CN108802839B - Cesium optical pump magnetic measurement method based on fixed wing unmanned aerial vehicle - Google Patents
Cesium optical pump magnetic measurement method based on fixed wing unmanned aerial vehicle Download PDFInfo
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- TVFDJXOCXUVLDH-UHFFFAOYSA-N caesium atom Chemical compound [Cs] TVFDJXOCXUVLDH-UHFFFAOYSA-N 0.000 title claims abstract description 48
- 229910052792 caesium Inorganic materials 0.000 title claims abstract description 47
- 230000003287 optical effect Effects 0.000 title claims abstract description 19
- 238000000691 measurement method Methods 0.000 title claims abstract description 10
- 238000012360 testing method Methods 0.000 claims abstract description 63
- 238000005259 measurement Methods 0.000 claims abstract description 53
- 238000012797 qualification Methods 0.000 claims abstract description 26
- 238000012545 processing Methods 0.000 claims abstract description 11
- 238000007781 pre-processing Methods 0.000 claims abstract description 10
- 238000011056 performance test Methods 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 claims description 15
- 238000005070 sampling Methods 0.000 claims description 13
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 6
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- 229910052500 inorganic mineral Inorganic materials 0.000 description 2
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- 241000272525 Anas platyrhynchos Species 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- SZVJSHCCFOBDDC-UHFFFAOYSA-N iron(II,III) oxide Inorganic materials O=[Fe]O[Fe]O[Fe]=O SZVJSHCCFOBDDC-UHFFFAOYSA-N 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/40—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for measuring magnetic field characteristics of the earth
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Abstract
The invention discloses a cesium-light pump magnetic measurement method based on a fixed-wing unmanned aerial vehicle, which comprises the steps of presetting a test qualification standard, performing unmanned aerial vehicle performance test, and if the test qualification is met, establishing signal connection between a ground measurement and control station and the unmanned aerial vehicle; if the performance test is not qualified, the performance test of the unmanned aerial vehicle is carried out again; after the unmanned aerial vehicle reaches the measurement height, calculating a magnetic compensation coefficient; after the magnetic compensation is finished, magnetic measurement data measured by the cesium optical pump magnetometer and navigation data measured by the laser altimeter, the GPS and the IMU are respectively transmitted to a data acquisition box through serial ports; after receiving the corresponding magnetic measurement data and navigation data, the data acquisition box transmits the corresponding magnetic measurement data and navigation data to a field data preprocessing system for data processing; and performing aeromagnetic interpretation on the processed data. The invention improves the measurement precision, the working efficiency and the flight safety, and reduces the weight, the volume and the cost of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the field of geophysical exploration, in particular to a cesium optical pump magnetic measurement method based on a fixed wing unmanned aerial vehicle.
Background
The aviation geophysical exploration is a geophysical exploration method, and is a geophysical exploration method for researching and searching underground geological structures and mineral products by detecting changes of various geophysical fields in the navigation process through special geophysical instruments arranged on an unmanned aerial vehicle. The aeromagnetic prospecting is a mature prospecting means at present, the prior multipurpose large-scale man-machine is used for working, the flying height is more than 1000 meters, and the aeromagnetic prospecting method has the advantages of high speed, no limitation of ground conditions (such as sea, river, lake and desert), uniform large-area working accuracy, capability of working in areas with difficult terrain conditions and the like. Particularly, the development of automatic control and electronic calculation technology synthesizes the aerospace geophysical prospecting, thereby improving the calculation and arrangement speed of the aerospace geophysical prospecting observation data and the level of interpretation and inference and forcefully promoting the development of the aerospace geophysical prospecting.
After unmanned rotorcraft has developed greatly, the aeromagnetic equipment carried by unmanned aircraft has come up, which is a method for quick prospecting and geological investigation developed by remote sensing technology during the second world war, and the main methods include aeromagnetic, aeroradiometric, aeroelectric and aerogravity.
