多旋翼无人机航磁系统误差综合补偿研究

多旋翼无人机磁通门航磁系统以其安全、稳定、高效等特点可广泛应用于中大比例尺矿产资源探测领域,但由于磁通门传感器存在三轴不严格正交,灵敏度、零偏不一致造成的转向差,且系统作业中存在固定场干扰、感应干扰和涡流干扰,需要进行流程繁琐的标定和补偿测试.本文根据实测数据分析出航磁系统机电干扰主要来自机载设备高频干扰,针对机电干扰高频特性设计相应低通滤波器进行误差处理,并基于Tolles-Lawson模型建立仪器转向误差和飞行平台机动误差补偿模型,根据两者结构相似的特点,建立综合补偿模型,该模型简单,实用性强,可通过野外一次补偿测试求取补偿参数进而对工区航磁数据进行补偿处理.最后,将综合补偿研究应用到辽宁省兴城市夹山地区航磁数据,综合补偿后的处理有效去除了航磁数据中的条带状干扰异常,并与地面磁测数据异常形态具有良好的一致性,验证了该研究方法有效性和实用性.     

东南极伊丽莎白公主地首次旋翼无人机航磁系统应用试验

随着旋翼无人机航磁测量技术快速发展,其便携性、安全性、造价低廉、无起飞限制等特点,使其在不同地质条件下广泛应用.南极作为地球物理调查的热点地区,由于南极气候条件恶劣,地形复杂,无人机航磁系统将是该地区磁数据采集的更优选择.首次将旋翼无人机航磁勘探技术应用到伊丽莎白公主地的磁法测量,所取得结果与以往有人机磁法测量结果一致,表明旋翼无人机航磁系统可有效在该地区开展采集工作,为下一步全域大比例尺磁法数据的采集奠定了良好的基础.     

固定翼无人机航磁测量系统的磁补偿问题初探

航磁补偿就是要去除飞行平台引入的干扰磁场.本文按照磁补偿工作的一般流程介绍了固定翼无人机航磁测量系统的构成、平台干扰源、干扰场建模、补偿飞行方案.在将有人机的磁补偿工作扩展应用到固定翼无人机的过程中,由于固定翼无人机很难进行常规的补偿飞行,没有获得相应数据.但考虑到无人机本身的磁干扰相对较小,而且移动方便,根据对实验区内航磁数据的分析掌握的信号特性,试探性地提出一种基于地面测量的静态补偿方案,初步建立针对低磁无人机平台获取的航磁总场数据补偿的方法,并对以后进一步实验的关键问题进行了讨论.     

地面电磁探测(SEP)系统对比试验——内蒙曹四夭钼矿

为了检验自主研制的地面电磁探测(SEP)系统各组成部分在实际勘查中的性能与可靠性,以及整体系统的野外实际工作能力,在内蒙古乌兰察布市兴和县的曹四夭钼矿开展了SEP不同类型磁传感器之间以及SEP整套系统与国外商业仪器系统的全面对比试验.试验采用多种方案,分别进行了高温超导磁传感器和感应式磁传感器之间的性能对比试验;磁通门磁传感器和感应式磁传感器之间的性能对比试验;SEP发射机与GGT-30发射机、TXU-30发射机的发射性能对比试验;SEP系统与V8、GDP-32II等国际先进仪器的CSAMT法综合对比试验;以及SEP系统和V8系统的MT法对比试验.本文对试验结果进行了分析,表明自主研制的SEP系统已经基本达到甚至优于国外同类产品的性能,能够很好地胜任野外实际勘查工作.     

