Impact of three-dimensional attitude variations of an unmanned aerial vehicle magnetometry system on magnetic data quality

Optically pumped vapour magnetometers have an orientation dependency in measuring the scalar component of the ambient magnetic field which leads to challenges for integration with mobile platforms. Quantifying the three-dimensional attitude variations (yaw, pitch and roll) of an optically pumped vapour magnetometer, while in-flight and suspended underneath a rotary unmanned aerial vehicle, aids in the successful development of reliable, high-resolution unmanned aerial vehicle magnetometry surveys. This study investigates the in-flight three-dimensional attitude characteristics of a GEM Systems Inc. GSMP-35U potassium vapour magnetometer suspended 3 m underneath a Dà-Jiāng Innovations S900 multi-rotor unmanned aerial vehicle. A series of unmanned aerial vehicle-borne attitude surveys quantified the three-dimensional attitude variations that a simulated magnetometer payload experienced while freely (or semi-rigidly) suspended underneath the unmanned aerial vehicle in fair weather. Analysis of the compiled yaw, pitch and roll data resulted in the design of a specialized semi-rigid magnetometer mount, implemented to limit magnetometer rotation about the yaw axis. A subsequent unmanned aerial vehicle-borne magnetic survey applying this specialized mount resulted in more than 99% of gathered GSMP-35U magnetic data being within industry standards. Overall, this study validates that maintaining magnetometer attitude variations within quantified limits (±5° yaw, ±10° pitch and roll) during flight can yield reliable, continuous and high-resolution unmanned aerial vehicle-borne magnetic measurements.     

Aerial magnetic mapping with an unmanned aerial vehicle and a fluxgate magnetometer: a new method for rapid mapping and upscaling from the field to regional scale

Magnetic measurements with an unmanned aerial vehicle are ideal for filling the gap between ground and airborne magnetic surveying. However, to obtain accurate aeromagnetic data, the compensation of magnetic effects of the unmanned aerial vehicle is a challenge. Typically, scalar magnetometers are towed several metres under the unmanned aerial vehicle to minimize its magnetic field. In this study, a fluxgate three-component magnetometer is attached 42 cm in front of the unmanned aerial vehicle at the tip of a composite pipe. Using a scalar calibration, the sensor can be calibrated, and the permanent and induced magnetic fields of the unmanned aerial vehicle can be compensated. The contributions of the magnetic measurements at different altitudes to the unmanned aerial vehicle results were tested over an area of 1 km² in the Northern Vosges Mountains. The area is located in a hamlet surrounded by a forest where few geological outcrops are observed. Three magnetic surveys of the same area are obtained at different altitudes: 100, 30 and 1 m above the ground. The unmanned aerial vehicle magnetic data are compared with a helicopter aeromagnetic survey at 300 m above the ground and a ground magnetic survey using upward continuations of the maps to compare the results. The magnetic maps (300, 100, 30 and 1 m above the ground) show very different magnetic anomaly patterns (e.g. amplitude, shape, wavelength and orientation). The magnetic data at different altitudes improve the understanding of the geology from the local to more general scales.     

Research Note: First results of a low‐altitude unmanned aircraft system gamma survey by comparison with the terrestrial and aerial gamma survey data

In order to increase the efficiency of geological survey in difficult landscape‐morphological conditions, the authors have developed low‐altitude gamma technology surveys based on a multi‐rotor unmanned aircraft system, also known informally as Drones. These results have been compared against those from standard terrestrial and aerial gamma surveys. The successful results obtained at the reference site show that the developed methodology enables compilation of high‐quality data in difficult landscape conditions. These results yield the same level of information content as standard terrestrial gamma surveys. The exact unmanned aircraft system altitude over the earth must be maintained for carrying out high‐quality surveys. It was found that a CsI(Tl) detector with sizes 80 × 80 mm (vol. 0.4 dm³) enables obtaining of high‐quality radiometric data at altitudes of up to 70 m, at a speed of at least 20 km/h. The authors believe that low altitude ‘quasi‐terrestrial’ gamma surveys with a terrain drape may in the future replace terrestrial gamma surveys since they can offer better effectiveness at a lower cost.     