Aeromagnetic methods are mainly used to explore magnetic deposits, such as magnetite; the flying height during exploring is generally 50-200 m, and compared with the ground exploring method, the aeronautical geophysical prospecting has a series of advantages, and can overcome the limitations of various unfavorable terrain conditions and climatic conditions, such as searching for mineral reservoirs and performing geological investigation in alpine regions, steep mountain regions, original forests, swamps and lakes and other regions which are difficult to be reached by personnel; the method has the advantages of high speed, high efficiency and less labor consumption of the aviation geophysical prospecting, can acquire detection data of a large area in a short period, can know the change conditions of the geophysical field at different heights by utilizing the aviation geophysical prospecting, and provides more information for explaining geological phenomena and prospecting.
The traditional aviation geophysical prospecting method generally adopts a multi-rotor aircraft, the dead time is only 20-30 minutes, and only 6-8 km of aircraft can fly each time, so that the working efficiency is greatly reduced; and magnetic measurement is usually carried out by adopting a fluxgate magnetometer with low measurement precision, and the measurement precision is about 5 nT; moreover, the traditional aviation geophysical prospecting method has the advantages of high cost, low safety, large measurement error and difficult realization of quick and accurate measurement.
Disclosure of Invention
In view of the above, it is necessary to provide a cesium optical pump magnetic measurement method based on a fixed-wing unmanned aerial vehicle, which can improve measurement accuracy, work efficiency and flight safety, and reduce weight, volume and cost of the unmanned aerial vehicle.
The technical scheme of the invention is as follows:
A cesium optical pump magnetic measurement method based on a fixed wing unmanned aerial vehicle comprises the following steps:
a. Presetting a test qualification standard, performing unmanned aerial vehicle performance test, and if the test qualification standard is met, entering a step b; if the unmanned aerial vehicle is not qualified, re-entering the step a, and performing unmanned aerial vehicle performance test;
b. Establishing signal connection between a ground measurement and control station and the unmanned aerial vehicle, and monitoring the flight state; before the unmanned aerial vehicle takes off, setting magnetic measurement parameters of a magnetic measurement system;
c. After the unmanned aerial vehicle reaches the measurement height, calculating a magnetic compensation coefficient;
d. After the magnetic compensation is completed, magnetic measurement data comprising magnetic field intensity and three-component magnetic field intensity, which are measured by the cesium optical pump magnetometer, are transmitted to a data acquisition box through a serial port; meanwhile, transmitting navigation data including ground clearance, altitude, longitude and latitude coordinates, flight direction and flight attitude measured by a GPS, an IMU and a laser altimeter to a data acquisition box through a serial port;
e. after receiving the corresponding magnetic measurement data and navigation data, the data acquisition box transmits the corresponding magnetic measurement data and navigation data to a field data preprocessing system for data processing;
f. and transmitting the processed data to a data interpretation system for aeromagnetic interpretation.
As a further optimization of the above solution, the step a includes a magnetic interference testing step when not powered on:
a101, carrying a non-magnetic frame at a stable magnetic field, and placing an unmanned aerial vehicle without a magnetometer on the non-magnetic frame;
a102, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at the position of a head of the unmanned aerial vehicle, and measuring a magnetic field value of the unmanned aerial vehicle at the position when the unmanned aerial vehicle is not electrified;
a103, taking down the unmanned aerial vehicle, and measuring standard magnetic field values of the position by using the cesium light pump magnetometer and the fluxgate magnetometer at the same position respectively;
a104, comparing the magnetic field value of the step a102 with the standard magnetic field value of the step a103, if the comparison result meets the preset test qualification standard, entering the step a105, otherwise, failing;
a105, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at a position of the unmanned aerial vehicle, which is away from the machine head, and measuring a magnetic field value of the unmanned aerial vehicle under the condition that the position is not electrified;
and a106, comparing the magnetic field value of the step a105 with the standard magnetic field value of the step a103, and if the comparison result meets the preset test qualification standard, the magnetic interference test is qualified under the condition of no power on, otherwise, the test is disqualified.
