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.     

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.     

Interference effects of aircraft on earth's electromagnetic response at very low frequency and low frequency

Over the last few decades, very low frequency electromagnetics has been widely and successfully applied in mineral exploration and groundwater exploration. Many radio transmitters with strong signal‐to‐noise ratios are scattered in the very low frequency band and low frequency band. Based on experiences gained from ground measurements with the radio‐magnetotelluric technique operating in the frequency interval 1–250 kHz, broadband magnetometers have been used to cover both very low frequency (3–30 kHz) and low frequency (30–300 kHz) bands to increase the resolution of the near‐surface structure. The metallic aircraft as a conductive body will distort the magnetic signal to some extent, and thus it is important to investigate aircraft interference on the electromagnetic signal. We studied noise caused by rotation of an aircraft and the aircraft itself as a metallic conductive body with three methods: 3D wave polarization, determination of transmitter direction and full tipper estimation. Both very low frequency and low frequency bands were investigated. The results show that the magnetic field is independent of the aircraft at low frequencies in the very low frequency band and part of the low frequency band (below 100 kHz). At high frequencies (above 100 kHz), the signals are more greatly influenced by the aircraft, and the wave polarization directions are more scattered, as observed when the aircraft turned. Some aircraft generated noise mixed with radio transmitter signals, detected as ‘dummy’ signals by the 3D wave polarization method. The estimated scalar magnetic transfer functions are dependent on the aircraft flight directions at high frequencies, because of aircraft interference. The aircraft eigenresponse in the transfer functions (tippers) between vertical and horizontal magnetic field components was compensated for in the real part of the estimated tippers, but some unknown effect was still observed in the imaginary parts.     

低轨磁测卫星干扰磁场标定方法研究

为了提高空间磁场探测精度,磁测卫星一般将磁强计安装在长伸杆的顶端,同时通过整星磁洁净控制,来减小磁强计安装位置的磁场干扰量.针对低轨磁测卫星的特点,提出零磁场环境下卫星极弱干扰磁场的高精度测量方法,模拟在轨地磁场环境下卫星感应磁场的标定方法,以及磁力矩器剩磁不确定量的处理方法.通过以上方法对卫星本体产生的干扰磁场实施严格的标定和数据修正,可有效减小其影响,极大提升空间磁场探测精度.该方法已应用于电磁监测卫星,将整星的磁场干扰不确定量降低一个量级,达到优于0.3 nT的水平.     

Regional magnetic anomaly fields: 3D Taylor polynomial and surface spline models

We used data from 1960.0, 1970.0, 1980.0, 1990.0, and 2000.0 to study the geomagnetic anomaly field over the Chinese mainland by using the three-dimensional Taylor polynomial (3DTP) and the surface spline (SS) models. To obtain the pure anomaly field, the main field and the induced field of the ionospheric and magnetospheric fields were removed from measured data. We also compared the SS model anomalies and the data obtained with Kriging interpolation (KI). The geomagnetic anomaly distribution over the mainland was analyzed based on the SS and 3DTP models by transferring all points from 1960.0–1990.0 to 2000.0. The results suggest that the total intensity F anomalies estimated based on the SS and KI for each year are basically consistent in distribution and intensity. The anomalous distributions in the X-, Y-, and Z-direction and F are mainly negative. The 3DTP model anomalies suggest that the intensity in the X-direction increases from ?100 nT to 0 nT with longitude, whereas the intensity in the Y-direction decreases from 400 nT to 20 nT with longitude and over the eastern mainland is almost negative. The intensity in the Z-direction and F are very similar and in most areas it is about ?50nT and higher in western Tibet. The SS model anomalies overall reflect the actual distribution of the magnetic field anomalies; however, because of the uneven distribution of measurements, it yields several big anomalies. Owing to the added altitude term, the 3DTP model offers higher precision and is consistent with KI.     