Airborne Geophysics: Application to a Ground-Water Study in Botswana

Summary
A ground-water study carried out in the Serowe area of eastern Botswana between 1985–1988 has provided the opportunity to evaluate the role of a multiparameter low-level airborne geophysical survey in a hydrogeological investigation. The survey included magnetic, VLF (very low frequency), and coaxial EM (electromagnetic) measurements. In total, 7,500 line kilometers were flown over an area of 3,300 km2 with a nominal ground clearance of 20 m and a line spacing of 400 m.
The main aquifer, the Ntane Sandstone Formation (Karoo age), is confined between mudstones below and basalt above, and is broken into a series of graben and horst structures by numerous E-W striking faults. All bedrock, however, is completely masked by a 20–60 m thick overburden of sands, calcretes, silcretes, and sandstones known collectively as the Kalahari beds.
Airborne magnetic and VLF geophysical surveys have been used to penetrate this masking cover. Images and stacked profiles obtained from the survey revealed structural and geological features of major hydrogeological significance. This provided the information necessary for the formulation of a conceptual model.
The results helped guide the subsequent exploration drilling program in an efficient and effective manner, cutting down the need for extensive ground surveys. The investigation confirmed the availability of a 35,000 m3/day resource, sustainable for a 25-year period. Highest yields were obtained from fracture zones associated with VLF anomalies. Potential wellfields were identified in confined sections of the aquifer, with production boreholes to be sited, where possible, on fractures associated with VLF anomalies.     

Aeromagnetic surveying using a simulated unmanned aircraft system

Carleton University and Sander Geophysics are developing an unmanned aircraft system (UAS) for aeromagnetic surveying. As an early indication of the expected performance of the unmanned aircraft system, a simulated unmanned aircraft system (sUAS) was built. The simulated unmanned aircraft system is a T‐shaped structure configured as a horizontal gradiometer with two cesium magnetometers spaced 4.67 m apart, which is the same sensor geometry as planned for the unmanned aircraft system. The simulated unmanned aircraft system is flown suspended beneath a helicopter. An 8.5 km² area in the Central Metasedimentary Belt of the Grenville Province, near Plevna, Ontario, Canada, was surveyed with the simulated unmanned aircraft system suspended 50 m above ground. The survey site was chosen on the basis of its complex geological structure. The total magnetic intensity (TMI) data recorded were compared to that obtained during a conventional fixed‐wing survey and a ground survey. Transverse magneto‐gradiometric data were also recorded by the simulated unmanned aircraft system. The simulated unmanned aircraft system total magnetic intensity data have a higher resolution than the conventional fixed‐wing data and were found to have a similar resolution to that of the ground survey data. The advantages of surveying with the simulated unmanned aircraft system were: (1) the acquisition of a detailed data set free of gaps in coverage at a low altitude above the terrain and (2) substantial saving of time and effort. In the survey site, the 4.67 m simulated unmanned aircraft system gradiometer measured the transverse magnetic gradient reliably up to an altitude of 150 m above ground.     

无人机地震灾情监测系统在四川高原山区的应用研究

无人机地震灾情监测系统主要由无人机飞行平台、飞行控制系统、遥感系统、软件系统和无线电遥控系统等几部分组成,具有运行成本低、执行任务灵活性高等特点,是快速获取震后灾情信息的重要手段。结合四川高原山区的自然地理和气象条件,对无人机地震灾情监测系统在四川高原山区的应用进行了研究。该系统在高原山区的应用将在提升地震灾情现场勘查能力,迅速获取灾情信息,增加救灾工作的时效性,及为后期科学考察提供辅助信息等方面提供重要的技术支撑。     

特殊区域旋翼无人机航磁测量研究

为解决地面人员难以到达的特殊区域大比例尺磁测数据获取问题,本文提出一种基于三轴磁通门传感器,采用旋翼无人机进行航空磁测的方法.项目组研制适合旋翼无人机搭载的航磁数据记录仪,并完成旋翼无人机、三轴磁通门传感器、航磁数据记录仪的集成工作,开展了三轴磁通门传感器安装点位噪声水平试验、地面空中对比试验、磁性体识别试验、动态飞行一致性试验、区域飞行试验.旋翼无人机航磁系统具有操作简单、设备轻便、效率高的特点,能在地面人员难以达到的区域开展低空航磁测量.中国四川省黑竹沟地区是地磁异常区域,项目组在该区域内的沟壑、峡谷、湖泊等实地开展了野外应用测试,完成了这些特殊区域的航磁调查工作.     