As a further optimization of the above solution, the step a further includes a magnetic interference testing step when power is on:
a201, carrying a non-magnetic frame at a stable magnetic field, placing an unmanned aerial vehicle without a magnetometer on the non-magnetic frame, and electrifying the unmanned aerial vehicle;
a202, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at the position of a head of the unmanned aerial vehicle, and measuring a magnetic field value under the condition of electrifying the position;
a203, taking down the unmanned aerial vehicle, and measuring standard magnetic field values of the position by using a cesium light pump magnetometer and a fluxgate magnetometer at the same position respectively;
a204, comparing the magnetic field value of the step a202 with the standard magnetic field value of the step a203, if the comparison result meets the preset test qualification standard, entering the step a205, otherwise, failing;
a205, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at a position of the unmanned aerial vehicle, which is away from the machine head, and measuring a magnetic field value under the condition of electrifying the position;
and a206, comparing the magnetic field value in the step a205 with the standard magnetic field value in the step a203, if the comparison result meets the preset test qualification standard, the magnetic interference test is qualified under the condition of power on, otherwise, the test is failed.
As a further optimization of the above solution, the step a further includes a magnetic interference testing step when the unmanned aerial vehicle engine is running:
a301, carrying a non-magnetic frame at a stable magnetic field, placing an unmanned aerial vehicle without a magnetometer on the non-magnetic frame, and starting an engine of the unmanned aerial vehicle;
a302, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at the position of a head of the unmanned aerial vehicle, and measuring a magnetic field value under the condition of engine operation at the position;
a303, taking down the unmanned aerial vehicle, and respectively measuring standard magnetic field values of the position by using a cesium light pump magnetometer and a fluxgate magnetometer at the same position;
a304, comparing the magnetic field value of the step a302 with the standard magnetic field value of the step a303, if the comparison result meets the preset test qualification standard, entering the step a305, otherwise, failing;
a305, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at a position of the unmanned aerial vehicle, which is away from a machine head, and measuring a magnetic field value of an engine at the position under the running condition;
and a306, comparing the magnetic field value of the step a305 with the standard magnetic field value of the step a303, and if the comparison result meets the preset test qualification standard, performing the magnetic interference test qualification under the engine running condition, otherwise, performing the disqualification.
As a further optimization of the above scheme, the step a further comprises a field magnetic interference testing step:
a401, selecting an optimal position to install a fluxgate magnetometer after the test is qualified under the conditions of no power-on and engine operation;
a402, controlling the unmanned aerial vehicle to collect data in the air for one hour in a stable area with small magnetic field interference;
a403, judging whether the quality of the acquired data is qualified, and if so, performing field magnetic interference test to be qualified; if not, the probe length of the fluxgate magnetometer is extended and step a402 is re-entered.
As a further optimization of the above solution, the step b includes the following steps:
Establishing a ground measurement and control station comprising a flight control system, a ground magnetic daily variable base station, a field data preprocessing system and a data interpretation system; the flight control system is used for presetting a flight route of the unmanned aerial vehicle and monitoring the flight state in real time; the ground control system is used for setting magnetic measurement parameters of the magnetic measurement system before the unmanned aerial vehicle takes off; the ground magnetic daily variable base station consists of the same base station magnetometer or an EREV-1+ proton magnetometer with high precision and 1Hz sampling rate; the field data preprocessing system is used for performing format conversion, merging, data processing and output on the acquired magnetic measurement data and navigation data; the data interpretation system is used for performing geological interpretation on the processed data.
As a further optimization of the above solution, the step c includes the following steps:
c101, performing land calculation of the magnetic compensation coefficient to obtain the land magnetic compensation coefficient;
c102, when the unmanned aerial vehicle enters a compensation flight area, keeping the current altitude to make straight reciprocating flight along the north-south airlines and east-west airlines;
c103, taking the current position of the unmanned aerial vehicle as a reference point, and establishing two quadrilateral magnetic compensation routes taking the reference point as a center; the heading of one quadrilateral magnetic compensation route is four heading of east, south, west and north, and the heading of the other quadrilateral magnetic compensation route is four heading of southeast, northeast, northwest and southwest;
and c104, completing the roll, pitch and roll compensating flight on each route in turn, wherein the range of the flight attitude amplitude is (+/-) (6-7 degrees), and the average heading deflection angle is kept to be not more than +/-2 degrees.
As a further optimization of the above solution, the step e includes the following steps:
e101, setting parameters including time zone, ellipsoid system, projection belt and central meridian;
e102, importing daily variable data, a flight log, and acquired magnetic measurement data and navigation data, and performing format conversion on the data;
And e103, merging the data, processing the merged data and outputting the merged data.
