194 results about "Transient electromagnetics" patented technology

The invention relates to the technical field of coal mine goaf exploration, in particular to a goaf combined detection and identification method fusing gravity, earthquake and transient electromagnetism, which comprises the following steps of: (1) arranging an earthquake, transient electromagnetism and gravity method combined observation system according to a detection geological task and a field condition of a coal goaf; (2) seismic data, transient electromagnetic data and gravity data are collected through the combined observation system; (3) performing independent inversion on the gravity data, the transient electromagnetic data and the seismic data to obtain density distribution, resistivity distribution and wave velocity distribution of the goaf; (4) carrying out a joint inversion method based on improved cross gradient seismic data, transient electromagnetic data and gravity data; (5) obtaining a joint inversion resistivity profile map, a joint inversion wave velocity profile map and a joint inversion density profile map of the goaf through joint inversion of the seismic data, the transient electromagnetic data and the gravity data of the goaf; and identifying development characteristics of the goaf.

The invention discloses a transient electromagnetic and magnetic method data joint inversion method. The method comprises the following steps: acquiring transient electromagnetic observation data and magnetic method observation data; converting the transient electromagnetic observation data into transient electromagnetic moment data; based on the transient electromagnetic moment data and the magnetic method observation data, a joint inversion objective function is constructed, and the joint inversion objective function comprises a data fitting residual term and a model constraint term; performing parameter coupling on the model constraint term by using a multivariate Gaussian mixture model to obtain a coupled model constraint term; and combining the data fitting residual term and the coupled model constraint term into a final objective function, and minimizing the final objective function through an optimization algorithm to obtain an electrical parameter and a magnetic parameter of the underground medium. According to the method, transient electromagnetic and magnetic method data joint inversion is realized, the problem of low three-dimensional inversion calculation efficiency is solved by introducing transient electromagnetic moment, and electrical and magnetic parameters are coupled by utilizing rock physics constraint, so that the inversion result is more accurate, and the structure is more consistent.

The invention belongs to the technical field of geological engineering monitoring and multi-physics field intelligent sensing, and discloses a separation grouting slurry migration monitoring method and system, and the method comprises the steps: constructing an acoustics-optics-electricity-electromagnetism multi-physics field coupling monitoring system; a grouting hole and a monitoring drilling hole array are arranged in a target stratum, a distributed optical fiber sensor, a drilling hole ultrasonic imager, a resistivity measuring device and a transient electromagnetic detection device are installed, and a three-dimensional monitoring network is formed; synchronously acquiring sound field, light field, electric field and magnetic field data; four-field monitoring data and overlying strata multi-parameter observation data are fused, a coal seam mining three-dimensional overlying strata separation model is constructed, and a slurry diffusion three-dimensional visualization model is generated through numerical simulation; and based on the four-field monitoring response difference of the separation space before and after grouting, in combination with a monitoring frequency domain correction model of multiple indexes of grout diffusion, the diffusion range, compactness and filling effect of the grouting grout are evaluated, and abnormal early warning is triggered.

The invention relates to a transient electromagnetic and seismic wave multi-mode joint inversion imaging method based on physical information Transform, and belongs to the crossing field of geophysical exploration and artificial intelligence. Comprising the following steps: carrying out anomaly detection, interpolation, filtering and normalization preprocessing on transient electromagnetic and seismic wave original data; extracting features representing electrical property, elasticity and cross physical significance; serializing the spatial data through a gridding and alternating fusion strategy, and constructing an enhanced code fusing absolute and relative positions and physical attributes; a physically constrained encoder-decoder architecture is designed to carry out multi-scale forward modeling-inversion; and quantizing the uncertainty of an inversion result by adopting a Bayesian Monte Carlo method, and generating a confidence map. According to the method, through physical rule driving and multi-modal depth complementary fusion, the fine recognition capability and interpretation reliability of hidden disaster-causing geologic bodies such as underground goaf and collapse columns are effectively improved while the physical consistency of data is kept.