Real-time compensation of magnetic data acquired by a single-rotor unmanned aircraft system

Two methods for low-altitude calibration of a single-rotor unmanned aircraft system using a real-time compensator are tested: (1) a stationary calibration where the unmanned aircraft system executes manoeuvres while hovering in order to minimize ambient field changes due to the local geology; and (2) an adapted box calibration flown in four orthogonal directions. Both methods use two compensator-specific limits derived from established methods for manned airborne calibration: the lowest frequency used by the compensator for the calibration algorithm and the maximum variation of the ambient magnetic intensity experienced by the unmanned aircraft system during calibration. Prior to flying, the unmanned aircraft system was magnetically characterized using the heading error and fourth difference. Magnetic interference was mitigated by extending the magnetometer-unmanned aircraft system separation distance to 1.7 m, shielding, and demagnetization. The stationary calibration yielded an improvement ratio of 8.595 and a standard deviation of the compensated total magnetic intensity of 0.075 nT (estimated Figure-of-Merit of 3.8 nT). The box calibration also yielded an improvement ratio of 3.989 and a standard deviation of the compensated total magnetic intensity of 0.083 nT (estimated Figure-of-Merit of 4.2 nT). The stationary and box calibration solutions were robust with low cross-correlation indexes (1.090 and 1.048, respectively) when applied to a non-native data set.     

轻小型无人机在房屋建筑结构类型调查中的应用

房屋建筑结构数据是了解房屋抗震设防能力的基础,获取房屋建筑结构信息具有重要的现实意义。本文在简单介绍无人机遥感系统、房屋建筑信息无人机遥感调查技术流程的基础上,以全国多地多架次飞行任务为应用实例,对无人机照片进行筛选、姿态匹配、照片拼接、纹理映射等处理,获取了房屋建筑密集区的正射镶嵌图和三维场景模型,然后对房屋建筑结构类型进行目视判读,并与地面调查的真实结果比对分析,计算得到目视判读的准确率为91.17%,Kappa系数为0.80。结果表明,轻小型无人机轻便灵活,获取的三维场景模型能有效、直观、准确地进行房屋建筑结构类型判定,可弥补传统实地调查的不足,为评估大范围建筑物的抗震能力提供重要的参考依据。     

无人飞艇长导线源时域地空电磁勘探系统及其应用

以无人飞艇作为载体的时域地空电磁探测系统,具有高效、低成本、勘探深度大和空间分辨率高等优点.本文基于二维有限差分方法,分析了长导线源地空电磁响应的特征和变化规律、以及飞行高度的影响;在此基础上,采用32位Cortex-M3内核处理器,以全差分模拟前端压制电磁干扰,实现了24位低噪声多通道海量电磁数据的同步采样及存储,研制了一套可搭载于无人飞艇的时域电磁接收系统,并基于Wi-Fi Mesh无线多跳网络实现了地面远程监控.通过分析飞艇发动机的电磁噪声特点,采用独立分量分析法进行实测数据的噪声去除.研制的地空电磁接收系统使用无人飞艇搭载,在江苏省南通市如东县和内蒙古巴彦宝力格地区进行了电磁探测实验,地空电磁勘探结果与地面瞬变电磁和大地电磁方法进行了对比,证明了地空电磁探测方法的有效性.无人飞艇时域地空电磁探测系统的成功飞行实验,为在我国草原沙漠地区、海陆交互地带、沼泽地带、无人山区等特殊景观地区开展矿产资源、水资源、地质灾害等电磁探测提供了新方法和新思路.     

