阅读说明：本技术 一种基于垂直起降固定翼无人机的海洋航磁探测系统 (Marine aeromagnetic detection system based on vertical take-off and landing fixed wing unmanned aerial vehicle ) 是由 卿昊 刘青松 徐行 熊川云 张文杰 于 2020-05-25 设计创作，主要内容包括：本发明涉及航测采集技术领域,特别涉及一种基于垂直起降固定翼无人机的海洋航磁探测系统,微型航磁探测系统包括：光泵磁力仪探头；光泵磁力仪控制系统,所述光泵磁力仪控制系统与光泵磁力仪探头控制连接,测量发生磁共振吸收现象时的射频线圈频率,通过磁旋比系数计算获得外磁场强度数据；三轴磁通门探头,所述三轴磁通门探头对X轴、Y轴、Z轴方向相互正交的时变磁场进行测量；GPS天线,激光高度计,获得的高程数据；多数据同步采集及航磁补偿系统,所述多数据同步采集及航磁补偿系统与光泵磁力仪控制系统、三轴磁通门探头、GPS天线和激光高度计连接,所述多数据同步采集及航磁补偿系统还与连接计算机地面站系统连接。(The invention relates to the technical field of aerial survey acquisition, in particular to a marine aeromagnetic detection system based on a vertical take-off and landing fixed wing unmanned aerial vehicle, which comprises: an optical pumping magnetometer probe; the optical pump magnetometer control system is in control connection with the probe of the optical pump magnetometer, measures the frequency of a radio frequency coil when a magnetic resonance absorption phenomenon occurs, and obtains external magnetic field intensity data through calculation of a magnetic rotation ratio coefficient; the three-axis fluxgate probe measures a time-varying magnetic field with mutually orthogonal X-axis, Y-axis and Z-axis directions; the GPS antenna and the laser altimeter obtain elevation data; the multi-data synchronous acquisition and aeromagnetic compensation system is connected with the optical pump magnetometer control system, the three-axis fluxgate probe, the GPS antenna and the laser altimeter and is also connected with the computer ground station system.)

1. The utility model provides a marine aeromagnetic detection system based on VTOL fixed wing unmanned aerial vehicle which characterized in that, includes miniature aeromagnetic detection system, miniature aeromagnetic detection system includes:

an optical pumping magnetometer probe;

the optical pump magnetometer control system is in control connection with the probe of the optical pump magnetometer, measures the frequency of a radio frequency coil when a magnetic resonance absorption phenomenon occurs, and obtains external magnetic field intensity data through calculation of a magnetic rotation ratio coefficient;

the three-axis fluxgate probe measures a time-varying magnetic field with mutually orthogonal X-axis, Y-axis and Z-axis directions;

the GPS antenna is used for acquiring GPS coordinate data and PPS signals;

the laser altimeter obtains elevation data;

the multi-data synchronous acquisition and aeromagnetic compensation system is connected with the optical pump magnetometer control system, the three-axis fluxgate probe, the GPS antenna and the laser altimeter and is also connected with the computer ground station system.

2. The marine aeromagnetic detection system based on VTOL fixed-wing UAVs of claim 1, wherein: the system also comprises a data storage U disk, wherein the data storage U disk is connected with a multi-data synchronous acquisition and aeromagnetic compensation system and is used for storing flight measurement data.

3. The marine aeromagnetic detection system based on VTOL fixed-wing UAVs of claim 1, wherein: the system also comprises a flight control data transparent transmission pipeline which is respectively connected with the multi-data synchronous acquisition and aeromagnetic compensation system and the computer ground station system and transparently transmits the data received from the multi-data synchronous acquisition and aeromagnetic compensation system to the computer ground station system.

4. The marine aeromagnetic detection system based on VTOL fixed-wing UAVs of claim 2, wherein: the multi-data synchronous acquisition and aeromagnetic compensation system further comprises a 24-bit high-speed ADC sampling plate, a GPS receiver/PPS signal, a 9-axis inertia measuring unit, a barometric altimeter, a micro industrial personal computer CPU plate, an ARM Linux embedded operating system and a data real-time transmission module, wherein the data real-time transmission module is connected with a data storage U disk.

5. The marine aeromagnetic detection system based on VTOL fixed-wing UAVs of claim 1, wherein: the vertical take-off and landing fixed wing unmanned aerial vehicle comprises a middle wing, two ends of the middle wing are connected with a left wing and a right wing, an optical pump magnetometer probe, a triaxial fluxgate probe and a frequency meter are arranged on the left wing or the right wing, a nacelle is arranged on the middle wing, a multi-data synchronous acquisition and aeromagnetic compensation system is arranged on the nacelle and is connected with the optical pump magnetometer probe, the triaxial fluxgate probe and the frequency meter through cables, and a GPS antenna is further arranged on the multi-data synchronous acquisition and aeromagnetic compensation system.

Technical Field

The invention relates to the technical field of aerial survey acquisition, in particular to an ocean aeromagnetic detection system based on a vertical take-off and landing fixed wing unmanned aerial vehicle.