The beneficial effects of the invention are as follows:
1. And the magnetic interference distribution under each condition of the unmanned aerial vehicle is tested, so that the influence of magnetic interference on magnetic measurement is reduced, and the accuracy and the effectiveness of magnetic measurement data are ensured.
2. The ground measurement and control station realizes the monitoring to unmanned aerial vehicle flight status, guarantees that unmanned aerial vehicle can carry out autonomous flight, and guarantees the security of flight.
3. And performing magnetic compensation flight, and calculating a magnetic compensation coefficient to ensure that the acquired data is more real and perfect, thereby further improving the accuracy and the effectiveness of the magnetic measurement data.
4. By adopting the fixed wing unmanned aerial vehicle, the flight time can reach 120 minutes, and the flight distance can reach more than 200 km each time, thereby greatly improving the working efficiency.
5. The cesium optical pump magnetometer is adopted, has the characteristic of miniaturization, has a high-frequency sampling function, and can improve the measurement accuracy to more than 0.8nT by adopting the frequency of 2S-100 Hz.
6. The cesium optical pump magnetic measurement technology is transplanted to the unmanned fixed wing aircraft, so that the flight cost is greatly reduced, and the flight safety is greatly improved.
7. Materials and structures of the cesium optical pump magnetometer are improved, and weight and volume are greatly reduced.
Drawings
FIG. 1 is a flow chart of a cesium optical pump magnetic measurement method based on a fixed wing unmanned aerial vehicle according to an embodiment of the invention;
FIG. 2 is a schematic diagram of an acquisition circuit of a data acquisition box according to an embodiment of the present invention;
FIG. 3 is a flow chart of a magnetic data processing according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Examples
As shown in fig. 1, the cesium optical pump magnetic measurement method based on the fixed wing unmanned aerial vehicle adopts a duck unmanned aerial vehicle, has the characteristics of low magnetism, stable flight, long endurance time, electric performance, parachute landing, low fault rate, moderate cruising speed and the like, and is combined with a magnetometer in a front loading mode, and the stability of the magnetometer is strongest because the unmanned aerial vehicle is minimum in magnetic field interference (the fuselage material is a low magnetic material, an interference source is mainly an engine, a steering engine and the engine are taken down for magnetic field test, and the factor of maximum magnetic field interference can be found) during front loading; before detection, a test of the magnetic interference distribution in each case is carried out, wherein:
When not energized, the magnetic interference test is as follows:
a101, carrying a non-magnetic frame at a stable magnetic field, and placing an unmanned aerial vehicle without a magnetometer on the non-magnetic frame;
a102, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at the position of a head of the unmanned aerial vehicle, and measuring a magnetic field value of the unmanned aerial vehicle at the position when the unmanned aerial vehicle is not electrified;
a103, taking down the unmanned aerial vehicle, and measuring standard magnetic field values of the position by using the cesium light pump magnetometer and the fluxgate magnetometer at the same position respectively;
a104, comparing the magnetic field value of the step a102 with the standard magnetic field value of the step a103, if the comparison result meets the preset test qualification standard, entering the step a105, otherwise, failing;
a105, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at a position of the unmanned aerial vehicle, which is away from the machine head, and measuring a magnetic field value of the unmanned aerial vehicle under the condition that the position is not electrified;
and a106, comparing the magnetic field value of the step a105 with the standard magnetic field value of the step a103, and if the comparison result meets the preset test qualification standard, the magnetic interference test is qualified under the condition of no power on, otherwise, the test is disqualified.
When electrified, the magnetic interference test is as follows:
a201, carrying a non-magnetic frame at a stable magnetic field, placing an unmanned aerial vehicle without a magnetometer on the non-magnetic frame, and electrifying the unmanned aerial vehicle;
a202, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at the position of a head of the unmanned aerial vehicle, and measuring a magnetic field value under the condition of electrifying the position;
a203, taking down the unmanned aerial vehicle, and measuring standard magnetic field values of the position by using a cesium light pump magnetometer and a fluxgate magnetometer at the same position respectively;
a204, comparing the magnetic field value of the step a202 with the standard magnetic field value of the step a203, if the comparison result meets the preset test qualification standard, entering the step a205, otherwise, failing;
a205, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at a position of the unmanned aerial vehicle, which is away from the machine head, and measuring a magnetic field value under the condition of electrifying the position;
and a206, comparing the magnetic field value in the step a205 with the standard magnetic field value in the step a203, if the comparison result meets the preset test qualification standard, the magnetic interference test is qualified under the condition of power on, otherwise, the test is failed.