新型便携式行业级无人机精灵4RTK定位精度分析

本文针对新型便携式行业级无人机精灵4RTK开展了实测数据的定位精度分析,从有、无控制点情况下的绝对定位精度和无控制点情况下的相对定位精度2方面入手,详细计算后者水平距离和高程差的测量误差,探讨网络RTK技术的无控制点情况在活动构造中的应用。结果表明,无人机精灵4RTK在天气较晴朗、飞行高度100 m、镜头角度正射向下、旁向和航向重叠率均为70%等实测条件下,有控制点情况下水平位置和高程测量误差均<4.5 cm,无控制点情况下水平位置测量误差<0.60 m、高程测量误差<1.90 m;无控制点情况下,当实际水平距离<300 m时,水平距离测量误差<0.100 m,当高程差<2.8 m时,高程差测量误差<0.100 m;以复合运动性质的发震断层为例,初步探讨认为无人机精灵4RTK的网络RTK技术在无控制点情况下提取活动构造的定量参数时,其水平位移量精度能够达到厘米级,垂直位错量精度可能达不到厘米级,当垂直位错量小于8.0 m时,精度能够达到0.157 m。     

THE APPLICATION OF MINIATURE UNMANNED AERIAL VEHICLE IN 25 NOVEMBER 2016 ARKETAO MW6.6 EARTHQUAKE

In order to complete the field investigation to the 25 November 2016 Arketao M_W6.6 earthquake, ultra-low altitude remote-sensing data were obtained from miniature unmanned aerial vehicle. The surface rupture surveying has important significance for earthquake research. This paper selects the macro-epicenter of Arketao as the study area. The pictures were obtained with DJI Phantom 3 professional input into the software, the Digital Elevation Model (DEM), Digital Orthophoto Map (DOM) were acquired based on photogrammetry method using the overlapped optical remote-sensing images of UAV. Using these data, we can identify surface ruptures that have vertical dislocation. We selected six feature points and drew the elevation profile. In the elevation profile map, we chose smooth part of the surface rupture sides and obtained the trend line. A stable point in the surface rupture was selected and the abscissa of the point was taken into the equation of two straight lines. Then subtracting the results of the two equations, we can get the vertical dislocation of the surface rupture. On this basis, we chose six feature points and determined their vertical dislocation, which are between 4.4cm and 10.4cm. What's more, taking Bulungkou Xiang in Xinjiang Uygur Autonomous Region for example, we speculated some surface ruptures that have vertical dislocation. It can provide a new method for identifying surface rupture in the field. In addition, we get DEM data of the Bulunkou area where ambient conditions are very poor, by using miniature unmanned aerial vehicle and taking 255 photos. Putting those photos into the EasyUAV software, we got the area digital elevation of 2cm resolution. Comparing these data with RTK data, we summarized some practical problems and solutions in the practical operation and evaluated the accuracy of miniature unmanned aerial vehicle data. The Pearson Correlation Coefficient is 0.996 6. In terms of absolute elevation, the average result of UAV and RTK differs by 156.96m. In terms of relative elevation, the average result of UAV and RTK differs by 9.74m. Compared with the previous test of Pishan County, there is a notable divergence in the results. It shows that the data accuracy will be affected to some extent in the cold weather in high elevations. The specific impact needs further exploration.     

GhostNet marine debris survey in the Gulf of Alaska--satellite guidance and aircraft observations

Marine debris, particularly debris that is composed of lost or abandoned fishing gear, is recognized as a serious threat to marine life, vessels, and coral reefs. The goal of the GhostNet project is the detection of derelict nets at sea through the use of weather and ocean models, drifting buoys and satellite imagery to locate convergent areas where nets are likely to collect, followed by airborne surveys with trained observers and remote sensing instruments to spot individual derelict nets. These components of GhostNet were first tested together in the field during a 14-day marine debris survey of the Gulf of Alaska in July and August 2003. Model, buoy, and satellite data were used in flight planning. A manned aircraft survey with visible and IR cameras and a LIDAR instrument located debris in the targeted locations, including 102 individual pieces of debris of anthropogenic or terrestrial origin.     