The invention belongs to the technical field of geophysical exploration, and particularly discloses a differential transient electromagnetic method device and an unexploded ordnance detection method thereof.The differential transient electromagnetic method device is characterized in that a transmitter injects emission current into an emission loop, and the emission loop generates a primary field excitation signal; the underground anomalous body target generates a secondary field excitation signal under the action of the primary field excitation signal; the receiving coil assembly is based on the structure of a differential coil, synchronously counteracts a primary field excitation signal and a uniform background signal in an induced voltage, and expands a local asymmetric differential signal generated by an underground anomalous body target; and the receiver carries out time sequence analysis on the local asymmetric differential signals and extracts differential signal features so as to realize positioning and identification of an underground anomalous body target. The device is suitable for detection of shallow-buried small bodies such as UXO, the overall arrangement range of the device is small, and rapid arrangement and mobile observation in the field are facilitated.

The invention discloses a three-dimensional transient electromagnetic detection method for tunnel advanced geological forecast. The transient electromagnetic exploration method has the advantages of low construction cost, high safety coefficient, reliable detection result and the like. The method comprises the following steps: installing a plurality of loop sources in an area nearby a tunnel face in a set mode, and obtaining stratum information data of the area nearby the tunnel face; and analyzing the data by adopting a three-dimensional transient electromagnetic forward and reverse modeling method to obtain related information of the unfavorable geologic body in front of the tunnel face. According to the method, the efficiency and the accuracy of transient electromagnetic tunnel advanced prediction are improved.

The invention discloses an earthquake forecasting and tsunami early warning method and system, and the method comprises the steps: monitoring the earth electromagnetic field data in real time, and recognizing and extracting a regional transient electromagnetic signal which accords with a preset abnormal feature as an earthquake precursor signal; taking the position of the precursor signal as a reference, and predicting the earthquake generation time, the magnitude and the potential influence area based on an earth crust stress wave propagation model; when the early warning condition is met, earthquake early warning information containing risk avoiding guidance is generated and issued, and if the prediction area relates to the coastal area and the earthquake magnitude reaches a threshold value, tsunami early warning information is synchronously generated and issued. The corresponding system comprises a geomagnetic monitoring module, a forecast analysis module and an early warning issuing module. According to the method, pre-earthquake prediction based on the physical precursor is realized, the prediction time is remarkably prolonged, the problems that earthquake and tsunami early warning information is separated and published lags are solved, and the disaster response capability is improved.

The invention relates to the technical field of geophysical exploration, in particular to a semi-aviation transient electromagnetic detection system based on cooperation of a robot dog and an unmanned aerial vehicle, and the system consists of a robot dog platform, an unmanned aerial vehicle platform and a ground control station. The robot dog platform comprises a high-power transient electromagnetic transmitter, a line source laying module, a voice warning module and a mobile positioning module, and can automatically lay a line source and inject pulse current to the ground; the unmanned aerial vehicle platform comprises a visual field auxiliary module, a flight driving module and a receiving coil, and the coil can be dragged according to a preset route to collect electromagnetic data; the ground control station is used for job scheduling and data processing. Wiring-transmitting-receiving integrated collaborative operation is realized through the robot dog and the unmanned aerial vehicle, and the robot is suitable for detection of a complex mountain environment.

The invention discloses a seismic-electromagnetic joint inversion method based on bidirectional cross gradient constraint. The method comprises the following steps: firstly, establishing three physical field initial models; taking a seismic grid as a main grid, and mapping respective models of a direct current method and a transient electromagnetic method to the main grid through interpolation; constructing a joint inversion objective function containing data fitting terms of the three physical fields, model constraint terms and cross gradient constraint terms between every two of the three physical fields; decomposing the joint inversion objective function into three inversion objective functions which are coupled with one another, and respectively carrying out iterative updating on the seismic velocity model, the direct current method resistivity model and the transient electromagnetic method resistivity model by adopting a collaborative alternative iteration strategy; each iteration update of any model is constrained by the cross gradient exported by the last iteration result of the other two models, so that the structural consistency between the models is forcibly realized; and after completion, outputting a geologic structure model fusing the three-field information, thereby effectively improving the detection precision and interpretation reliability of the geologic structure under the complex geological condition.