Estimation of the normal geomagnetic field and geological interpretation of the normal field anomalies over middle-northern Croatia

Based on the ground survey of total-field magnetic data at 53 sites, which recorded a time-series over the interval 2003–2005, the core field + long wavelength lithospheric field over the middle-northern Croatia region was calculated. The area of the survey was 18900 km², an average distance between the neighbouring sites being 12 km. The results were reduced to 2004.5 epoch. This “normal” total-field was estimated using the firstorder Taylor polynomial as a function of geographic coordinates, and the polynomial coefficients were calculated with three methods of adjustment: simple and weighted least squares fits and adjustment according to the most frequent value. The stability of the normal field was tested using the Monte Carlo-type test, by decreasing the input data set in each adjustment (up to 90%). All obtained field residuals (measured-“normal”) were mutually compared, as well as fit coefficients of the Taylor polynomials. The residual values indicate the presence of shorter-wavelength anomalies, specifically three major residual anomalies were found (−106 nT, 74 nT and 57 nT). The geostatistical analysis of the ground survey data and the normal field residuals (respectively), using the median absolute deviation method, was further conducted in order to evaluate the calculated anomalies. The geological situation around the anomalies derived by the median absolute deviation method, and around the normal field residual anomalies, is given. The correlation was found between higher value anomalies of the normal field residuals, and shallow volcanic rocks and oil field, respectively.     

Dependence of geomagnetic activity during magnetic storms on solar-wind parameters for different types of streams: 4. Simulation for magnetic clouds

In this work, we confirm the possibility of approximating the main phase of a magnetic storm (Dst ≤ ?50 nT) caused by magnetic clouds (MCs) with a linear dependence on solar-wind parameters, which are integral electric field sumEy, dynamic pressure Pd, and level of field fluctuations σB. The results show that the main phase of magnetic storm induced by MC is described best by a model with individual values of the main phase approximation coefficients: the correlation coefficient between the measured and model Dst values is 0.99, and the rms deviation is 2.6 nT. The model version with coefficients averaged over all storms describes the main phase much more poorly: the correlation coefficient is 0.65, and the rms deviation is 21.7 nT. A more precise version of the model of the storm main phase induced by MC was developed after introducing corrections that takes into account the history of development of onset of the magnetic-storm main phase: the correlation coefficient is 0.83, and the rms deviation is 15.6 nT. The Dst prediction results during the main phase using the technique suggested are shown for individual magnetic storms as examples.     

Portable magnetometer theodolite with fluxgate sensor for earth's magnetic field component measurements

A new portable magnetometer theodolite with fluxgate sensor has been developed for measuring the components of the earth's magnetic field. With this instrument, used as a null detector, it is possible to make absolute measurements of declination (D) and inclination (I). The compensation of the main magnetic field allows direct intensity measurements (H, X, Y, Z components); in this case the calibration is made by reference to a proton magnetometer.The observation procedure is particularly easy and quick. The accuracy is better than 5 sec of arc forD andI and better than 1 nT for direct intensity measurements.     

Magnetic measurements on La Soufriere Volcano, Guadeloupe (Lesser Antilles), 1976–1984: A re-examination of the volcanomagnetic effects observed during the volcanic crisis of 1976–1977

