Integration and location method of geomagnetic vector measurement device for exploration

Abstract

The present invention provides an integration of a geomagnetic vector measurement device and method for exploration in the field of geomagnetic vector measurement and positioning. [Solution] The integration and orientation method of a geomagnetic vector measurement device for exploration includes step S1 of designing the magnetic vector measurement device body as a cross-shaped frame structure, step S2 of providing magnetic probes at both the upper and lower ends of the cross-shaped frame, step S3 of detecting the rotational relationship between the three magnetic axis coordinates of the magnetic probe and the three axis coordinates of the attitude meter, and step S4 of performing correction calculations for each detected parameter. In the conventional technology, the magnetometer and attitude meter are rigidly installed on an airplane using a rigid stand during use, and there is no perfect orientation method, resulting in low measurement accuracy. To solve this problem, the accuracy of geomagnetic vector measurement is greatly improved, and a more practical integration and orientation method of a geomagnetic vector measurement device for exploration is provided, which can be used not only for aeromagnetic vector and magnetic vector vertical gradient measurement work, but also for terrestrial geomagnetic vector measurement work.

Description

[Technical field]

[0001] The present invention relates to the field of geomagnetic vector measurement and positioning technology, and in particular 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 earthquakes, among which magnetic exploration has a long history, is simple and easy to implement, and can realize 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. Research into each technological stage of magnetic vector measurement has also become more and more in-depth. Three-axis flux gate magnetometers have also been rapidly popularized and applied. Among them, the use of three-axis flux gate magnetometers to conduct aeromagnetic vector (gradient) measurement is one of the important topics.

[0003] In geophysical exploration, magnetic exploration using magnetometers is 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, so flux gate magnetometers have been widely applied and rapidly improved. Magnetic vector parameters include the strength (amplitude) and direction of the total magnetic field, and currently field observations are often performed using three-axis flux-gate magnetometers. In other words, 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 equipment such as an attitude meter. Therefore, how to assemble and install magnetometers, attitude meters and other related equipment and perfectly combine attitude measurement and magnetic vector measurement is an important issue for magnetic measurement practitioners.

[0004] Conventional aeronautical magnetic vector measurement work mostly involves manned helicopters or fixed-wing aircraft, with magnetometers and attitude meters firmly mounted on the aircraft via rigid brackets or the like. However, 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 a geomagnetic vector measurement device for exploration is proposed. Summary of the Invention [Problem to be solved by the invention]

[0005] The objective 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 carrying out aeromagnetic vector and magnetic vector vertical gradient measurement work, but also for terrestrial geomagnetic vector measurement work, thereby solving the problems raised in the above-mentioned background art. [Means for solving the problem]

[0006] In order to achieve the above objectives, the present invention provides the following technical solutions: A method for integrating and locating a geomagnetic vector measurement device for exploration, comprising: S1: Designing the magnetic vector measuring device body as a cross-shaped frame structure, and providing a rotatable sleeve at the center lower part of the vertical tube of the cross-shaped structure; S2: A step in which a magnetic probe is provided at both the upper and lower ends of the cross-shaped frame of the integrated magnetic vector measuring device body, and the magnetic probe is sealed in the cross-shaped frame of the magnetic vector measuring device body by a cap; 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 a correction calculation for each detected parameter to obtain the polar angle and azimuth angle of the geomagnetic vector T in the spherical coordinate system of the D-type vertical tube, then obtaining the polar angle and azimuth angle of the geomagnetic vector T in the attitude meter coordinate system, and finally obtaining 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 measuring device body includes the following steps: A cross structural frame is constructed by using a D-shaped vertical tube as a base, a D-face of the D-shaped vertical tube as a reference, and two structural horizontal tubes in the center of the D-shaped vertical tube; digging a hole in the center of the D-shaped vertical pipe, connecting the two outer thin horizontal pipes to the outside of the two central structural horizontal pipes, and fixing a GPS antenna on 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 tube and the structural horizontal tube 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 the 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-shaped vertical pipe, the spherical coordinate system of the D-shaped vertical pipe is defined as (γ, θ, φ:Z C , X C ) and the central axis of the D-shaped vertical tube is Z C The axis is the center of the cross structure frame of the magnetic vector measuring device body as the origin, and the two GPS antenna connection wires of the attitude meter are connected to the X axis. C The steps that are the axis, detecting a rotational relationship between the three-axis coordinate system of the magnetic probe and the spherical coordinate system of the D-shaped vertical tube, and between the three-axis coordinate system of the attitude sensor and the spherical coordinate system of the D-shaped vertical tube; 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 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 A step of calculating the azimuth angle and polar angle 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 tube (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 A step of calculating the azimuth angle and polar angle 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 tube (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 azimuth angle of the axis is c, and the magnetic north azimuth angle is φ T0 Then, the azimuth angle φ of the D-shaped vertical tube (1) ZD0 and determining:

