface of the D-shaped vertical tube 1 faces forward to reduce wind resistance, and magnetic probes 4 are installed at both the upper and lower ends of the D-face, making it easy to control the attitude of the probe and increasing the stability of the probe; a step of digging a hole in the center of the D-shaped vertical pipe 1, connecting the two outer thin horizontal pipes to the outside of the two central structural horizontal pipes 2, and fixing GPS antennas to the outer upper ends of the two thin horizontal pipes; a step of installing a rudder on one end of the structural horizontal pipe 2 and a tip cap on the other end, the rudder being surrounded by a thin plastic plate, and the thin plastic plate being provided with a blade cut line for adjusting wind resistance; and a step of fixing and installing an electromagnetic shielding cabinet 3 at the junction of the D-shaped vertical tube 1 and the structural horizontal tube 2 in the center of the cross-shaped frame, and installing the magnetometer body, recording system, attitude indicator body and power supply in the electromagnetic shielding cabinet 3, wherein the electromagnetic shielding cabinet 3 is divided into three rectangular parallelepiped frames using carbon fiber plates and structural members and fixed respectively to three parts, namely the rear upper part, rear lower part and front lower part of the cross intersection in the center of the cross-shaped frame, so that the front and bottom of the electromagnetic shielding cabinet 3 for the attitude indicator body are vertical, and the electromagnetic shielding cabinet 3 is a rectangular flat box-shaped fairing, with copper wire mesh attached to the inside of the fairing and permalloy foil sheet attached to the outside, with the inner copper wire mesh mainly playing the role of electromagnetic shielding and the outer permalloy foil sheet mainly playing the role of magnetic shielding.

[0023] The front panel of the attitude meter electromagnetic shielding cabinet 3 is attached to the D-face of the D-shaped vertical tube 1, the front of the attitude meter is attached to the front of the electromagnetic shielding cabinet 3, the bottom of the attitude meter is fixed to the electromagnetic shielding cabinet 3, the magnetometer body, recording system, and power supply are each fixed to the corresponding electromagnetic shielding cabinets 3, magnetic probes 4 are installed at both ends of the D-shaped vertical tube 1, and the magnetic probes 4 are attached to the D-face of the D-shaped vertical tube 1, with the longitudinal center axis of the magnetic probe 4 coinciding with the longitudinal center axis of the D-face of the D-shaped vertical tube 1, the magnetic probe 4 is shaped like a rectangular pillar, and the magnetic probe 4 and GPS cable pass through the inside of the D-shaped vertical tube 1 and the structural horizontal tube 2 and are connected to the main body of the magnetic vector measurement device at the center. The rotating sleeve is installed under the electromagnetic shielding cabinet 3 and is attached closely to the D-shaped vertical tube 1, allowing the orientation of the three axes of the attitude sensor to nearly coincide with the three axes of the magnetic probe 4. The magnetic probe 4 has little interference and the influence of the cable is also negligible. The D-shaped vertical tube 1 is made entirely of carbon fiber with a D-shaped cross section and a hole in the center for inserting the cable. The horizontal pipe 2 is a divided carbon fiber pipe with a circular cross section, with a hole drilled in the center for inserting the cable, and a rotatable sleeve 5 is provided at the bottom of the D-shaped vertical pipe 1. The rotatable sleeve 5 is attached tightly to the D-shaped vertical pipe 1, allowing it to rotate but not loosen, so that the vertical pipe does not shake when rotated. The rotatable sleeve 5 is fastened to a clip on the bracket to enable rotation of the entire magnetic vector measuring device body, and seals are installed at both the upper and lower ends of the sleeve on the D-shaped vertical tube 1 to prevent the sleeve from coming off and to ensure a sliding support surface during rotation.