When the unmanned aerial vehicle engine is running, the magnetic interference test is as follows:
a301, carrying a non-magnetic frame at a stable magnetic field, placing an unmanned aerial vehicle without a magnetometer on the non-magnetic frame, and starting an engine of the unmanned aerial vehicle;
a302, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at the position of a head of the unmanned aerial vehicle, and measuring a magnetic field value under the condition of engine operation at the position;
a303, taking down the unmanned aerial vehicle, and respectively measuring standard magnetic field values of the position by using a cesium light pump magnetometer and a fluxgate magnetometer at the same position;
a304, comparing the magnetic field value of the step a302 with the standard magnetic field value of the step a303, if the comparison result meets the preset test qualification standard, entering the step a305, otherwise, failing;
a305, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at a position of the unmanned aerial vehicle, which is away from a machine head, and measuring a magnetic field value of an engine at the position under the running condition;
and a306, comparing the magnetic field value of the step a305 with the standard magnetic field value of the step a303, and if the comparison result meets the preset test qualification standard, performing the magnetic interference test qualification under the engine running condition, otherwise, performing the disqualification.
The field magnetic interference test is as follows:
a401, selecting an optimal position to install a fluxgate magnetometer after the test is qualified under the conditions of no power-on and engine operation;
a402, controlling the unmanned aerial vehicle to collect data in the air for one hour in a stable area with small magnetic field interference;
a403, judging whether the quality of the acquired data is qualified, and if so, performing field magnetic interference test to be qualified; if not, the probe length of the fluxgate magnetometer is extended and step a402 is re-entered.
The magnetic interference test is carried out under the conditions, and the purpose of the magnetic interference test is to reduce the interference brought by the unmanned aerial vehicle engine, steering engine, circuit system and other equipment as much as possible; secondly, in order to ensure flight safety and accord with the aerodynamic principle, aerodynamic simulation detection is required, and wind tunnel test is carried out before actual flight.
Then, a ground measurement and control station comprising a flight control system, a ground magnetic daily variable base station, a field data preprocessing system and a data interpretation system is established;
the flight control system is used for presetting a flight route of the unmanned aerial vehicle and monitoring the flight state in real time;
The ground control system is used for setting magnetic measurement parameters of the magnetic measurement system before the unmanned aerial vehicle takes off;
The ground magnetic daily variable base station consists of the same base station magnetometer or an EREV-1+ proton magnetometer with high precision and 1Hz sampling rate;
The field data preprocessing system is used for performing format conversion, merging, data processing and output on the acquired magnetic measurement data and navigation data;
The data interpretation system is used for performing geological interpretation on the processed data.
The designed unmanned aerial vehicle has the advantages that the width of two wings is 5.8 meters, the length of a machine body is 3.6 meters, the take-off weight is greater than 35 kilograms, the detection area per frame is greater than 60 square kilometers, 4 oil tanks can be arranged at one time, the effective flight endurance is greater than 4 hours, and the data acquisition requirement of an altitude area is ensured; the flying height of the unmanned aerial vehicle can cover a near-ground space of 50-1000 meters, and the unmanned aerial vehicle has the flexibility of the unmanned aerial vehicle and the high sensitivity of the high-precision cesium light pump magnetometer; the invention adopts the miniaturized cesium optical pump magnetometer, has high response speed to the change of an external magnetic field, has high signal bandwidth reaching more than 1Khz, has high sensitivity, continuously outputs signals, does not need strict orientation, is particularly suitable for being used on a motion platform, can lock the Larmor frequency f0 of cesium atoms through a phase-locking circuit in an optical pump probe electronic component, and outputs signals with the frequency f 0; the strength of the external magnetic field can be calculated by measuring the pull Mo Erpin value;
The ground measurement and control station is established, the flight route of the unmanned aerial vehicle can be planned, the unmanned aerial vehicle in flight is monitored in real time, and the ground measurement and control station is related to the unmanned aerial vehicle model and has the following functions:
1. the flight control system presets a route, can guide in the edited flight profile, and ensures that the unmanned aerial vehicle can fly autonomously;
2. The unmanned aerial vehicle can monitor the flying state in real time, so that the flying safety of the unmanned aerial vehicle is ensured, and meanwhile, the unmanned aerial vehicle has the functions of automatic return to the home in danger and parachute protection;
3. the flight control system and the aircraft have an emergency risk avoiding function, and when the flight control system and the aircraft are lower than a set height, the aircraft automatically opens the umbrella for protection.