[0009] Preferably, the step of analyzing and determining the data values ​​of the various feature points includes the steps of: First observation data from the magnetic probe (4) X 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 the result to obtain 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 the result to obtain 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 are analyzed, and the maximum value is taken as θ 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 the result to obtain Reanalysis revealed that 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 are analyzed, and the maximum value is taken as θ 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 the result to obtain A step of calculating basic parameters related to the 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 tube (1) at the second measurement and the total magnetic field strength value T vector, and M X and a step including an angle Jmx 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 formula for calculating is as follows: θ Xm = 90°-J mx θ Ym = 90°-J my φ Ym The formula for calculating is as follows: φ Ym = cos -1 (-cotθ Xm cotθ Ym )+φ Xm φ Xz and φ Yz The formula for calculating is as follows: φ Xz = φ zx21 -φ ZD0 φ Yz = φ zy21 -φ ZD0 θ Xz and θ Yz The formula for calculating 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-shaped vertical tube is Tc and azimuth angle φ TcA step of calculating the following, the specific calculation steps being 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 greatly 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 the attitude for deploying aeromagnetic vector and magnetic vector vertical gradient measurement work, which can solve the problems of amplitude value and direction measurement of magnetic vector measurement in the background art mentioned above. In addition, by appropriately simplifying by removing parts such as tail rudder and sling, it can be used for ground geomagnetic vector measurement work, and is more practical. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is a schematic diagram of the main body of a magnetic vector measuring device according to the present invention. [Diagram 2] FIG. 2 is a diagram showing the magnetic vector measuring device of the present invention placed vertically on a stand. [Diagram 3] FIG. 3 is a diagram showing the magnetic vector measuring 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. [Diagram 5] FIG. 5 is a diagram showing a coordinate system of the main body of the magnetic vector measuring device 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 Probe 5 Rotatable sleeve DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[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 are not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive or creative efforts 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 meters are firmly installed on the aircraft via hard brackets or the like. In order to solve the problem that the measurement accuracy is insufficient due to the lack of a suitable perfect positioning method, the present embodiment provides the following technical solution with reference to Figures 1 to 6.

[0020] A method for integrating and locating a geomagnetic vector measurement device for exploration, as shown in FIG. S1: Designing the magnetic vector measuring device body as a cross-shaped frame structure, and providing a rotatable sleeve 5 at the bottom of the vertical tube of the cross-shaped structure; S2: A step in which the magnetic probe 4 is provided at both the upper and lower ends of the cross-shaped frame of the magnetic vector measurement device body to be integrated, and the magnetic probe 4 is sealed in the cross-shaped frame of the magnetic vector measurement device body by a cap; 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 a correction calculation for each detected parameter to obtain the polar angle and azimuth angle of the geomagnetic vector T in the spherical coordinate system of the D-type vertical tube 1, then obtaining the polar angle and azimuth angle of the geomagnetic vector T in the attitude meter coordinate system, and finally obtaining 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 body mainly includes two aspects of detection and correction calculation. That is, the magnetic probe 4 (X M , Y M , Z M ) and the three 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 to the geographic coordinate system (X D , Y D , Z D ) to convert the magnetic three-component data into

