CN113960678A - Multi-unmanned aerial vehicle-based large-depth UXO detection system and detection method - Google Patents
Multi-unmanned aerial vehicle-based large-depth UXO detection system and detection method Download PDFInfo
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- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
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- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
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Abstract
The invention provides a multi-unmanned aerial vehicle-based large-depth UXO detection system and a detection method, which solve the technical problems that a single unmanned aerial vehicle can only carry a smaller wire frame and the detection depth and the detection precision are insufficient in the prior art.
Description
Technical Field
The invention belongs to the technical field of geophysical transient electromagnetic detection, and particularly relates to a large-depth UXO detection method by utilizing a plurality of unmanned aerial vehicles to improve the load and control the flight attitude of a large transmitting coil.
Background
A unexplosive bomb (UXO) is a residual weapon such as a landmine and a bomb which is laid and thrown during a war and other military activities, and after the military activities are finished, the landform and the landform are changed with the passage of time, so that the position of the previously laid unexplosive bomb is deviated. The method not only threatens the life safety of human at all times, limits the normal activity space of human, but also reduces the utilization rate of land resources and limits the development of local society and economy. Geophysical methods have been of great importance in the exploration of unexploded projectiles as a powerful exploration method.
Geophysical methods occupy a very important position in the exploration field, especially in the detection of the UXO. Magnetic and electrical exploration are two very widely used types of methods due to the differences in the resistivity of the UXO from the background.
Among them, magnetic exploration is a passive source exploration means, and abnormal signals are weaker than those of electrical exploration. When strong magnetic impurities exist in the detection area, the exploration effect of magnetic exploration is not ideal, even possible effective signals are covered by interference signals, and in addition, the false alarm rate of detection is greatly improved in a complex geomagnetic environment.
The transient electromagnetic method has high detection efficiency and strong identification capability on the low-resistance UXO. In addition, in the three-dimensional forward modeling, the situation of the small coil is difficult to calculate, and a corresponding database is difficult to establish to solve the problem of the UXO.
Aiming at the defects of the prior art, the invention provides a multi-unmanned aerial vehicle-based large-depth UXO detection system and a detection method based on a transient electromagnetic method. In addition, through the angle of many unmanned aerial vehicle control launching wire frames, the trouble that the angle was corrected has been reduced. Finally, it is worth noting that by a series of three-dimensional forward calculations, we can obtain that controlling the angle of the transmission line frame can improve the resolution of the UXO in the lateral direction. The method can well solve the problems of the detection depth and the detection precision of the UXO, and provides a novel UXO detection idea.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention improves the detection mode of the transient electromagnetic method of the unmanned aerial vehicle on the UXO, and the technical scheme is as follows.
A large-depth UXO detection system based on multiple unmanned aerial vehicles is characterized in that the detection system carries a transmission line frame through multiple unmanned aerial vehicles, and each angular point of the transmission line frame is respectively connected with the multiple unmanned aerial vehicles, so that the total load is increased by multiple times, the large transmission line frame can be carried, and the detection depth and the signal-to-noise ratio of detection signals are improved;
further, the large emitting wire frame is a rectangular emitting wire frame of 3m × 3 m;
furthermore, a receiving wire frame is movably connected to the inner side of the large transmitting wire frame;
furthermore, the mass center of the receiving wire frame is hoisted at the center of the large radiation line frame through a connecting device, and the balance weight is arranged at the angular point of the receiving wire frame, so that the receiving wire frame can be kept horizontal when the angle of the large radiation line frame is changed;
according to the detection method based on the detection system, the height of the unmanned aerial vehicle is controlled, the posture of the transmitting wire frame is controlled to change in an inclined mode, the inclined change refers to the fact that the normal line of the plane of the wire frame rotates in the plane perpendicular to the horizontal plane, the receiving coil is adjusted to enable the receiving coil to be kept horizontal, and then the UXO is detected, so that the good transverse resolution is achieved under the condition of a large coil. Finally, according to the attitude change influence of the transient electromagnetic system, the inclination change is divided into a geometric effect influence and an induction effect influence, and the attitude correction can be performed by the following equation 1 for a general background field.
Ratio＝0.5sinβ1sinβ2+cosβ1cosβ2 (1)
In the formula, the former term on the right of the equal sign is an induction effect influence, the latter term is a geometric effect influence, Ratio is a correction factor, and the response after correction is obtained by directly dividing the actually measured data by the Ratio. Beta is a1Angle of the emission line frame plane relative to the horizontal, beta2To receive the angle of the wireframe plane relative to the horizontal, beta is given by the fact that the receiving coil of the device is held in a horizontal position2＝0。
The invention has the beneficial effects that:
(1) large detection depth and high signal-to-noise ratio: the single unmanned aerial vehicle usually adopts small coil transmission due to limited load, the method generally has small detection depth, abnormal signals are relatively weak and are easily covered by noise, and the adoption of multiple unmanned aerial vehicles can improve the load so as to realize the signal transmission of a large coil and improve the detection depth and the signal to noise ratio;
(2) the database is easy to establish: from the perspective of three-dimensional forward modeling, the requirement of the small coils on the grids is strict, the number of the grids is relatively large, the difficulty and the time consumption of the three-dimensional forward modeling are greatly increased, and the establishment of the database needs a large amount of three-dimensional forward modeling calculation as a support, so that the transmission of the large coils is realized by using a plurality of unmanned aerial vehicles, and the difficulty and the time consumption of the establishment of the database are greatly reduced;
(3) the detection precision is high, and the lateral resolution is high: from the gesture is corrected, what single unmanned aerial vehicle generally adopted is the suspension type device, and this kind of mode receives external influence easily, can appear the swing of coil, incline and the change of gesture such as driftage, if this kind of influence will bring the error for the result if not correcting. And because each angular point of the coil is fixed, the postures of the wire frames can be well controlled by the multiple unmanned aerial vehicles. In addition, through three-dimensional forward modeling discovery, through the gesture of control transmission line frame, can highlight the central point position of UXO, improved lateral resolution greatly.