After the unmanned aerial vehicle enters the compensated flight area, high-precision magnetic measurement compensation calculation is performed by using the high-precision fluxgate magnetometer:
c101, performing land calculation of the magnetic compensation coefficient to obtain the land magnetic compensation coefficient;
c102, when the unmanned aerial vehicle enters a compensation flight area, keeping the current altitude to make straight reciprocating flight along the north-south airlines and east-west airlines;
c103, taking the current position of the unmanned aerial vehicle as a reference point, and establishing two quadrilateral magnetic compensation routes taking the reference point as a center; the heading of one quadrilateral magnetic compensation route is four heading of east, south, west and north, and the heading of the other quadrilateral magnetic compensation route is four heading of southeast, northeast, northwest and southwest;
and c104, completing the roll, pitch and roll compensating flight on each route in turn, wherein the range of the flight attitude amplitude is (+/-) (6-7 degrees), and the average heading deflection angle is kept to be not more than +/-2 degrees.
The background magnetic field of the unmanned aerial vehicle comprises three parts, namely unmanned aerial vehicle remanence, unmanned aerial vehicle induction magnetic field and unmanned aerial vehicle eddy magnetic field; when the unmanned aerial vehicle cruises, the unmanned aerial vehicle background magnetic field can be divided into fixed components and variable components, wherein the size of the fixed components is generally in the range of 10-100 nT, the size of the variable components is in the range of 1-3 nT, when the compensation gain of the unmanned aerial vehicle background magnetic field reaches 10 times, and the signal digital filtering is added to identify the flying background magnetic field and the target magnetic field, the variable components of the compensated unmanned aerial vehicle background magnetic field interference can be reduced to below 0.24nT, and the effective detection of the remote exploration targets above 400 meters can be ensured; in order to obtain the magnetic compensation coefficient, land calculation of the magnetic compensation coefficient is firstly carried out to obtain the land magnetic compensation coefficient; then, on the ground with uniform magnetic field environment, rolling, pitching and swaying movements are respectively carried out in four typical directions (geomagnetic heading) of east, west, south and north, wherein each movement lasts about 40 seconds, and the movement angle is (+/-) (6-7 degrees); meanwhile, the external magnetic field intensity, the flight attitude, the altitude and the GPS position information are collected, the compensation flight is carried out in a specific direction, certain items in the unmanned aerial vehicle interference source mathematical model can be eliminated, and all magnetic compensation coefficients are solved step by step; the various actions of compensating flight are not required to absolutely meet the angle requirement, and the method is most beneficial to solving the magnetic compensation coefficient as long as the actions are uniform and the maneuver of inattention and inattention is avoided.
After the magnetic compensation is completed, the data acquisition box acquires magnetic measurement data comprising magnetic field intensity and three-component magnetic field intensity, and navigation data comprising ground clearance, altitude, longitude and latitude coordinates, flight direction and flight attitude; the acquisition circuit diagram of the data acquisition box is shown in fig. 2, the difference frequency circuit takes an FPGA as a core, is matched with an analog multiplier and a filter, a frequency reference is provided by a high-stability constant-temperature crystal, a frequency signal output by an optical pump probe is modulated on a power supply, a sine signal is demodulated by the signal, the signal after the difference frequency is filtered and shaped and then is input into the FPGA for counting, and the FPGA is provided with the following functional modules:
Difference frequency counter: the function of the difference frequency counter is to generate 1 signal which is about 1KHz different from the input signal according to the input frequency signal, and send the signal to the difference frequency and shaping module at the front end; the change of the earth magnetic field to be observed is slow, the absolute value of the change of 1 second does not exceed hundreds of nT, and the difference frequency signal is updated once for 1 second; because the difference between the difference frequency signal and the probe signal is very small, the sum frequency signal and the difference frequency signal generated after passing through the analog multiplier have very large frequency difference and are easy to separate by a filter;
and (3) a sampling controller: signaling according to the set sampling frequency;
a master counter: the main counter runs freely and counts the signals after the difference frequency;
sampling counter: after the sampling controller sends out a sampling signal, the value of the main counter is latched and enters the sampling counter to be read by an external bus;
An interrupt controller: after each sampling is finished, the interrupt controller sends out an interrupt request, and the external bus reads the sampling value in the sampling counter.