[0022] Specifically, the manufacturing method of the magnetic vector measuring device body is as follows: The integrated magnetic vector measuring 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 whole 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 and two structural horizontal tubes 2 in the center of the D-shaped vertical tube 1 with the D surface of the D-shaped vertical tube 1 as a reference, so that the cross between the D-shaped vertical tube 1 and the two central structural horizontal tubes 2 is vertical, the D surface of the D-shaped vertical tube 1 is vertical to the cross surface, and the two central horizontal tubes are in a straight line, so that the circular 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 surface, so that the attitude of the probe can be easily controlled and the stability of the probe can be increased; A step of digging a hole in the center of the D-shaped vertical tube 1, connecting the two outer thin horizontal tubes to the outside of the two central structural horizontal tubes 2, and fixing a GPS antenna to the outer upper end of the two thin horizontal tubes, a rudder is installed on one end of the structural horizontal tube 2, and a tip cap is installed on the other end, the rudder is surrounded by a plastic thin plate, and the plastic thin plate is provided with a blade cut line for adjusting wind resistance; and a step of fixing and installing an electromagnetic shielding cabinet 3 at a joint between a D-shaped vertical tube 1 and a structural horizontal tube 2 in the center of the cross-shaped frame, and installing a magnetometer body, a recording system, an attitude indicator body and a power supply in the electromagnetic shielding cabinet 3, in which 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, i.e., the rear upper part, the rear lower part and the 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 of the attitude indicator body are vertical, and the electromagnetic shielding cabinet 3 is a rectangular flat box-shaped fairing, a copper wire mesh is attached to the inside of the fairing and a permalloy foil sheet is attached to the outside, the inner copper wire mesh mainly plays the role of electromagnetic shielding, and the outer permalloy foil sheet mainly plays the role of magnetic shielding.

[0023] The front panel of the attitude meter electromagnetic shielding cabinet 3 is attached to the D-side 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 respectively fixed to the corresponding electromagnetic shielding cabinets 3, magnetic probes 4 are installed at both ends of the D-shaped vertical tube 1, the magnetic probe 4 is attached to the D-side of the D-shaped vertical tube 1, the longitudinal central axis of the magnetic probe 4 coincides with the longitudinal central axis of the D-side of the D-shaped vertical tube 1, the magnetic probe 4 is in the shape of a rectangular column, the magnetic probe 4 and the GPS cable pass inside the D-shaped vertical tube 1 and the structural horizontal tube 2, and are connected to the main body at the center of the magnetic vector measuring device main body. The rotating sleeve is installed under the electromagnetic shield cabinet 3, and the rotating sleeve is attached closely to the D-shaped vertical tube 1, so that the orientation of the three axes of the attitude sensor can be almost aligned with that of the three axes of the magnetic probe 4. The magnetic probe 4 has little interference and the influence of the cable is also weak. The D-shaped vertical tube 1 is a carbon fiber tube with a D-shaped cross section and a hole in the center for inserting the cable. The horizontal tube 2 is a divided carbon fiber tube 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 tube 1. The rotatable sleeve 5 is attached tightly to the D-shaped vertical tube 1, so that it can rotate but there is no loosening, and the vertical tube does not shake when rotated. A 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: A step of setting a spherical coordinate system of the D-shaped vertical pipe 1. As shown in the coordinate system of FIG. 5, the spherical coordinate system of the D-shaped vertical pipe 1 is set as (γ, θ, φ:Z C , X C ) and the central axis of the D-shaped vertical tube 1 is Z C The axis is the center of the cross structure frame of the magnetic vector measuring device body as the origin, and the two GPS antenna connection wires of the attitude meter are connected to the X axis. C The steps that are the axis, The three-axis coordinate system of magnetic probe 4 (X M , Y M , Z M ) and the spherical coordinate system of the D-type vertical tube 1 (γ, θ, φ: Z C , X C ) 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, respectively, so as to indirectly connect the three-axis coordinate system of the magnetic probe 4 with 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 the data values ​​of various feature points; X in the spherical coordinate system of D-type vertical tube 1 M Axis and Y M A step of calculating the azimuth angle and polar angle of the axis, M The polar angle of the axis is θ Xm , Y in the spherical coordinate system of the D-type vertical tube 1 M The polar angle of the axis is θ Ym , X in the spherical coordinate system of D-type vertical tube 1 M The azimuth angle of the axis is φ Xm , Y in the spherical coordinate system of the D-type vertical tube 1 M The azimuth angle of the axis is φ Ym and X in the spherical coordinate system of D-type vertical tube 1 Z Axis and Y Z A step of calculating the azimuth angle and polar angle of the axis, Z The azimuth angle of the axis is φ Xz , Y in the spherical coordinate system of the D-type vertical tube 1 Z The azimuth angle of the axis is φ Yz , X in the spherical coordinate system of D-type vertical tube 1 Z The polar angle of the axis is θ Xz , Y in the spherical coordinate system of the D-type vertical tube 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 azimuth angle of the axis is c, and the magnetic north azimuth angle 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 the following steps: Magnetic Probe 4's first observation data X 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 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 The step of analyzing and determining the maximum value of θ zx11 and θ zy11 , the minimum value is θ zx12 and θ zy12 and Reanalysis revealed that the roll axis X in the second observation attitude data Z and pitch axis Y ZThe maximum and minimum tilt angles observed at 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 The step of analyzing and determining 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 the 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 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 perpendicular plane of the central axis of the D-shaped 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-type vertical tube 1, and the three-axis coordinate system of the attitude sensor and the spherical coordinate system of the D-type vertical tube 1, respectively, is as follows: Selecting a quiet outdoor area as a test site where the magnetic field is gentle 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 φ of the horizontal component of the geomagnetic field was T0 confirming that φ T0 = 360° + D T0 and A step of erecting a support bracket for a mobile station (pod device), adjusting the bracket to make the initial position of the snap ring engaged with the D-shaped vertical tube 1 as vertical as possible to stabilize the bracket, the bracket being processed using carbon fiber tubes, PE pipe joints, etc., non-magnetic, stable and firm, and a weight such as a pressure water bag can be used to increase stability, and the bracket can be folded and easily carried; Attaching the mobile station to a bracket so that a 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 meter and magnetometer to 200Hz or more, and automatically recording; rotating the mobile station horizontally at a uniform speed for about one minute per week for two to three weeks and recording a data series corresponding to the two to three week period, the data series including 10 columns and about 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 triplet 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 rotating the mobile station again horizontally at a uniform speed for 2 to 3 weeks to obtain 10 columns and about 20,000 to 30,000 rows of data similar to the previous step; The method includes a step of inspecting the two acquired data sets, and if the pattern of change in the data is stable, there are no sudden changes, the daily changes during this period (10 minutes or less) are stable, and the range of change is weak, the field inspection 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 C , X C ) polar angle θ Tc and azimuth angle φ Tc A step of calculating the following, the specific calculation steps being as follows:

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[0029] By using the above calculations, the magnetic declination and magnetic inclination of the total geomagnetic field measured at each measurement point can be obtained, 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 aviation magnetic vector measurement is required, the integrated magnetic vector measurement device body is suspended under the drone to realize aviation magnetic vector measurement, and in order to stabilize the attitude of the integrated magnetic vector measurement device body during aviation flight, the center of gravity of the integrated magnetic vector measurement device body is located behind and below the cross intersection, and the suspension point of the suspension rope is slideable, and a conical tail is located at the tail of the structural cross tube 2, and the suspension point during aviation flight is moved according to changes in wind resistance, thereby ensuring the dynamic balance of the integrated magnetic vector measurement device body and achieving the goal of stable attitude. When magnetic vector measurement is required on the ground, a carbon fiber tube is attached via a PE pipe fitting 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 measuring device body is fixed to the snap ring of the bracket via the rotatable sleeve 5 to perform measurement, and the magnetic vector measuring device body can be manually rotated stably around the axis of the D-type vertical tube 1. The snap ring fixed to the rotatable sleeve 5 on the bracket can adjust the tilt angle to a fixed orientation, 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 entity or operation, and do not necessarily require or imply that any such actual relationship or order exists between those entities or operations. Furthermore, the terms include, include, or any other variant are intended to be non-exclusively 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 that are inherent to 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 alterations 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 measuring device body as a cross-shaped frame structure, and providing a rotatable sleeve (5) at the central lower part of the vertical tube of the cross-shaped frame structure; Step S2: providing magnetic probes (4) at both the upper and lower ends of the cross-shaped frame structure of the integrated magnetic vector measurement device body, and sealing the magnetic probes (4) in 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 ), the three axes of the attitude meter are written as (Xz, Yz, Zz), and the three axes of the attitude meter are respectively a roll axis, a pitch axis, and an azimuth axis; and step S3. Step S4: performing correction calculations for each detected parameter to obtain the polar angle and azimuth angle of the geomagnetic vector T in the spherical coordinate system of the D-type vertical tube (1), then obtaining the polar angle and azimuth angle of the geomagnetic vector T in the attitude meter coordinate system, and finally obtaining 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 measuring device body includes the following steps: A step of constructing a cross structural frame using the D-shaped vertical tube (1) as a base and two structural horizontal tubes (2) at the center of the D-shaped vertical tube (1) based on the D surface of the D-shaped vertical tube (1); 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 upper ends of the outer sides of these two thin horizontal pipes; a step of fixing and installing an electromagnetic shielding cabinet (3) at a 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 in 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 meter is specifically as follows: A step of setting a spherical coordinate system of the D-shaped vertical pipe (1), 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 measuring device body as the origin, and the two GPS antenna connection lines of the attitude meter are connected to the X axis. Ｃ The steps are as follows: detecting a rotational relationship between a three-axis coordinate system of the magnetic probe (4) and a spherical coordinate system of the D-shaped vertical tube (1), and a rotational relationship between a three-axis coordinate system of the attitude sensor and a spherical coordinate system of the D-shaped vertical tube (1); Organizing the two sets of data obtained by the two detections, selecting the 10 rows of data with the best quality as detection basic data, and analyzing and determining the data values ​​of various feature points; X in the spherical coordinate system of the D-type vertical tube (1) Ｍ Axis and Y Ｍ Calculating the azimuth 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 tube (1) Ｍ The polar angle of the axis is θ Ym , X in the spherical coordinate system of the D-type vertical tube (1) Ｍ The azimuth angle of the axis is φ Xm , Y in the spherical coordinate system of the D-type vertical tube (1) Ｍ The azimuth angle of the axis is φ Ym and X in the spherical coordinate system of the D-type vertical tube (1) Ｚ Axis and Y Ｚ Calculating the azimuth 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 tube (1) Ｚ The azimuth angle of the axis is φ Yz , X in the spherical coordinate system of the D-type vertical tube (1) Ｚ The polar angle of the axis is θ Xz , Y in the spherical coordinate system of the D-type vertical tube (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 azimuth angle of the axis is c, and the magnetic north azimuth angle 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. 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 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 the result to obtain 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 the result to obtain 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 are analyzed, and the maximum value is taken as θ 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 the result to obtain Reanalysis revealed that 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 are analyzed, and the maximum value is taken as θ 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 the result to obtain A step of calculating basic parameters related to the 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 tube (1) and the total magnetic field strength value T vector at the second measurement, and M Ｘ an angle Jmx between the magnetic axis and a plane perpendicular to the central axis of the D-shaped vertical tube (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: [0010] SJb2 takes a positive value, [0025] Calculate the angle Jmy between the My magnetic axis and the perpendicular plane of the central axis of the D-shaped vertical tube (1), and the specific calculation steps are as follows: [0030] 5. The method for integrating and locating a geomagnetic vector measurement device for exploration according to claim 4.