The invention belongs to the technical field of tunnels, and particularly relates to a treatment method for a building door tunnel penetrating a karst underground river reach, which comprises the following steps: step 1, multi-source geophysical prospecting fusion investigation: aiming at the tunnel karst underground river reach and the range of 500m around the tunnel karst underground river reach; the method comprises the following steps of: delineating a karst abnormal area by adopting semi-aviation transient electromagnetism; screening a strong corrosion area by adopting a depression analysis method; verifying parameters of the abnormal area through surface drilling and coring; identifying surface hydrology, lithology and seepage data characteristics through unmanned aerial vehicle-mounted high-resolution multispectral and thermal infrared cooperative remote sensing; karst water dynamic conditions including underground water flow velocity, flow direction and permeability coefficient, corrosion evolution characteristics including cavern forming time and expansion rate, and key physical and mechanical parameters including cavern filler porosity, permeability coefficient, surrounding rock integrity coefficient, uniaxial compressive strength, elastic modulus and Poisson's ratio are obtained. According to the treatment method for the building door tunnel to penetrate through the karst underground river section, the karst space characteristics are clearly presented through the arrangement of the treatment method for the building door tunnel to penetrate through the karst underground river section.

The invention discloses a tunnel plateau complex geology accurate exploration method based on ultra-deep horizontal drilling, which comprises the following steps: step (1) horizontal drilling layout: selecting a construction site on the ground of a to-be-tunneled tunnel, and planning a horizontal drilling track along a tunnel line; (2) horizontal drilling and multi-dimensional geological exploration are constructed, specifically, according to the planned horizontal drilling track, a petroleum drilling machine is used for constructing horizontal drilling; logging operation is carried out in the horizontal drilling construction process, and comprehensive logging and transient electromagnetic detection are carried out after horizontal drilling construction is completed; and step (3), integration and analysis of geological exploration data information: integrating and analyzing the data information collected by multi-dimensional geological exploration, determining geological conditions along the tunnel line, and identifying geological abnormal sections. According to the invention, the problems of discontinuous exploration and poor accuracy of traditional vertical drilling and geophysical prospecting means can be solved, and high-precision and continuous exploration of geological conditions near the tunnel line is realized.

The invention relates to the technical field of cooperative communication, in particular to a digital interphone and satellite telephone cooperative communication control method and system, and the method comprises the steps: obtaining the working time sequence of a geophysical exploration instrument and the attribute information of each digital interphone; dividing the digital interphones into a first interfered group and a second interfered group according to the attribute information; establishing an expected link available state sequence according to the working time sequence; incorporating the voice frame sequence into a first or second co-processing queue; performing time correspondence on the voice frames in the first co-processing queue and an expected link available state sequence to obtain a target voice frame sequence, and forwarding the target voice frame sequence to a second interfered group through a satellite link or an intercom link; and according to the expected link available state sequence corresponding to the first interfered group, performing link selection sending control on the voice frames in the second cooperative processing queue. According to the invention, the problem of unstable talkback communication under the condition of strong transient electromagnetic interference is overcome, and the reliability and continuity of on-site voice communication are improved.

The invention relates to a drilling transient antenna assembly inspection method and system, belongs to the technical field of geophysical exploration, and solves the technical problem that after a drilling transient electromagnetic instrument is assembled, a wiring is packaged in a pipe body, and the correctness of the wiring cannot be directly observed and inspected, so that the potential quality hazard of a product is caused. According to the technical scheme, low-resistance anomalous bodies such as metal bodies are sequentially placed at preset positions in the positive direction of the normal of a receiving coil, an instrument is operated to enable a transmitting coil to transmit electromagnetic waves, the receiving coil collects original signals of a secondary field, wiring correctness is judged according to signal polarity, and a signal positive value indicates that wiring is correct. The technical effects are that wiring can be accurately checked through physical experiments and data analysis without dismounting an instrument, assembling quality is guaranteed, checking efficiency is improved, and detection data abnormity is avoided.