After the data is transmitted to the field data preprocessing system, the data processing is performed, and the system has the functions of format conversion, merging of magnetic measurement data and navigation data, data filtering, posture correction, daily variation correction, thinning, data deleting, line dividing and the like, and the magnetic measurement data is integrated and recorded according to the processing flow shown in fig. 3.
And finally, performing aeromagnetic interpretation on the processed data by adopting a data interpretation system, wherein the data interpretation system is mature geophysical data interpretation software and has a complete aeromagnetic interpretation module.
The foregoing examples merely illustrate specific embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (3)
1. The cesium optical pump magnetic measurement method based on the fixed wing unmanned aerial vehicle is characterized by comprising the following steps of:
a. presetting a test qualification standard, performing unmanned aerial vehicle performance test, and if the test qualification standard is met, entering a step b; if the unmanned aerial vehicle is not qualified, re-entering the step a, and performing unmanned aerial vehicle performance test; the method comprises the following steps:
the magnetic interference testing step when not powering on:
a101, carrying a non-magnetic frame at a stable magnetic field, and placing an unmanned aerial vehicle without a magnetometer on the non-magnetic frame;
a102, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at the position of a head of the unmanned aerial vehicle, and measuring a magnetic field value of the unmanned aerial vehicle at the position when the unmanned aerial vehicle is not electrified;
a103, taking down the unmanned aerial vehicle, and measuring standard magnetic field values of the position by using the cesium light pump magnetometer and the fluxgate magnetometer at the same position respectively;
a104, comparing the magnetic field value of the step a102 with the standard magnetic field value of the step a103, if the comparison result meets the preset test qualification standard, entering the step a105, otherwise, failing;
a105, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at a position of the unmanned aerial vehicle, which is away from the machine head, and measuring a magnetic field value of the unmanned aerial vehicle under the condition that the position is not electrified;
a106, comparing the magnetic field value of the step a105 with the standard magnetic field value of the step a103, if the comparison result meets the preset test qualification standard, the magnetic interference test is qualified under the condition of no power on, otherwise, the magnetic interference test is disqualified;
The magnetic interference testing step when power is on:
a201, carrying a non-magnetic frame at a stable magnetic field, placing an unmanned aerial vehicle without cesium light pump magnetometers on the non-magnetic frame, and electrifying the unmanned aerial vehicle;
a202, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at the position of a head of the unmanned aerial vehicle, and measuring a magnetic field value under the condition of electrifying the position;
a203, taking down the unmanned aerial vehicle, and measuring standard magnetic field values of the position by using a cesium light pump magnetometer and a fluxgate magnetometer at the same position respectively;
a204, comparing the magnetic field value of the step a202 with the standard magnetic field value of the step a203, if the comparison result meets the preset test qualification standard, entering the step a205, otherwise, failing;
a205, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at a position of the unmanned aerial vehicle, which is away from the machine head, and measuring a magnetic field value under the condition of electrifying the position;
a206, comparing the magnetic field value of the step a205 with the standard magnetic field value of the step a203, if the comparison result meets the preset test qualification standard, the magnetic interference test is qualified under the condition of power on, otherwise, the test is failed;
the magnetic interference testing step when the unmanned aerial vehicle engine operates:
a301, carrying a non-magnetic frame at a stable magnetic field, placing an unmanned aerial vehicle which is not provided with a cesium light pump magnetometer on the non-magnetic frame, and starting an engine of the unmanned aerial vehicle;
a302, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at the position of a head of the unmanned aerial vehicle, and measuring a magnetic field value under the condition of engine operation at the position;
a303, taking down the unmanned aerial vehicle, and respectively measuring standard magnetic field values of the position by using a cesium light pump magnetometer and a fluxgate magnetometer at the same position;
a304, comparing the magnetic field value of the step a302 with the standard magnetic field value of the step a303, if the comparison result meets the preset test qualification standard, entering the step a305, otherwise, failing;