[0024] In step S3, the step of detecting the rotational relationship between the three magnetic axis coordinates of the magnetic probe 4 and two sets of coordinates of the roll axis, pitch axis, and azimuth axis of the attitude meter is specifically as follows: In the step of setting the spherical coordinate system of the D-type vertical pipe 1, as shown in the coordinate system of FIG. 5, the spherical coordinate system of the D-type vertical pipe 1 is set as (γ, θ, φ: Z C , X C ) and the central axis of the D-type vertical pipe 1 is written as Z C The axis is the center of the cross structure frame of the magnetic vector measurement device body as the origin, and the two GPS antenna connection wires of the attitude sensor are connected to the X axis. C The pivotal step, The three-axis coordinate system (X M , Y M , Z M ) and the spherical coordinate system (γ, θ, φ: Z C , X C ) and a step of detecting the rotational relationship between the three-axis coordinate system (Xz, Yz, Zz) of the attitude meter and the spherical coordinate system of the D-type vertical tube 1, which indirectly connects the three-axis coordinate system of the magnetic probe 4 and the three-axis coordinate system of the attitude meter to achieve the purpose of detection and correction; Organizing the two sets of data obtained from the two inspections, selecting the 10 rows of data with the best quality as the inspection base data, and analyzing and determining the data values ​​of various feature points; X in the spherical coordinate system of D-type vertical pipe 1 M Axis and Y M Calculating the azimuthal and polar angles of the axis, X in the spherical coordinate system of the D-type vertical tube 1 M The polar angle of the axis is θ Xm , Y in the spherical coordinate system of the D-type vertical pipe 1 M The polar angle of the axis is θ Ym , X in the spherical coordinate system of D-type vertical pipe 1 M The azimuth angle of the axis is φ Xm , Y in the spherical coordinate system of the D-type vertical pipe 1 M The azimuth angle of the axis is φ Ym and X in the spherical coordinate system of D-type vertical pipe 1 Z Axis and Y Z Calculating the azimuthal and polar angles of the axis, X in the spherical coordinate system of the D-type vertical tube 1 Z The azimuth angle of the axis is φ Xz , Y in the spherical coordinate system of the D-type vertical pipe 1 Z The azimuth angle of the axis is φ Yz , X in the spherical coordinate system of D-type vertical pipe 1 Z The polar angle of the axis is θ Xz , Y in the spherical coordinate system of the D-type vertical pipe 1 Z The polar angle of the axis is θ Yz and Based on the magnetic measurement data of the second measurement, Z M The azimuth angle of the axis is φ ZD , Z M The polar angle of the axis is θ ZD , X M The axial azimuth is c, and the magnetic north azimuth is φ T0 Then, the azimuth angle φ of the D-type vertical tube 1 ZD0 and determining:

[0025] Specifically, the step of analyzing and determining the data values ​​of various feature points includes: Magnetic Probe 4 X in the first observation data M and Y MThe maximum and minimum values ​​of the magnetic field components observed on the magnetic axis of the mx11 , φ my11 , φ mx12 , φ my12 , φ mxo11 , φ mxo12 , φ myo11 , φ myo12 The step of analyzing and determining the maximum value of T x11 and T y11 , the minimum value is T x12 and T y12 and Magnetic Probe 4 X in the second observation data M and Y M The maximum and minimum values ​​of the magnetic field components observed on the magnetic axis of the mx21 , φ my21 , φ mx22 , φ my22 , φ mxo21 , φ mxo22 , φ myo21 , φ myo22 The step of analyzing and determining the maximum value of T x21 and T y21 , the minimum value is T x22 and T y22 and Roll axis X in the first observation attitude data Z and pitch axis Y Z The maximum and minimum tilt angles observed at the zx11 , φ zy11 , φ zx12 , φ zy12 , φ zxo11 , φ zxo12 , φ zyo11 , φ zyo12 The step of analyzing and finding the maximum value of θ zx11 and θ zy11 , the minimum value is θ zx12 and θ zy12 and By reanalysis, the roll axis X in the second observation attitude data Z and pitch axis Y ZThe maximum and minimum tilt angles observed at the zx21 , φ zy21 , φ zx22 , φ zy22 , φ zxo21 , φ zxo22 , φ zyo21 , φ zyo22 The step of analyzing and finding the maximum value of θ zx21 and θ zy21 , the minimum value is θ zx22 and θ zy22 and A step of calculating basic parameters related to subsequent calculations, the basic parameters being the total magnetic field strength value T of the test site, the angle JTI2 between the vertical plane of the central axis of the D-type vertical tube 1 and the total magnetic field strength value T vector at the time of the second measurement, and M X The angle J between the magnetic axis and the vertical plane of the central axis of the D-type vertical tube 1 mx and