The invention relates to the technical field of geophysical exploration, and discloses a ground-air transient electromagnetic data fast inversion method based on a long and short term memory network, comprising the following steps: constructing a ground-air transient electromagnetic training data set, including generating resistivity and thickness parameters through a random stratified model, generating corresponding transient electromagnetic response data based on forward modeling simulation; preprocessing the training data set, wherein the preprocessing comprises normalization, time sequence remodeling and data set division; and constructing a CNN-BiLSTM-Attention hybrid neural network model, wherein the model comprises a CNN feature extraction module, a BiLSTM time sequence modeling module, an attention mechanism module and a Seq2Seq decoder module which are connected in sequence. According to the ground-air transient electromagnetic data rapid inversion method based on the long and short term memory network, reasoning is performed by using the trained network, the inversion time of a single measuring point can be shortened to a second level, a traditional several-day interpretation period is compressed to an hour level, and the response speed of geological disaster monitoring and exploration is greatly improved.

The invention relates to the field of tunnel engineering, in particular to a three-dimensional water body space positioning method based on TSP and transient electromagnetic joint inversion. Comprising the following steps: S1, obtaining TSP seismic wave detection data and transient electromagnetic detection data, and respectively carrying out inversion processing to obtain longitudinal wave speed information and resistivity information reflecting physical characteristics of surrounding rocks; s2, carrying out normalization and spatial registration processing on the longitudinal wave speed information and the resistivity information, carrying out data fusion on the two types of information under a unified spatial coordinate system, and generating a three-dimensional data volume representing surrounding rock water yield distribution characteristics; and S3, determining the space boundary of the water-rich body in the underground set according to the distribution characteristics of the three-dimensional data body, and outputting a three-dimensional water body space positioning result. According to the method, the TSP longitudinal wave speed information and the transient electromagnetic resistivity information are fused under the unified space coordinate system, accurate recognition and three-dimensional positioning of underground water-rich body space distribution are achieved, and therefore the accuracy and reliability of tunnel advanced geological forecast are remarkably improved.

This invention discloses a dynamic noise active suppression suspension system for air-to-ground electromagnetic detection, belonging to the field of geophysical exploration technology. It includes a coil vibration suppression system connected to a UAV, a receiving coil sensor, and a coil attitude control system. The coil vibration suppression system is connected to the pitch frame of the coil attitude control system via a carbon fiber tube assembly. The pitch frame is connected to the receiving coil sensor via two roll shafts. One roll shaft is connected to a first motor, and a second motor is mounted on the frame edge of the pitch frame perpendicular to the roll shaft. Both the first and second motors are connected to a controller. The coil vibration suppression system suppresses the vibration amplitude of the receiving coil and absorbs the motion noise generated by the receiving coil vibration. The controller collects and controls the first and second motors to adjust the attitude of the receiving coil, suppressing the motion noise generated by the attitude change of the receiving coil. This application significantly reduces the motion noise of air-to-ground transient electromagnetic reception data, enabling low-noise detection using air-to-ground transient electromagnetic methods in complex environments.

The invention belongs to the technical field of geophysical exploration, and discloses a mine transient electromagnetic anomaly boundary identification method based on DBSCAN clustering. The method comprises the following steps: step 1, establishing a three-dimensional geophysical model; 2, calculating apparent resistivity data by using a small loop transient electromagnetic method; 3, drawing a k-distance map, and obtaining an optimal neighborhood radius according to the k-distance map; step 4, performing DBSCAN clustering on the apparent resistivity data to obtain a clustering result; 5, replacing the intra-cluster apparent resistivity value with a cluster center value to obtain replaced apparent resistivity data; step 6, imaging the replaced apparent resistivity data and identifying an abnormal body; 7, comparing the anomalous body boundary with the anomalous body boundary in the model, and if the difference is too large, adjusting the optimal neighborhood radius and returning to the step 4; and otherwise, taking the current abnormal body as a final identified abnormal body. The method can effectively identify irregular anomalous body boundaries of non-uniform complex stratums, and can adapt to real-time identification requirements of underground anomalous bodies.