a305, respectively installing a cesium light pump magnetometer and a fluxgate magnetometer at a position of the unmanned aerial vehicle, which is away from a machine head, and measuring a magnetic field value of an engine at the position under the running condition;
a306, comparing the magnetic field value of the step a305 with the standard magnetic field value of the step a303, if the comparison result meets the preset test qualification standard, the magnetic interference test is qualified under the engine running condition, otherwise, the magnetic interference test is disqualified;
The field magnetic interference testing step comprises the following steps:
a401, selecting an optimal position to install a fluxgate magnetometer after the test is qualified under the conditions of no power-on and engine operation;
a402, controlling the unmanned aerial vehicle to collect data in the air for one hour in a stable area with small magnetic field interference;
a403, judging whether the quality of the acquired data is qualified, and if so, performing field magnetic interference test to be qualified; if not, extending the probe length of the fluxgate magnetometer, re-entering step a402;
b. Establishing signal connection between a ground measurement and control station and the unmanned aerial vehicle, and monitoring the flight state; before the unmanned aerial vehicle takes off, setting magnetic measurement parameters of a magnetic measurement system;
c. After the unmanned aerial vehicle reaches the measurement height, calculating a magnetic compensation coefficient; the method comprises the following steps:
c101, performing land calculation of the magnetic compensation coefficient to obtain the land magnetic compensation coefficient;
c102, when the unmanned aerial vehicle enters a compensation flight area, keeping the current altitude to make straight reciprocating flight along the north-south airlines and east-west airlines;
c103, taking the current position of the unmanned aerial vehicle as a reference point, and establishing two quadrilateral magnetic compensation routes taking the reference point as a center; the heading of one quadrilateral magnetic compensation route is four heading of east, south, west and north, and the heading of the other quadrilateral magnetic compensation route is four heading of southeast, northeast, northwest and southwest;
c104, completing the compensation flight of roll, pitch and swing on each route in turn, wherein the range of the flight attitude amplitude is (+/-) (6-7 degrees), and the average heading deflection angle is kept to be not more than +/-2 degrees;
d. After the magnetic compensation is completed, magnetic measurement data comprising magnetic field intensity and three-component magnetic field intensity, which are measured by the cesium optical pump magnetometer, are transmitted to a data acquisition box through a serial port; meanwhile, transmitting navigation data including ground clearance, altitude, longitude and latitude coordinates, flight direction and flight attitude measured by a GPS, an IMU and a laser altimeter to a data acquisition box through a serial port;
e. after receiving the corresponding magnetic measurement data and navigation data, the data acquisition box transmits the corresponding magnetic measurement data and navigation data to a field data preprocessing system for data processing;
f. and transmitting the processed data to a data interpretation system for aeromagnetic interpretation.
2. The method for magnetic measurement of cesium optical pump based on fixed wing unmanned aerial vehicle according to claim 1, wherein said step b comprises the steps of:
Establishing a ground measurement and control station comprising a flight control system, a ground magnetic daily variable base station, a field data preprocessing system and a data interpretation system; the flight control system is used for presetting a flight route of the unmanned aerial vehicle and monitoring the flight state in real time; the ground control system is used for setting magnetic measurement parameters of the magnetic measurement system before the unmanned aerial vehicle takes off; the ground magnetic daily variable base station consists of the same base station magnetometer or an EREV-1+ proton magnetometer with high precision and 1Hz sampling rate; the field data preprocessing system is used for performing format conversion, merging, data processing and output on the acquired magnetic measurement data and navigation data; the data interpretation system is used for performing geological interpretation on the processed data.
3. The stationary vane unmanned aerial vehicle-based cesium optical pump magnetic measurement method of claim 1, wherein the step e comprises the steps of:
e101, setting parameters including time zone, ellipsoid system, projection belt and central meridian;
e102, importing daily variable data, a flight log, and acquired magnetic measurement data and navigation data, and performing format conversion on the data;
And e103, merging the data, processing the merged data and outputting the merged data.
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