用于航磁测量的多旋翼无人机磁干扰测试研究

在无人机航磁测量工作前期,全面评价无人机相关磁干扰源及其特征,可为后期磁力仪安装位置与方式的确定、数据降噪措施的选择等提供依据.本文以多旋翼无人机为例,分别进行了本底磁特征测试、异常部位不同状态下的噪声测试、电机干扰信号的时频分析、以及动态飞行时的干扰影响距离测试和研究.识别出电机、电流为主要干扰源;电流的产生和传输既会改变已有的静态干扰强度,又会产生新的动态震荡噪声;电机旋转所产生的震荡干扰信号是集合了与电机旋转速度、内部转子和定子数量等有函数关系的多频率复合信号;磁力仪所记录的干扰信号强度,随其与干扰源之间距离的增大而衰减.本文测试方法可作为无人机相关磁干扰测试的参考,测试结果可用于指导磁力仪安装和数据降噪.     

三轴磁通门探头球型反馈线圈的设计方法研究

长周期大地电磁测量要求三轴磁通门传感器具有低的噪声水平及高稳定性,根据实际需求设计一个尺寸合适的球型反馈线圈可以有效提高反馈磁场的均匀性,进而降低磁通门传感器的噪声水平.本文首先分析了非均匀反馈磁场引入磁通门噪声的机理,然后根据毕奥-萨伐尔定律和矢量叠加原理,以等间距多个单匝线圈构成单轴绕组的形式,建立了球型反馈线圈轴线上的轴向磁场分布及磁场均匀度数学模型,在给定磁场均匀度和球型反馈线圈直径的条件下,运用控制变量法确定了球型反馈线圈的单匝线圈数量和间距等关键结构参数.我们把设计的结构参数代入球型空间磁场分布数学模型,验证了本设计方法的正确性.最后,按照设计的结构参数制作了基于球型反馈线圈磁通门探头的三轴磁通门传感器,通过与体积相近的基于亥姆霍兹型反馈线圈磁通门探头的三轴磁通门传感器对比测试噪声水平,结果表明球型反馈线圈磁通门探头能够使得三轴磁通门传感器具有更稳定和较低的噪声水平.     

彩虹4无人机航磁测量系统的安全分析与质量评价

无人飞行平台作为智能搭载平台正推动航空物探技术进入一个新的阶段.面向有人驾驶飞行平台的痛点,无人机航空物探技术的推广应用对安全生产管理工作及高质量数据的采集有着重大意义.本文基于最新集成的长航时彩虹4无人机航磁测量系统,对彩虹4无人机测量飞行安全和数据采集效果进行分析研究,结果表明:彩虹4无人机经改装后,可安全有效的执行航空磁测测量任务,并可推广应用于航空物探领域.     

无人机获取区域全景图试验

利用无人机灾情快速获取系统,以玉溪县城为工作区域,进行无人机区域航拍试验.通过开展无人机任务单元参数、飞行参数等试验,获得不同成像分辨率要求的最佳任务单元配置参数和飞行参数,获取高质量玉溪城区全景图像.试验证明,无人机灾情获取系统能够为应急救援决策和指挥等提供实时灾情信息,可显著增强快速响应能力.     

三轴磁通门传感器水平和定向对地磁日变化观测数据的影响

针对多套三轴磁通门传感器在同一观测环境下,日变化观测曲线不是完全重合,存在观测数据的不一致性问题,通过理论计算和地磁台站测试实验,分析仪器的定向、底座水平与地磁各分量观测数据之间的变化规律并给出其定量关系.实验结果表明:若存在定向误差角α,则表现为D分量的观测曲线中包含了一定比例的H分量;在水平面内,若存在磁传感器以H分量为轴在ZOD平面内的旋转夹角φ,则表现为D分量的观测曲线中包含了一定比例的Z分量;若存在磁传感器以D分量为轴在ZOH平面内的旋转夹角θ,则表现为H和Z两分量的记录数据中分别包含了一定比例的对方分量成分.      