The application discloses a kind of electric source short offset distance transient electromagnetic pseudo three-dimensional inversion method, system, equipment and medium, and it is related to geophysical prospecting technical field.The method includes: the multiple source data is normalized, and based on the data after pre-processing, underground space is divided and valued using Gaussian difference method, and initial three-dimensional model is constructed;Based on the initial three-dimensional model, nonlinear conjugate gradient algorithm is used for pseudo three-dimensional inversion, and the value of transverse and longitudinal constraint factor is adaptively adjusted in the inversion process, and inversion data is obtained;According to the inversion data, the three-dimensional imaging information of underground electrical structure is extracted;The three-dimensional imaging information is used for geological interpretation and resource assessment.The application can establish initial three-dimensional model by Gaussian interpolation, carry out efficient inversion calculation using nonlinear conjugate gradient algorithm, and adaptively adjust transverse and longitudinal constraint factor in the inversion process, to realize high-precision pseudo three-dimensional imaging of underground electrical structure.

The invention discloses an anomalous body positioning method and system combining borehole transient electromagnetic and geological radar, and relates to the technical field of mine safety detection, and the method comprises the steps: synchronously collecting the borehole transient electromagnetic data and geological radar data of an ore body to be analyzed, and generating a borehole transient electromagnetic imaging graph and a borehole geological radar imaging graph; two-dimensional coordinates of a target abnormal point in the borehole geological radar imaging graph are extracted, and the corresponding target apparent resistivity is determined; drawing an apparent resistivity contour map based on the target apparent resistivity in a target radial sectioning map of the borehole transient electromagnetic imaging map, and determining a plurality of candidate three-dimensional coordinates of a target abnormal point; at least one target feature point is selected from the borehole geological radar imaging graph, and the feature apparent resistivity corresponding to the target feature point is determined; and drawing a feature circle based on the target feature points, and screening the plurality of candidate three-dimensional coordinates to obtain coordinates of the geological anomalous body. According to the invention, the technical problem of insufficient positioning precision and reliability in the prior art is solved.

The present application relates to the field of quantum magnetic field measurement, and discloses a CSAMT and transient electromagnetic combined detection method for concealed copper-gold mine exploration, comprising the following steps: establishing a survey area coordinate system and arranging comprehensive geophysical survey lines in the survey area; sending alternating current by using the controllable source audio frequency magnetotelluric method along the survey line, and combining a quantum geomagnetic field strength meter to obtain the earth's electromagnetic response data; sending pulse current by using the equivalent counter magnetic flux transient electromagnetic method, and placing a quantum magnetometer on the zero magnetic flux plane of the primary field to obtain the stratum pure secondary field transient decay signal; inputting the data into a noise reduction system, and extracting the noise-reduced data by using an adaptive common-mode noise suppression algorithm; performing inversion processing on the noise-reduced data to obtain a two-dimensional resistivity section and delineate the concealed ore body. The present application overcomes the delay of the traditional induction coil, captures deep and extremely weak signals with high precision, and strips strong interference at the physical and algorithm levels, thereby improving the inversion reliability and ore body positioning accuracy.

The present application relates to the technical field of geophysical signal processing and analysis, in particular to a tunnel magnetic resonance and transient electromagnetic joint inversion method, comprising: using a magnetic resonance and transient electromagnetic joint instrument, placing it at a tunnel face for detection, and obtaining observation data of a water-bearing structure in front of the tunnel face; using a Markov chain Monte Carlo algorithm to invert the collected data, obtaining stratum resistivity, water content distribution in front of the tunnel face, and interface position information of each layer, and probability distribution of these inversion parameters; while inverting and interpreting resistivity and water content information in front of the tunnel face, the uncertainty of the inversion result and the result of correlation analysis are given; finally, the resistivity and water content information distribution is given according to probability, which provides early warning guidance for tunnel engineering safety development.

The invention relates to a magnetic field shielding structure and a transient electromagnetic detection device, and relates to the technical field of transient electromagnetic detection, the magnetic field shielding structure comprises a shielding member, the shielding member comprises a plurality of shielding structures, the plurality of shielding structures are arranged along the circumferential direction of the shielding member, each shielding structure comprises a shielding part and an isolation part, and in two adjacent shielding structures, the isolation part is arranged along the circumferential direction of the shielding member. The shielding part and the isolation part are arranged in a staggered manner, the isolation part is made of an insulating material, the magnetic field intensity radiated by the transmitting coil in non-detection directions such as the upward direction and the lateral direction can be effectively weakened through the arrangement of the shielding part, invalid interference signals can be reduced, and meanwhile, the shielding part and the insulating isolation part are arranged in a staggered manner, so that the shielding effect is improved. Therefore, generation of eddy current in the shielding part can be inhibited, superposition of an additional secondary magnetic field formed by the eddy current and an effective secondary magnetic field signal generated by the underground target body can be avoided, the accuracy of detection data can be greatly improved, and the problem of detection distortion caused by eddy current interference of an existing shielding structure is solved.