6. Said φ Xm The formula for calculating is as follows: f Xm = φ TO -φ mx11 Said θ Xm and the above θ Ym The formula for calculating is as follows: i Xm = 90°-J mx i Ym = 90°-J my Said φ Ym The formula for calculating is as follows: f Ym = cos -1 (-cotθ Xm cot Ym )+φ Xm Said φ Xz and the above φ Yz The formula for calculating 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: [0045] 4. The method for integrating and locating a geomagnetic vector measurement device 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 formula is: [0050] (where a = Jmx, b = JTI2, θ ZD = θ zx21 -θ Xz ) Using the fitting calculation mode Ｍ Azimuth angle φ ZD0 The calculation steps are as follows: c is X Ｍ Take four values ​​corresponding to the maximum, minimum and two zero point azimuth angles of the second magnetic measurement data of the axis, and denote them 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 the above formula is used to find T Ｘｍ Find the value of sinθ in the formula. VM , cosθ VM For every c value of cos c, the corresponding c1, c2, c3, and c4 values ​​are taken, 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. [006] In the actual calculation, φ ZD is set to 20° to 60°, the step size is 0.01°, and the fitting difference MD (i) Calculate each of them, [0070] In the above formula, i is φ ZD represents the number, which ranges 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 MD (i) A trend analysis is performed on the smallest MD among the trends. (i) φ corresponding to this i value. ZD(i) The value is the azimuth angle φ of the central axis of the D-shaped vertical tube (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 tube (1) is Tc and azimuth angle φ Tｃ A step of calculating the following, the specific calculation steps being as follows: [0080] The polar angle θ of the unit vector t in the spherical coordinate system of the D-type vertical tube (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 with [0097] Said θ Tz , said φ Tz A step of calculating using the following formula; [0089] 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: ##EQU00011## 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 angle 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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