During the seismovolcanic crisis of 1976–1977 at La Soufrière on Guadeloupe, a magnetic network of 12 reference markers was set up. Measurements of the intensity of the earth's magnetic field, carried out up to once a day at each marker, showed volcano-magnetic variations of several nanoteslas (nT). The variations, at certain markers, were more or less concealed by transient magnetic variations due to anomalies in conductivity. As early as 1978, measurements were resumed and a telemetering network was coupled with the network of reference markers, to which 4 new markers were added. A detailed study of conductivity anomalies was carried out on the entire volcano. Contrasts in conductivity linked to the existence of a superficial conducting surface, on a SSW/NNE axis, located south of the volcano, caused a great lack of homogeneity in the field variations measured at the surface. Variations greater than about 10 nT appeared in the difference in intensity of the earth's magnetic field between two stations.No long-term magnetic variation was observed between 1978 and 1984. On the network of markers, the accuracy of measurements of volcanic effects was at best 2 nT. Measurements carried out on the telemetering network during the night refined these results, since their accuracy was 1 nT. The only significant volcanic crisis between 1978 and 1984 (5–7 January 1981) seems to be observed by telemetering stations. All the measurements carried out in periods of volcanic inactivity make it possible to re-examine the crisis of 1976–1977. Though volcanomagnetic effects over short periods cannot be accurately determined, variations with a time constant of several weeks were present over the entire volcano. These variations were as high as 7–8 nT in remote stations and they can be linked to the three major phases of eruptive activity at La Soufrière during the crisis of 1976–1977.     

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.     

外源S_q等效电流体系电流涡中心电流强度与太阳活动关系

本文选取了INTERMAGNET地磁台网2001年到2012年的地磁数据,对其进行世界时(UT)到地方时(LT)的转换后利用自然正交分量法(NOC)从所选资料中提取出太阳静日变化Sq成分,再通过球谐分析方法建立模型分离内、外源Sq成分,逐日反演出内、外源Sq等效电流体系,并得到外源Sq等效电流体系南北电流涡中心电流强度.本文将外源Sq等效电流体系南北电流涡中心电流强度与同一时期的Dst指数进行了对比分析,研究表明它们之间具有同步变化的规律,且北半球电流涡中心电流强度在磁暴发生时的异常现象远高于南半球.对F10.7cm太阳射电流量与外源Sq等效电流体系南、北半球电流涡中心电流强度的长短周期分析发现,Sq等效电流表现出明显的11年周期特点,与太阳活动周期一致.外源南、北半球电流涡中心电流强度和F10.7cm年均值的相关系数分别达到了0.93和0.90,说明太阳活动是导致外源Sq电流体系变化的最直接也最主要的因素,这可能与电离层电导率受控于太阳的电磁辐射相关.     

Magnetic fields over active tectonic zones in ocean

The aim of our work is to estimate the electromagnetic effects that can be detected in the submarine zones with hydrothermal activity. It is known that meso-scale flows appear in the regions over underwater volcanoes or hot rocks. Their origin is connected with heat flux and hot jets released from underwater volcanoes or faults in a sea bottom. Values of mean velocities and turbulent velocities in plumes were estimated. Quasiconstant magnetic fields induced by a hot jet and a vortex over a plume top are about 1–40 nT. Variable magnetic fields are about 0.1–1 nT. These magnetic disturbances in the sea medium create an additional natural electromagnetic background that must be considered when making detailed magnetic surveys.     

2005年8月24日磁暴主相期间亚暴过程的多卫星联合观测分析

本文根据OMNI、TC-2卫星、LANL系列卫星、Cluster星簇卫星(C1-C4)以及加拿大的8个中高纬地磁台站的观测数据,研究了2005年8月24日强磁暴(SYM-H_min~ -179 nT)主相期间的强亚暴(AL_min~ -4046 nT)事件特征.该强磁暴在大振幅(IMF B_{z min}~ -55.57 nT)、短持续时间(~90 min)的行星际磁场条件下产生,有明显的磁暴急始(SSC),强度较大且持续时间较短.发生在磁暴主相期间的亚暴发展的主要特征如下:亚暴增长相期间,C1-C4卫星先后穿越中心等离子体片;亚暴膨胀相触发后,在近地磁尾(X~-6R_E)可观测到磁场偶极化现象;等离子体无色散注入区在亚暴onset开始后迅速沿经向扩展,但被限制在有限的经度范围;磁纬60°附近,Pi2地磁脉动振幅超过了100 nT.膨胀相开始后,在中、高磁纬地磁台站可观测到负湾扰,近地磁尾可观测到Pi2空间脉动,中磁尾区域可观测到尾向流、磁重联以及O⁺/H⁺数密度比值在亚暴onset之后增大等现象.分析表明该强磁暴主相期间的强亚暴现象发生时序是自内向外:X~-6R_E处TC-2观测到磁场偶极化(~09:42:30 UT),同步轨道卫星LANL1994-084观测到等离子体无色散注入(~09:44:30 UT),X~-17.8R_E处C1观测到磁场重联(~09:45:30 UT),由此推断该亚暴事件很可能是近地磁尾不稳定性触发产生,其发生区域距离地球很近.     