中高山区高精度航磁调查找矿效果研究

随着矿产资源需求的不断加大,我国西部高山区利用高精度航磁技术开展矿产勘查的需求越来越高,本文以东昆仑、阿尔金等多个高山区实测资料为基础,通过对不同型号飞机性能进行对比,选择适合高山区航磁测量的飞行平台;结合理论模型计算与不同高度飞行试验,确定了高山区有效飞行高度;并在基础上开展了航地磁测量效果对比.在航磁资料精细解释方面尝试了曲面位场转换处理,对比了转换前后局部异常强度变化;针对高海拔地区弱小磁异常选编,开展了弱缓异常提取技术研究;并针对起伏地形条件下航磁异常2.5D/3D精细反演解释技术手段进行了尝试,就如何提高航磁资料找矿效果进行了积极的探索.     

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.     

High-resolution unmanned aerial vehicle aeromagnetic surveys for mineral exploration targets

Recent advancements in geophysical exploration have been realized through reliably integrating unmanned aerial vehicle platforms with lightweight, high-resolution magnetometer payloads. Unmanned aerial vehicle aeromagnetic surveys can provide a contemporary data product between the two end-members of coverage and resolution attained using manned airborne and terrestrial magnetic surveys. This new data product is achievable because unmanned aerial vehicle platforms can safely traverse with magnetometer payloads at flight elevations closer to ground targets than manned airborne surveys, while also delivering an increased coverage rate compared to walking conventional terrestrial surveys. This is a promising new development for geophysical and mineral exploration applications, especially in variable terrains. A three-dimensional unmanned aerial vehicle aeromagnetic survey was conducted within the Shebandowan Greenstone Belt, northwest of Thunder Bay, Ontario, Canada, in July 2017. A series of two-dimensional grids (∼500 m × 700 m) were flown at approximate elevations of 35, 45 and 70 m above ground level using a Dà-Jiāng Innovations multi-rotor unmanned aerial vehicle (S900) and a GEM Systems, Inc., Potassium Vapour Magnetometer (GSMP-35U). In total, over 48 line-km of unmanned aerial vehicle aeromagnetic data were flown with a line spacing of 25 m. The collected aeromagnetic data were compared to a regional heliborne aeromagnetic survey flown at an elevation of approximately 85 m above the terrain, with a line spacing of 100 m, as well as a follow-up terrestrial magnetic survey. The first vertical derivative of the gathered unmanned aerial vehicle total magnetic field data was calculated both directly between each of the different flight elevations, and indirectly by calculating the values predicted using upward continuation. This case study demonstrates that low flight elevation unmanned aerial vehicle aeromagnetic surveys can reliably collect industry standard total magnetic field measurements at an increased resolution when compared to manned airborne magnetic surveys. The enhanced interpretation potential provided by this approach also aided in delineating structural controls and hydrothermal fluid migration pathways (a pair of adjacent shear zones) related to gold mineralization on site. These structural features were not clearly resolved in the regional manned airborne magnetic data alone, further demonstrating the utility of applying high-resolution unmanned aerial vehicle aeromagnetic surveys to mineral exploration applications. The conclusions and interpretations drawn from the unmanned aerial vehicle aeromagnetic data, coupled with historical data, were applied to make a new gold mineralization discovery on the site, assayed at 15.7 g/t.     

The Spatial and Temporal Characteristics of Pc3 Geomagnetic Activity over Canada in 2000, as a Guide to Planning the Times of Aeromagnetic Surveys

Geomagnetic activity affects aeromagnetic surveys. Geomagnetic variations are quite complex and can be quantified in different ways. A measure of geomagnetic activity that is useful for planning aeromagnetic surveys is the Pc3 pulsation index developed by the Australian Space Weather Agency. Purposeful to developing guidelines for planning aeromagnetic surveys in Canada, we study the variations in Pc3 index amplitude over Canada in 2000. This study shows distinct patterns associated with the sub-auroral zone, the auroral zone, and the polar cap. Average Pc3 index activity is higher during the months of February, July, September, and November in the auroral and sub-auroral zones. The station in the polar cap exhibits maximum activity near midday during the summer months. Detailed analysis of a magnetic storm shows that Pc3 index amplitude during the beginning of the solar storm is least important at the polar cap. The mean Pc3 index also relates to solar wind parameters such as the solar wind velocity and the vertical polarity of the interplanetary magnetic field. Analysis of the morning maximum of the Pc3 index observed in the auroral zone can be used to develop guidelines for planning aeromagnetic surveys in Canada and other areas of the world affected by auroral zones.     