The present application belongs to coal seam detection technical field, disclose a coal seam roof aquifer water abundance detection method and device based on transient electromagnetic method. Through the electromagnetic induction equipment arranged in different parts of coal seam roof, the transmitted electromagnetic wave obtains the coal seam roof aquifer water abundance preprocessing data set, constructs the coal seam roof different parts aquifer water abundance architecture image set; Construct the coal seam roof different parts aquifer water abundance initialization resistivity data set; The aquifer water abundance fault inversion method is used to obtain the aquifer water abundance fault image set; Based on the aquifer water abundance fault image set, the water refraction characteristic is combined, and the coal seam roof aquifer water abundance image of different regions is obtained. The transient electromagnetic method has the advantages of low cost, high efficiency, low resistance sensitivity, small volume effect and the like, and the transient electromagnetic method is used for detecting the roof and floor water abundance evaluation, and qualitative interpretation is carried out.

The invention relates to a borehole transient electromagnetic instrument azimuth angle misalignment error correction method based on particle swarm optimization, and belongs to the technical field of borehole transient electromagnetic imaging. Comprises: obtaining error correction data; initializing a misalignment error angle, a particle swarm number, a particle swarm position, an individual optimal position, a swarm optimal position and a fitness threshold; calculating the updating speed and the latest position of each misalignment error angle in each particle; calculating the attitude angle of the borehole transient electromagnetic probe rod, and calculating the fitness of each current particle in combination with the real attitude angle measured by the inclinometer calibration table; comparing with the fitness calculated by the historical optimal position of each particle and the swarm optimal position of the particle swarm to obtain a new historical optimal position and the swarm optimal position of the particle swarm; repeating the initialized steps in the above steps until the fitness meets the requirement; obtaining an optimal misalignment error angle; according to the method, the optimal error correction angle is directly fitted through a nonlinear method, and the bottleneck that an overdetermined equation needs to be inversely solved by adopting a complex numerical algorithm in a traditional plane correction method is broken through.

The present application belongs to the field of exploration geophysics, and particularly relates to a transient electromagnetic perspective detection method for water-bearing area in a coal mining face. Measurement points are arranged in two roadways of the coal mining face. A transmitting wire frame is fixed at a first point of a transmitting roadway for transmission, and a receiving wire frame receives at different positions in a certain range of the opposite roadway. The transmitter and the receiver are consistent in time and can synchronously collect. After the first point transmits, the transmitting coil is moved to a next position for transmission at a second point. Similarly, the receiving coil can receive in a certain range of the opposite roadway. After the second point transmits, the third point transmits, and so on until the transmission of the whole roadway is completed. The transmitting roadway and the receiving roadway are exchanged, and the above steps are repeated until the whole face is detected, and then inversion calculation is performed. The present application can solve the problems of low positioning accuracy of water-bearing abnormal body and inaccurate abnormal shape discrimination of the existing mine transient electromagnetic method.

This invention belongs to the technical field of coupling prediction methods, specifically relating to a method for predicting the coupling of UAV cables in high-intensity radiation fields based on transient electromagnetic fields. The method includes the following steps: simulating and modeling the UAV; simulating and modeling the cable; setting up the high-intensity radiation field excitation source; simulation settings; and high-intensity radiation field transient electromagnetic / circuit simulation. This invention uses a plane wave to set the incident direction and angle, sets a probe in the circuit model to monitor the core wire coupling voltage, and uses the Nyquist method to sample the excitation signal. The bidirectional coupling method obtains the coupling parameters of the UAV cable under high-intensity radiation fields, providing a basis for quantifying cable protection indicators. Furthermore, this invention constructs high-intensity radiation field signals based on VBA macro programming, allowing for customizable parameters such as rise time, pulse width, fall time, amplitude, and period of the high-intensity radiation field signal waveform, achieving numerical control and realizing numerical simulation of high-intensity radiation field signals.