Drawings
FIG. 1 is a schematic view of a detection system of the present invention;
FIG. 2 is a schematic diagram of an oblique emission line frame of the detection system of the present invention;
FIG. 3 is a forward response diagram of the emitting wire frame at different tilt angles;
in the figure, 1-unmanned plane, 2-large transmission wire frame, 3-receiving wire frame, 4-UXO
Detailed Description
The invention is described in detail below with reference to the accompanying drawings, and for convenience of description, four unmanned aerial vehicles are selected to carry a rectangular large launching wire frame in the embodiment, and other forms of unmanned aerial vehicles and large launching wire frames are also within the protection scope of the invention.
The invention discloses a method and a technology for realizing large-depth UXO detection by multiple unmanned aerial vehicles based on a transient electromagnetic method, wherein the method is based on an electromagnetic induction principle, each corner point of a large transmission wire frame 2 is fixed on multiple unmanned aerial vehicles 1, the inclination angle of the transmission wire frame is controlled by controlling the heights of the unmanned aerial vehicles at two sides of the large transmission wire frame 2, then, a time domain step wave signal is transmitted, and the aim of detecting underground UXO4 is realized by utilizing a mature transient electromagnetic method receiver.
Generally speaking, a single drone can carry a small coil, and the small coil has a small effective transmission area due to its radius, so that the total energy of a transmitted signal is small, which causes two problems, namely, the detection depth is shallow, when the UXO4 is buried deeply, the signal-to-noise ratio of the effective signal is low, at this time, the error rate of detection is greatly increased, and due to the small transmission energy, the effective signal is relatively weak, and is easily interfered by the surrounding environment, and the noise resistance is poor. The invention realizes the UXO detection with large depth by using the multiple unmanned aerial vehicles, and solves the problems of shallow effective detection depth and small transmitting capacity. However, when the size of the coil is increased, the problem that the horizontal resolution of the detection method is low is often caused, and in order to solve the problem, the invention also provides inclined attitude detection on the basis, namely the inclined angle of the large transmission wire frame 2 is controlled by controlling the heights of the unmanned aerial vehicles at two sides to carry out UXO detection, the included angle between the large transmission wire frame 2 and the horizontal plane is changed by the heights of the unmanned aerial vehicles, in the inclined process, the normal line of the plane of the large transmission wire frame 2 always moves in the plane vertical to the horizontal plane, the theory of correcting according to the attitude is changed, and the inclined attitude correction of the background field can be carried out according to the following formula 1:
Ratio＝0.5sinβ1sinβ2+cosβ1cosβ2 (1)
in the formula, the former term on the right of the equal sign is an induction effect influence, the latter term is a geometric effect influence, Ratio is a correction factor, and the response after correction is obtained by directly dividing the actually measured data by the Ratio. Beta is a1Is the angle beta of the plane of the large radiation frame 2 relative to the horizontal plane2To obtain an angle of the plane of the receiving wire frame 3 with respect to the horizontal plane, beta is given by the horizontal attitude of the receiving wire frame 3 of the apparatus2So, equation can be further abbreviated as public 2:
Ratio＝cosβ1 (2)
after the detected vertical magnetic field component signal is corrected through the above inclined posture, the abnormity is more obvious and the relative effective signal is stronger because the UXO is low resistance and the background is high resistance, and the low resistance has an amplification effect relative to the background under the geometric correction. In addition, as can be seen from the schematic diagram of fig. 3, the more the inclination angle is increased, the more the abnormality of the UXO is obvious, and the more the gradient change on the measuring line is obvious, so that the measurer can simply divide the precise position of the UXO in the transverse direction according to the multi-track diagram.
Claims (6)
1. The utility model provides a big degree of depth UXO detecting system based on many unmanned aerial vehicles, its characterized in that, this detecting system carries on the transmission line frame through many unmanned aerial vehicles, and each angular point of transmission line frame is connected with a plurality of unmanned aerial vehicles respectively.
2. The detection system of claim 1, wherein the large transmit wire frame is a 3m x 3m rectangular transmit wire frame.
3. The detection system of claim 1, wherein a receiving wire frame is movably connected inside the large transmitting wire frame.
4. The detection system as claimed in claim 3, wherein the mass center of the receiving wire frame is hung at the center of the large transmitting wire frame through a connecting device, and the receiving wire frame is provided with a balance weight at the angular point, so that the receiving wire frame can be kept horizontal when the angle of the large transmitting wire frame is changed.
5. A detection method of a detection system according to any one of claims 1-4, characterized in that the altitude of the unmanned aerial vehicle is controlled, the posture of the transmission wire frame is controlled to perform inclination change, the inclination change is that the normal of the wire frame plane rotates in a plane vertical to the horizontal plane, the receiving coil is adjusted to be horizontal, and then the UXO is detected.
6. The detection method according to claim 5, wherein the attitude correction is performed using the following formula:
Ratio＝0.5sinβ1sinβ2+cosβ1cosβ2
in the formula, the former term on the right of the equal sign is the influence of induction effect, the latter term is the influence of geometric effect, Ratio is the correction factor, beta1Angle of the emission line frame plane relative to the horizontal, beta2In order to receive the included angle of the wire frame plane relative to the horizontal plane, the measured data is directly divided by the Ratio to obtain the corrected response, and the receiving coil of the device keeps the horizontal posture, so that the beta value is beta2＝0。
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