Aeromagnetic surveys in the seas around Japan in 1980

Aeromagnetic surveys in the seas around Japan were carried out in 1979 to 1980 by a YS-11 aircraft of the Maritime Safety Agency of Japan using a new type of airborne magnetometer system. The new type of airborne magnetometer system consists of a ring-core type three-component fluxgate magnetometer, an inertial sensing system, a fish-eye camera to measure the true north, an 8-bit microcomputer and a proton magnetometer. The VLF/OMEGA system is used to fix the position of the aircraft. Tracks extended to about 600 nautical miles off the coast of the Japanese islands in the Sea of Japan and the North-West Pacific Ocean. Average spacing between tracks was about 80 miles. The flights were carried out at an altitude of 9500 feet. From the survey results, magnetic charts of the seven geomagnetic elements for 1980 over the sea around Japan were compiled by the method of least squares using a polynomial. Also, the contour charts of secular variation in 1980 were compiled.     

Remote sensing for geotechnical earthquake reconnaissance

This paper describes recent efforts that incorporate remote sensing techniques and platforms into geotechnical earthquake reconnaissance to document damage patterns, collect three-dimensional geometries of failures, and measure ground movements. The most-commonly used remote sensing techniques in geotechnical engineering (satellite imagery and LIDAR), as well as unmanned aerial vehicles (UAV), are introduced and recent case histories of the use of these techniques in reconnaissance efforts are provided. These examples demonstrate the potential for remote sensing to improve our understanding of geotechnical effects both at a regional scale and at a local level. The use of remote sensing to measure ground movements is particularly noteworthy and has the potential to provide data sets that will improve our ability to quantitatively predict the consequences of liquefaction and landslides. However, to realize this potential, investments must be made in collecting appropriate pre-earthquake data.     

Deployment of an unmanned aerial system to assist in mapping an intermittent stream

Recent growth in the capabilities of unmanned aerial vehicles and systems (UASs) as airborne platforms for collecting environmental data has been very rapid. There are now ample examples in the literature of UASs being deployed to map fine‐scale vegetation, glacial, soil and atmospheric conditions. The purported advantages of UASs are their ability to collect spatial data at lower cost, lower risk, higher resolution and higher frequency than ground surveys or satellite platforms. In this specific study, whether or not obtaining high‐resolution UAS imagery was advantageous for identifying an intermittent stream network was determined by comparing it with coarse‐scale satellite imagery collected for the same purpose. It was also determined if the UAS imagery could be an improvement to Global Positioning System acquired ground‐truth points for classifying an intermittent stream network across the same large‐scale satellite image. The UAS‐acquired and satellite‐acquired imageries were derived from a visible spectrum camera capable of 2‐cm resolution and multispectral SPOT‐5 with 10‐m resolution, respectively. The SPOT‐5 imagery with its relatively coarse resolution could not always detect the narrow intermittent stream, which was well resolved in the UAS imagery. When a classified UAS image was applied as a training area for the SPOT‐5 image, the identification of the stream network and accuracy of the satellite imagery classification did not necessarily improve. UASs have the potential to revolutionize hydrological research the same way that geographic information systems did three decades ago. A final goal of the paper is to provide insight into the advantages and disadvantages of deploying a UAS for this kind of research. © 2015 Her Majesty the Queen in Right of Canada. Hydrological Processes. © 2015 John Wiley & Sons, Ltd.     