午后极光强度与行星际磁场的相关

利用1997年和199年南极中山站多通道扫描光度计的地面观测数据和WIND卫星在弓激波上游对行星际磁场(IMF)的观测数据,对午后高纬极光强度与IMF各分量、以及时钟角之间的相关进行了定量研究. 统计表明,630nm的强度Ir随IMF Bx的增大而减小,其线性相关系数为-0.3;而557.7nm的变化趋势与此相反,其相关系数要低得多. 630nm的强度随IMF By的变化曲线为一"V"形结构,其谷底在By=-3nT附近;557.7nm的强度也有相似的变化趋势,其谷底的位置在By=-2nT附近. 极光强度随IMF Bz的变化曲线为一倒着的"Z"字形结构. 630nm的强度随IMF的模B的增大而增强,其线性相关系数达到0.9,而557.7nm与B之间的相关性要差得多. 极光强度随IMF时钟角的变化曲线为一倒"V"结构,其反转点在θ=130°附近.     

2000年中国地区地磁场长期变化的区域特征

本文用中国地磁场复测点和地磁台站资料,建立了2000年代中国参考地磁场长期变化模型CGRF-SV2000.模型显示,中国地区地磁场变化比较平缓,X、Y、Z、H、D、I、F七个地磁要素的“无符号平均年变率”分别为122 nT/a、82 nT/a、438 nT/a、118 nT/a、096(′)/a、299(′)/a、224 nT/a,比国际参考地磁场IGRF给出的全球年变率约小1/3到1/2.各地磁要素的变化显示,地磁北极正在向中国移近,或者说,中国正在向高地磁纬度方向移动,平均移动速度约为3(′)/a.磁偏角变化还显示,中国地区东西部偏角差异继续扩大.作为检验和对比研究,本文利用第8代国际参考地磁场（IGRF）模型,分析了全球地磁场长期变化的时空特征,讨论了全球长期变模型IGRF_SV与中国长期变模型CGRF_SV的异同点.对比分析表明,中国地区地磁场的长期变化与全球长期变化总趋势基本符合,但是,CGRF_SV也表现出一些特有的局部异常特征.     

带电月尘活动对月球磁场的影响

本文介绍了基于月尘扬起机制的"动态喷泉模型",分析了月尘扬起的过程;最后提出了"带电月尘活动电磁感应模型",计算得到月面明暗交界处带电月尘活动产生的感应磁场强度小于0.0064nT.本文证明带电月尘的活动对月球磁场的影响微小,可以忽略.     

On the relationship between magnetic clouds and the great geomagnetic storms associated with the period 1995–2006

The fact that magnetic clouds are one of the main sources causing geomagnetic storms is a well-established fact. One of the issues is to establish those features of magnetic clouds determinant in the intensity of the Dst corresponding to geomagnetic storms. We examine measurements of geoeffective magnetic clouds during the period 1995–2006 providing geomagnetic storms with Dst indexes lower than ?100 nT. These involve 46 geomagnetic storm events. After establishing the different characteristics of the magnetic clouds (plasma velocity, maximum magnetic intensity, etc.) we show some results about the correlations found among them and the storms intensity, finding that maximum magnetic field magnitude is a determinant factor to establish the importance of magnetic clouds in generating geomagnetic storms, having a correlation as good as the electric convective field.     