The invention belongs to the technical field of geophysical exploration instruments, and particularly discloses a power frequency interference adaptive suppression method and system for a transient electromagnetic instrument. The method comprises the steps of estimating a frequency coefficient of a power frequency signal based on a voltage discrete signal, constructing a recursion model based on the frequency coefficient, and generating a fundamental frequency and a basis function of harmonic waves of each order sample by sample; and performing adaptive estimation on amplitude and phase parameters of power frequency and harmonic interference by adopting a normalized least mean square criterion, reconstructing a power frequency interference signal and offsetting the power frequency interference signal from an original voltage signal, thereby obtaining a transient electromagnetic secondary field signal after power frequency interference is suppressed. According to the method, external reference signals are not needed, power frequency and harmonic interference thereof can be effectively suppressed under the conditions of power frequency fluctuation and strong noise, the influence of power frequency interference on transient electromagnetic response signals is reduced, and the signal-to-noise ratio and stability of transient electromagnetic measurement data are improved.

This invention discloses a method and system for correcting the attitude of an airborne transient electromagnetic pod coil, belonging to the field of airborne geophysical exploration. It includes: a surface-scanning industrial camera module for real-time acquisition of image information of the suspended coil; an industrial-grade integrated navigation module for outputting inertial navigation data; a time synchronization and data acquisition module for establishing a time unification mechanism; a vision processing module for extracting visual features from the images processed by the time unification mechanism; an inertial navigation calculation module for obtaining the inertial navigation state of the coil attitude angle through angular velocity integration; a data fusion and attitude estimation module for performing fusion calculations based on the combined visual features and inertial navigation state to obtain the fusion result; and a projected area and magnetic moment calculation module for calculating the coil's projected area to the ground and the effective emitted magnetic moment component based on the fusion result. This invention reduces the system complexity and electromagnetic interference risk caused by multiple inertial navigation systems, and improves the detection accuracy and stability of airborne transient electromagnetic data.

The application discloses an underground space unmanned sensing and detecting system and method, wherein an unmanned detecting carrier platform acquires underground space surface layer data through a sensing radar holder and a unmanned aerial vehicle; then, the detecting target area is determined and the driving path is planned according to the acquired data; meanwhile, the unmanned detecting carrier platform places self-organizing network relay nodes at different positions through a mechanical arm and in combination with signal strength, so that a self-organizing network is finally formed, and the communication between the unmanned detecting carrier platform and the unmanned aerial vehicle in the underground space is ensured to be normal; when the unmanned detecting carrier platform drives to the target area, a seismic observation system is formed through the laid node type detector, and an active seismic source and a transient electromagnetic detecting device are started respectively, so that the seismic wave data and the transient electromagnetic data of the target area are acquired; the application can realize the sensing modeling of the underground space in an unmanned mode, and can also accurately acquire the detecting data of the whole underground space, thereby being convenient for the subsequent analysis and processing of the underground space data.

The invention discloses a mine small concealed structure detecting and tracing device and method, and relates to the field of coal mine safety geological exploration. The core of the device comprises a structural plane anti-drill-locking water injection device, a gas-liquid switching three-way valve, a detecting and monitoring assembly and the like, and all the assemblies cooperate to achieve accurate conveying and monitoring of a tracing medium. The method comprises the following steps of: delineating a tectonic anomaly region according to a surface three-dimensional seismic geophysical prospecting result in combination with geological characteristics, switching high-pressure tracer gas and high-pressure fluid containing a tracer agent through a gas-liquid switching three-way valve, respectively carrying out preliminary detection and fine tracing, actively transforming the physical property difference of a tectonic surface, and carrying out high-pressure detection and fine tracing on the tectonic surface; and through combination of transient electromagnetic periodic detection and observation hole monitoring data, the form and distribution of the hidden structure are accurately identified. According to the method, an integrated normal form of engineering targeted transformation and geophysical prospecting response detection is created, the dependence of a traditional method on natural physical property differences is broken through, the detection precision and reliability of the small concealed structure are remarkably improved, and the method is suitable for advanced prevention and control of deep mine geological disasters.