磁通门经纬仪磁传感器的研制

结合磁通门地磁经纬仪的观测特点,对磁通门传感器模型进行理论分析,选择具有高磁导率的1J86坡莫合金,和具有相同热膨胀系数、高塑性、较高持久蠕变强度的GH128合金,分别作为磁芯和骨架材料,采用跑道形磁芯结构作为设计磁通门传感器的核心部分.对设计的磁通门传感器进行技术指标测试,结果表明,实验磁通门传感器优于设计要求.     

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。     

THE DETECTION OF BURIED PLACER DEPOSITS BY GROUND MAGNETIC SURVEY1

A method is proposed to detect buried magnetite concentrations within river sediments. Model studies show that relatively small (thickness 1 m, width 10 m) plate-shaped volumes with magnetite contents of 0.5% within a non-magnetic matrix can be detected by a detailed ground magnetic survey using a sensitive (0.1 nT) magnetometer. Tests along lines perpendicular to the river but at a different angle to the bedrock trend (or the aeromagnetic anomaly trend) reveal that essentially all total field and vertical’gradient’anomalies detected in the profiles are elongated in the river and/or valley direction. This shows that the anomaly sources are (buried) volumes of higher magnetite content within the river sediments. Further evidence for this is (1) that higher intensity total field and vertical’gradient’anomalies occur in an area where the river cuts through strongly magnetic serpentinites, (2) the absence of high frequency anomalies over unsorted glacial till, and (3) some features on power spectra. Relatively large volumes of high magnetite concentrations within the river sediments may well contain the highest concentration of heavy economic minerals such as gold. Consequently, the areas of greatest interest in the exploitation of buried placers may be selected from maps obtained by detailed magnetic surveys either on the ground or at low altitude by helicopter.     

新疆西天山东段航磁异常特征及找矿效果

介绍了高精度航磁调查在西天山东段的应用效果.在高精度航磁图上,展现出多个不同磁场背景及磁异常特征区,它们是不同构造、岩浆活动、地层及岩性分布的综合反映.该区不仅区域磁场特征明显,而且局部异常信息也极为丰富.在最新的高精度航磁图上,已知铁矿异常特征明显,为矿区外围勘探和同类地区寻找新的铁矿提供了依据.利用高精度航磁资料,新发现了五十余处铁矿异常,在2007年进行了地面查证的5处异常中,有4处见矿.这些新的铁矿异常的成功发现不仅带来了巨大的经济效益,也为今后利用高精度航磁测量在类似地区进行找矿积累了经验.     

Abandoned Underground Storage Tank Location Using Fluxgate Magnetic Surveying: A Case Study

In 1993, during the removal of a diesel and a gasoline underground storage tank at the municipal garage of the Village of Kohler, Sheboygan County, Wisconsin, soil testing revealed environmental contamination at the site. A site investigation revealed the possibility of a second on-site source of petroleum contamination. Limited historical data and the present usage of structures within the suspected source area precluded the use of most invasive sampling methods and most geophysical techniques. A fluxgate magnetometer survey, followed by confirmatory excavation, was conducted at the site. The fluxgate magnetometer survey identified nine possible magnetic anomalies within the 18 × 25 m area. The subsequent excavation near the anomalies revealed the presence of five paired and two individual 2000 L underground storage tanks. The fluxgate magnetometer survey, although affected by the proximity of buildings, was able to detect the buried tanks within 3 m of the brick structures, using a 1.5 × 1.5 m sampling array.