中国地质普查勘探中的航空磁测工作

我国的航空磁测工作,已经有二十六年的历史。到1978年底为止,全国已完成了近700万测线公里,实际覆盖面积约750万平方公里（其中包括海域120万平方公里）。现在全国各个部门中,用于航空磁测的飞机,每年可达30来架,建立了相当的航空物探队伍。 航空磁测在矿产普查中发挥了重大作用。圈定的局部航磁异常达20000多处,其中反映和被证实为各种规模的磁铁矿床及其它金属矿床的异常,占总数的3.5％。以航磁异常为线索,新发现的铁矿和其它金属矿达240多处,其中大中型的占41％。 航空磁测在石油构造普查中,也取得了巨大的成绩,几乎是各个含油气盆地都曾被普查过,覆盖的面积达480万平方公里（包括海域120万平方公里）,为发现大庆、胜利、大港等著名油田,起了重要的作用。构造磁测在大地构造和深部构造研究方面,不仅从理论上而且从实践上都具有相当的地位,这已为地质界所公认。航空磁测确定的深大断裂带,是非常重要的地质构造单元,也是各种有用矿产普查的重要线索。 最后,作者还提出了对我国航空磁测研究发展工作的意见。     

氦光泵磁力仪探头设计和环路数字化研究

磁法勘探是一种常用的地球物理勘探方法,其中光泵磁力仪是国内外应用于航空和地面磁法测量最多的磁力仪器.为满足深部矿产资源勘查对高精度磁测设备的需求,本文开展了低噪声、宽量程的高性能数字氦光泵磁力仪关键技术研究,主要包括磁传感器探头优化设计和新型数字化环路设计两方面.首先通过深入分析影响氦光泵磁力仪灵敏度的主要决定因素,对磁传感器关键部件氦灯、氦室进行小型化技术研究,解决高性能氦泵源和原子气室等关键件的制作工艺,提高氦灯效率和氦吸收室的磁共振信号输出强度,制作出高性能、低噪声的小型化氦光泵探头.然后,针对常规模拟跟踪环路的局限性,通过数字化技术研究,采用FPGA、DSP、DDS、环路跟踪算法和信号处理软件等技术构成新型数字环路,弥补现有基于模拟跟踪环路技术的模拟式氦光泵磁力仪的不足,该数字环路降低了氦光泵磁力仪的电路噪声,增强了抗电磁干扰能力,并扩展了磁力仪的量程.本文通过小型探头和数字环路的技术设计,研制出高精度大量程的地面数字氦光泵磁力仪,并用于第三方测试.通过第三方测试证明：实测仪器的静态噪声小于4 pT,磁场测量范围为20000~100000 nT,梯度容限大于10000 nT/m.     

面向地震应急的UAV快拼软件比较分析--以辽宁大连城岭村为例

无人机遥感技术系统作为新时期应急救援装备是震后快速获取灾情信息的重要手段,随着无人机的智能化、轻量化的影像处理软件的迅猛发展,无人机领域的应用也越来越广泛。本文选取了辽宁大连城岭村作为实验地点,以大疆精灵4pro无人机获取的1个架次308张照片作为实验数据,选取Pix4D、smart3D、photoscan三款无人机影像处理软件,以处理流程、耗时、正射精度、三维建模等指标作为测试指标对三款软件开展对比研究工作。研究结果表明,小型消费级无人机在飞控系统下的测量精度可达厘米级,处理流程方面从简到难依次为Pix4D、photoscan、smart3D,耗时方面从短到长依次为Pix4D、photoscan、smart3D,正射(dom)精度从高到低依次为Pix4D、smart3D、photoscan,三维建模精度从高到低依次为smart3D、Pix4D、photoscan,该实验结果不仅为搭建地震应急前后方指挥部数据处理平台建设提供技术支撑,同时还对使用此类无人机做行业应用及飞行参数设置提供参考意义。     

岷县—漳县6.6级地震极震区场地覆盖层厚度探测及三维地形模型建立

2013年7月22日岷县漳县MS6.6地震的震后科学考察发现,极震区局部场地覆盖层厚度和地形条件对地震动有明显放大效应。利用伺服速度地震仪对此次地震极震区场地进行高密度地脉动观测,获得该区不同场地的卓越频率,运用频谱分析法得到该区场地覆盖层厚度分布。基于在该区进行的无人机航飞遥测,获取地形地貌数据,通过制作表层和基岩层DEM数据,由Rhino进一步处理生成地形模型,实现真实地形在通用有限元软件中的三维模型的建立。