[0026] Specifically, the step of detecting the rotational relationship between the three-axis coordinate system of the magnetic probe 4 and the spherical coordinate system of the D-shaped vertical pipe 1, and the three-axis coordinate system of the attitude sensor and the spherical coordinate system of the D-shaped vertical pipe 1, respectively, is as follows: selecting a quiet outdoor area as a test site where the magnetic field is mild and there is no human disturbance, and the variation of the earth's magnetic field during the test is relatively small; In the field, the magnetic declination DT0 of the test site was observed and confirmed using a non-magnetic tripod and a magnetic declination meter, and the geographic azimuth angle φ of the horizontal component of the geomagnetic field was measured. T0 confirming that φ T0 = 360° + D T0 and A step of erecting a support bracket for a mobile station (pod device) and adjusting the bracket to make the initial position of the snap ring engaged with the D-shaped vertical pipe 1 as vertical as possible to stabilize the bracket, the bracket being processed using carbon fiber pipe, PE pipe joint, etc., and being non-magnetic, stable and firm, and the stability can be increased by using a weight such as a pressure water bag, and the step of being foldable and easy to carry; Attaching the mobile station to a bracket so that the D-shaped vertical tube 1 of the mobile station is as vertical as possible; a step of turning on the power, setting the sampling rate of the attitude sensor and magnetometer to 200Hz or more, and automatically recording; rotating the mobile station horizontally at a uniform speed for approximately one minute each week for two to three weeks, and recording a data series corresponding to this two to three week period, the data series including 10 columns and approximately 20,000 to 30,000 rows of data, such as time (to millisecond accuracy), longitude and latitude and altitude above sea level, geographic azimuth (to 0.01 degree resolution), roll angle (to 0.01 degree resolution), pitch angle (to 0.01 degree resolution), and magnetic three-component xm-ym-zm (to 0.01 nT resolution); adjusting the angle of the rotating sleeve on the bracket to tilt the D-shaped vertical tube 1 by about 20 degrees in the northeast direction and fixing it, and then rotating the mobile station again horizontally at a uniform speed for 2 to 3 weeks, and acquiring 10 columns and about 20,000 to 30,000 rows of data similar to the previous step; The method includes a step of examining the two acquired data sets, and if the pattern of change in the data is stable, there are no sudden changes, and the diurnal change during this period (10 minutes or less) is stable and the range of change is weak, the field test is completed.

[0027] The formula for calculating the basic parameters is as follows:

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[0028] Specifically, the step of performing correction calculations for each parameter detected in step S4 includes the following steps: The three-axis coordinate system (X M , Y M , Z M ) The total magnetic field strength value T vector of the data is normalized to the unit vector t, and the spherical coordinate system (γ, θ, φ: Z) of the D-type vertical tube 1 of the unit vector t is C , X C ) polar angle θ Tc and azimuth angle φ Tc The specific calculation steps are as follows:

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[0029] The above calculations allow us to determine the magnetic declination and magnetic inclination of the total geomagnetic field measured at each measurement point, and the total geomagnetic field T can be obtained directly from the original three-component data, achieving accurate measurement of the geomagnetic vector.

[0030] When aeromagnetic vector measurement is required, the integrated magnetic vector measurement device body is suspended under the unmanned aircraft to realize aeromagnetic vector measurement. In order to stabilize the posture of the integrated magnetic vector measurement device body during flight, the center of gravity of the integrated magnetic vector measurement device body is positioned below and behind the cross intersection, and the suspension rope has a sliding suspension point. A conical tail is positioned at the tail of the structural cross tube 2, and the suspension point can be moved according to changes in wind resistance during flight, thereby ensuring the dynamic balance of the integrated magnetic vector measurement device body and achieving the goal of stable posture. When magnetic vector measurement is required on the ground, a carbon fiber pipe is attached through a PE pipe joint to form a bracket, and the bracket is provided with a snap ring into which a rotatable sleeve 5 can be snapped.After the bracket is securely attached, the magnetic vector measurement device body can be fixed to the snap ring of the bracket via the rotatable sleeve 5 to perform measurement, and the magnetic vector measurement device body can be manually rotated stably around the axis of the D-shaped vertical pipe 1. The snap ring fixed to the rotatable sleeve 5 on the bracket can adjust the tilt angle to a fixed direction, allowing the magnetic vector measuring device body to be stably rotated horizontally or tilted and then rotated around the D-shaped vertical tube 1 as its axis.