Test of IGRF (1980) main field and secular variation in Europe

The IGRF-models for the main field and the secular variation (IGRF 1980 and IGRF-SV 1980–1985) have been compared with geomagnetic ground based data for epoch 1980.5 in the GDR, and also with the secular variation at 34 European observatories. The results for the main magnetic field were much better than for IGRF 1965. With a level-error of ～ 45 nT, the IGRF 1980 included ～ 75% of the magnetic crust field. The structure of the IGRF-field is similar to that of other regional reference fields.The IGRF-SV for 1965, 1975 and 1980–1985 have been compared with analytical SV-models, based on low-degree polynomial approximations. It is shown that the main features of SV in Europe are represented correctly. The mean differences between observatory data and IGRF-SV 1980–1985 are 1.5′/a for declination, and 7 nT/a for total intensity.     

Surf zone characterization from Unmanned Aerial Vehicle imagery

We investigate the issues and methods for estimating nearshore bathymetry based on wave celerity measurements obtained using time series imagery from small unmanned aircraft systems (SUAS). In contrast to time series imagery from fixed cameras or from larger aircraft, SUAS data are usually short, gappy in time, and unsteady in aim in high frequency ways that are not reflected by the filtered navigation metadata. These issues were first investigated using fixed camera proxy data that have been intentionally degraded to mimic these problems. It has been found that records as short as 50 s or less can yield good bathymetry results. Gaps in records associated with inadvertent look-away during unsteady flight would normally prevent use of the required standard Fast Fourier Transform methods. However, we found that a full Fourier Transform could be implemented on the remaining valid record segments and was effective if at least 50% of total record length remained intact. Errors in image geo-navigation were stabilized based on fixed ground fiducials within a required land portion of the image. The elements of a future method that could remove this requirement were then outlined. Two test SUAS data runs were analyzed and compared to survey ground truth data. A 54-s data run at Eglin Air Force Base on the Gulf of Mexico yielded a good bathymetry product that compared well with survey data (standard deviation of 0.51 m in depths ranging from 0 to 4 m). A shorter (30.5 s) record from Silver Strand Beach (near Coronado) on the US west coast provided a good approximation of the surveyed bathymetry but was excessively deep offshore and had larger errors (1.19 m for true depths ranging from 0 to 6 m), consistent with the short record length. Seventy-three percent of the bathymetry estimates lay within 1 m of the truth for most of the nearshore.     

Magnetic monitoring at Merapi volcano, Indonesia

Merapi volcano, located 30 km north of the heavily populated city of Yogjakarta, Java, is one of the most active of the 129 volcanoes in Indonesia. About every 2 years a new phase of activity is observed. Depending on the past activity the unrest gives rise either to an endogenous dome which partly collapses in the southwest direction or to pyroclastic flows which travel as far as 15 km. The 1990–1997 period has involved a plume emission on 30 August 1990, an extrusion on 20 January 1992, and a pyroclastic eruption on 22 November 1994. The intensity of the Earth magnetic field has been measured simultaneously and digitally recorded at four stations since 1990. Two Overhauser magnetometers with resolution of 0.01 nT have been installed in the summit area to strengthen the volcano monitoring. Outstanding magnetic changes appear to correlate with volcanic activity. Three types of volcanomagnetic signals can be identified: long-term trends up to 15 nT with period >10 years; medium-term cyclic variations, at most 3 nT in amplitude and with 1–2 years period; and small events, reaching 1.5 nT, lasting a few months, and associated with any remarkable volcanic activity. Merapi volcano began a new cycle of activity in 1995 leading to a dome growth in July 1996, and accompanied by 27 nuées ardentes in August. The comparison between magnetic data, seismicity, and surface phenomena suggests that some long-term trends of decade periods could be of thermomagnetic origin, while mid-term volcanomagnetic variations associated with the cycles of Merapi activity could be of piezomagnetic origin. Short-term variations of a few weeks duration, less than 1.5 nT, are well correlated with the 1995–1996 seismic activity.