[0031] It should be noted that in this specification, relational terms such as first and second are used merely to distinguish one entity or operation from another, and do not necessarily require or imply that such an actual relationship or order exists between those entities or operations. Furthermore, the terms include, include, or any other variant thereof are intended to be non-exclusive inclusive, such that a process, method, article, or apparatus comprising a set of elements includes not only those elements but also other elements not expressly listed or inherent in such process, method, article, or apparatus.

[0032] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention.

Claims

1. A method for integrating and locating a geomagnetic vector measurement device for exploration, comprising: Step S1: designing the magnetic vector measurement device body as a cross-shaped frame structure, and providing a rotatable sleeve (5) at the center lower part of the vertical tube of the cross-shaped frame structure; Step S2: providing magnetic probes (4) at both the top and bottom of the cross-shaped frame structure of the integrated magnetic vector measurement device body, and sealing the magnetic probes (4) within the cross-shaped frame structure of the magnetic vector measurement device body with caps; The rotational relationship between the three magnetic axis coordinates of the magnetic probe (4) and the three axis coordinates of the attitude sensor is detected, and the three magnetic axis coordinates are expressed as (X Ｍ , Y Ｍ , Z Ｍ Step S3, in which the three axes of the attitude meter are represented as (Xz, Yz, Zz), and the three axes of the attitude meter are respectively a roll axis, a pitch axis, and an azimuth axis; Step S4: performing correction calculations for each detected parameter to determine the polar angle and azimuth angle of the geomagnetic vector T in the spherical coordinate system of the D-type vertical pipe (1), then determining the polar angle and azimuth angle of the geomagnetic vector T in the attitude sensor coordinate system, and finally determining the polar angle and azimuth angle of the geomagnetic vector T in the geographic coordinate system; A method for integrating and locating a geomagnetic vector measurement device for exploration, comprising:

2. Specifically, the manufacturing method of the magnetic vector measurement device main body includes the following steps: A step of constructing a cross structural frame using the D-shaped vertical pipe (1) as a foundation and two structural horizontal pipes (2) at the center of the D-shaped vertical pipe (1) with the D-face of the D-shaped vertical pipe (1) as a reference; Digging a hole in the center of the D-shaped vertical pipe (1), connecting two outer thin horizontal pipes to the outside of the two central structural horizontal pipes (2), and fixing a GPS antenna to the outer upper ends of these two thin horizontal pipes; a step of fixing and installing an electromagnetic shielding cabinet (3) at the joint between the D-shaped vertical pipe (1) and the horizontal pipe (2) in the center of the cross-shaped frame structure, and installing a magnetometer body, a recording system, an attitude sensor body, and a power supply inside the electromagnetic shielding cabinet (3); 2. The method for integrating and locating a geomagnetic vector measurement device for exploration according to claim 1, further comprising:

3. In step S3, the step of detecting the rotational relationship between the three magnetic axis coordinates of the magnetic probe (4) and two sets of coordinates of the roll axis, pitch axis, and azimuth axis of the attitude sensor specifically includes: A step of setting a spherical coordinate system of the D-shaped vertical pipe (1), wherein the spherical coordinate system of the D-shaped vertical pipe (1) is defined as (γ, θ, φ: Z Ｃ , X Ｃ ) and the central axis of the D-shaped vertical pipe (1) is Z Ｃ The axis is the center of the cross structure frame of the magnetic vector measurement device body as the origin, and the two GPS antenna connection lines of the attitude sensor are connected to the X axis. Ｃ The pivotal step, detecting the rotational relationships between the three-axis coordinate system of the magnetic probe (4) and the spherical coordinate system of the D-shaped vertical pipe (1), and between the three-axis coordinate system of the attitude sensor and the spherical coordinate system of the D-shaped vertical pipe (1); Organizing the two sets of data obtained by the two detections, selecting the 10 columns of data with the best quality as the detection base data, and analyzing and determining the data values ​​of various feature points; X in the spherical coordinate system of the D-type vertical pipe (1) Ｍ Axis and Y Ｍ Calculating the azimuthal and polar angles of the axis, Ｍ The polar angle of the axis is θ Xm , Y in the spherical coordinate system of the D-type vertical pipe (1) Ｍ The polar angle of the axis is θ Ym , X in the spherical coordinate system of the D-type vertical pipe (1) Ｍ The azimuth angle of the axis is φ Xm , Y in the spherical coordinate system of the D-type vertical pipe (1) Ｍ The azimuth angle of the axis is φ Ym and X in the spherical coordinate system of the D-type vertical pipe (1) Ｚ Axis and Y Ｚ Calculating the azimuthal and polar angles of the axis, Ｚ The azimuth angle of the axis is φ Xz , Y in the spherical coordinate system of the D-type vertical pipe (1) Ｚ The azimuth angle of the axis is φ Yz , X in the spherical coordinate system of the D-type vertical pipe (1) Ｚ The polar angle of the axis is θ Xz , Y in the spherical coordinate system of the D-type vertical pipe (1) Ｚ The polar angle of the axis is θ Yz and Based on the magnetic measurement data of the second measurement, Z Ｍ The azimuth angle of the axis is φ ZD , Z Ｍ The polar angle of the axis is θ ZD , X Ｍ The axial azimuth is c, and the magnetic north azimuth is φ T0 and the azimuth angle φ of the D-shaped vertical tube (1) ZD0 and 2. The method for integrating and locating a geomagnetic vector measurement device for exploration according to claim 1, further comprising:

4. Specifically, the step of analyzing and determining the data values ​​of the various feature points includes: X of the magnetic probe (4) in the first observation data Ｍ and Y Ｍ The maximum and minimum values ​​of the magnetic field components observed on the magnetic axis of are analyzed and the maximum value is taken as T ｘ１１ and T ｙ１１ , the minimum value is T ｘ１２ and T ｙ１２ and the geographic azimuth angle φ corresponding to the maximum, minimum, and zero points of the magnetic field component mx11 , φ my11 , φ mx12 , φ my12 , φ mxo11 , φ mxo12 , φ myo11 , φ myo12 and analyzing and determining X of the magnetic probe (4) in the second observation data Ｍ and Y Ｍ The maximum and minimum values ​​of the magnetic field components observed on the magnetic axis of are analyzed and the maximum value is taken as T ｘ２１ and T ｙ２１ , the minimum value is T ｘ２２ and T ｙ２２ and the geographic azimuth angle φ corresponding to the maximum, minimum, and zero points of the magnetic field component mx21 , φ my21 , φ mx22 , φ my22 , φ mxo21 , φ mxo22 , φ myo21 , φ myo22 and analyzing and determining Roll axis X in the initial observation attitude data Ｚ and pitch axis Y Ｚ The maximum and minimum values ​​of the tilt angle observed in the zx11 and θ zy11 , the minimum value is θ zx12 and θ zy12 and the geographic azimuth angle φ corresponding to the maximum, minimum, and zero points of the tilt angle zx11 , φ zy11 , φ zx12 , φ zy12 , φ zxo11 , φ zxo12 , φ zyo11 , φ zyo12 and analyzing and determining By reanalysis, the roll axis X in the second observation attitude data Ｚ and pitch axis Y Ｚ The maximum and minimum values ​​of the tilt angle observed in the zx21 and θ zy21 , the minimum value is θ zx22 and θ zy22 and the geographic azimuth angle φ corresponding to the maximum, minimum, and zero points of the tilt angle zx21 , φ zy21 , φ zx22 , φ zy22 , φ zxo21 , φ zxo22 , φ zyo21 , φ zyo22 and analyzing and determining A step of calculating basic parameters related to subsequent calculations, the basic parameters being the total magnetic field strength value T of the test field, the angle JTI2 between the vertical plane of the central axis of the D-type vertical pipe (1) and the total magnetic field strength value T vector at the time of the second measurement, and M Ｘ a step including an angle Jmx between the magnetic axis and a plane perpendicular to the central axis of the D-shaped vertical pipe (1); 4. The method for integrating and locating a geomagnetic vector measurement device for exploration according to claim 3, further comprising:

5. The calculation formula for the basic parameters is as follows: [Equation 1] SJb2 takes a positive value, [Equation 2] Calculate the angle Jmy between the My magnetic axis and the vertical plane of the central axis of the D-shaped vertical pipe (1), and the specific calculation steps are as follows: [Equation 3] 5. The method for integrating and locating geomagnetic vector measurement devices for exploration according to claim 4.

6. Said φ Xm The calculation formula is as follows: f Xm = φ TO -φ mx11 Said θ Xm and the above θ Ym The calculation formula is as follows: i Xm = 90°-J mx i Ym = 90°-J my Said φ Ym The calculation formula is as follows: f Ym = cos -1 (-cotθ Xm cot Ym )+φ Xm Said φ Xz and the above φ Yz The calculation formula is as follows: f Xz = φ zx21 -φ ZD0 f Yz = φ zy21 -φ ZD0 Said θ Xz and the above θ Yz The formula for calculating is as follows: [Equation 4] 4. The method for integrating and locating geomagnetic vector measurement devices for exploration according to claim 3.

7. The azimuth angle φ of the D-shaped vertical tube (1) ZD0 Specifically, the step of obtaining The geomagnetic vector T and X Ｍ Calculate the angle D between the axis and the unit vector M in the same direction, and use the result to find X. Ｍ The geomagnetic field component value T measured on the axis Ｘｍ where the calculation formula is: [Equation 5] (In the formula, a = Jmx, b = JTI2, θ) ZD = θ zx21 -θ Xz ) Use fitting calculation mode to calculate Z Ｍ Azimuth angle φ ZD0 The calculation steps are as follows: c is X Ｍ The four values ​​corresponding to the maximum value, minimum value and azimuth angles of the two zero points of the second magnetic measurement data of the axis are taken and denoted as c1, c2, c3 and c4, where c1=φ mx21 −DT0, c2=φ mx22 −DT0, c3=φ mxo21 −DT0, c4=φ mxo22 -DT0, φ ZD are given, and using the above formula, T corresponding to c1, c2, c3, and c4 are calculated. Ｘｍ Find the value of sinθ in the formula. VM , cosθ VM and cos c, all c values ​​have corresponding c1, c2, c3, c4 values, and T Xm(n) = TcosD (n) , n=1, 2, 3, 4, The fitting difference MD, which is the sum of the mean square deviation between the theoretical value calculated by the above formula and the actual measurement value, is calculated. [Equation 6] In actual calculations, φ ZD is set to 20° to 60°, the step size is 0.01°, and the fitting difference MD (i) Calculate each of [Equation 7] In the above formula, i is φ ZD represents a number ranging from 0 to 4000, and the azimuth angle φ ZD(i) The formula for the corresponding value is as follows: f ZD(i) =20+0.01i All of the above MDs (i) A trend analysis is performed on the smallest MD of the trend. (i) and selecting the φ corresponding to this i value. ZD(i) The value is the azimuth angle φ of the central axis of the D-shaped vertical pipe (1). ZD0 and 4. The method for integrating and locating a geomagnetic vector measurement device for exploration according to claim 3, further comprising:

8. Specifically, the step of performing correction calculations for each parameter detected in step S4 includes the following steps: The total magnetic field strength value T vector of the three-axis coordinate system data of the magnetic probe (4) measured by the magnetic probe (4) is normalized to a unit vector t, and the polar angle θ of the unit vector t in the spherical coordinate system of the D-type vertical pipe (1) is Tc and azimuth angle φ Tｃ The specific calculation steps are as follows: [Equation 8] The polar angle θ of the unit vector t in the spherical coordinate system of the D-type vertical pipe (1) Tc and azimuth angle φ Tｃ is known, and the polar angle θ of t in the attitude sensor coordinate system is Tz and azimuth angle φ Tｚ The specific calculation steps are as follows: The roll axis X of the attitude indicator Ｚ and pitch axis Y Ｚ Find the angle φ between [Equation 9] Said θ Tz , said φ Tz A step of calculating using the following formula: [Equation 10] Polar angle θ of unit vector t in the attitude sensor coordinate system Tz and azimuth angle φ Tｃ is known, and the polar angle θ of t in the geographic coordinate system TD and azimuth angle φ TD The specific calculation steps are as follows: [0011] In the above formula, φ XD The angle is φ Xｚ The sum of the angle and the measured azimuth angle of the attitude sensor is equal to θ XD is the pitch angle measured by the attitude sensor, and θ YD is the roll angle measured by the attitude sensor, and the calculated result φ TD is the magnetic declination of the measured magnetic vector, and θ TD is the complement of the tilt angle of the magnetic vector; 2. The method for integrating and locating a geomagnetic vector measurement device for exploration according to claim 1, further comprising:

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