Background

The aviation magnetic detection (referred to as aeromagnetic detection for short) is firstly used for detecting magnetic anomaly caused by submarines by naval and then used for civil aviation physical exploration. Along with the maturity of application technology, the application of unmanned aerial vehicle in the aeromagnetic detection is showing to be increased, unmanned aerial vehicle carries on aeromagnetic detection equipment and can deploy fast, high efficiency, the data collection of high accuracy, develop the influence that large scale aeromagnetic operation not only can eliminate interferent such as ground earth's surface and relief topography and produce, fully save the cost, and also can be in geological environment and safety standard forbid the environment that has piloted aircraft magnetism survey system, can undertake the detection task according to best terrain space and can even provide the better quality detection data than manned aircraft aeromagnetic system. Under various geological conditions on land, unmanned aerial vehicle aeromagnetic makes certain progress. In 2009, 16 months, the first unmanned aerial vehicle land aeromagnetic detection system in China performs first test flight in a nest-bell-house area in Mongolian Chifeng city, and the first test flight is successful. The system is jointly borne by a plurality of units such as a remote sensing institute of the Chinese academy of sciences, an atmospheric physics institute of the Chinese academy of sciences, an electronics institute, a geology and geophysical institute, and a modern physics center of Beijing university [1 ]. The aeromagnetic detection system taking the CH-3 unmanned aerial vehicle as the platform has the characteristics of high flight quality, capability of night navigation operation, convenience, flexibility and the like, experimental area measurement work is carried out in the Baoshan area of Heilongjiang, and the data quality is excellent.

By relying on key development and plan of major scientific instrument and equipment development and key special construction of the national department of science and technology in 2017, the general satellite navigation company in Shanghai serves as a general bearing unit, other seven units participate in development together and have independent intellectual property, stable and reliable quality and a core component localization unmanned aerial vehicle-mounted high-precision magnetometer, in 21/5 in 2019, a high-technology research and development center organization middle-term inspection expert in the department of science and technology organizes conference inspection on an 'onboard high-precision magnetometer' (2017YFF010744) project in Beijing, and the project progress meets the requirement of the middle-term inspection [3 ].

The ocean covers 70% of the earth's surface, is the place where the global circulation of matter, energy and organisms is most active, and is closely related to human development. Meanwhile, the sea covers the relief of the landform structure of the sea bottom. Therefore, how to efficiently perform high-resolution marine exploration is a necessary trend and a leading-edge scientific problem in the development of the marine scientific research technology and method at present. The ocean crust is rich in magnetic minerals, and the measurement of the abnormal distribution of the magnetic field above the ocean is an effective geophysical means for researching the seabed structure and the mineral resource distribution. Traditional marine magnetic surveying includes two main ways, satellite magnetic surveying and ship-borne towed surveying. The former has a low resolution and the latter has a low measurement efficiency. How to efficiently obtain the ocean magnetic field abnormal graph with high spatial resolution is extremely challenging.

The development of marine unmanned aerial vehicle aeromagnetic detection technology in China is generally lagged behind that of land unmanned aerial vehicle magnetic detection due to the marine magnetic detection environment, no really shipborne unmanned aerial vehicle aeromagnetic detection system exists at present, and related unmanned aerial vehicle platforms mainly depend on land take-off and landing and are difficult to meet the remote magnetic detection task. The first ocean institute of the national ocean agency in 2007 successfully declares a project of 'unmanned aerial vehicle-based ocean aviation magnetic detection system development' by relying on the national 863 plan. In 2013, a combined Weifang Tianxiang airline company utilizes a V750 double-seat helicopter to transform an unmanned aerial vehicle, and a domestic magnetometer and a compensation system are additionally arranged to complete an unmanned aerial vehicle aviation magnetic measurement test in an area near a marine shoreline with 400km survey line mileage. The aviation geophysical prospecting remote sensing center of the department of homeland resources has abundant practical experience in the aspect of aviation magnetic measurement of large airplanes. In 2012, the navigation and remote center starts a project of 'development and test of an unmanned aerial vehicle aeromagnetic detection system', and is responsible for the design and integration work of an unmanned aerial vehicle platform by the 365 research institute of northwest industrial university, and currently, the unmanned aerial vehicle flight test is planned to be developed in coastal areas. In 2013, at the end of the year, the naval oceanographic research institute combined middle ship heavy industry 715 institute, an unmanned helicopter-based marine aeromagnetic detection test was developed in the seashore area of Tianjin Dagang, and an unmanned ship on the water was used to perform synchronous magnetic measurement operation for verification, so that an assumption that unmanned aerial vehicles were transformed based on small single-double-seat manned seaplanes was proposed, and a patent was successfully obtained.

With the gradual maturity of the unmanned aerial vehicle platform technology, the terrestrial unmanned aerial vehicle aviation magnetic measurement technology is developed rapidly and is gradually successfully applied, and the marine aviation magnetic measurement based on the unmanned aerial vehicle platform is gradually a hotspot of research, and is expected to become a new marine magnetic measurement technical means.

However, in the ocean survey work at present, the main problems of the unmanned aerial vehicle ocean aeromagnetic detection are as follows:

1) compared with the land area environment, the ocean sea area unmanned aerial vehicle has more complex operation environment, the wind resistance and the reliability of the existing unmanned aerial vehicle system still need to be improved, the ocean investigation ship has no take-off and landing runway, and the suitable unmanned aerial vehicle only has vertical take-off and landing capability; 2) the aeromagnetic operation of the unmanned aerial vehicle is a possibility of accident, and the consequences caused by explosion and combustion accidents possibly caused by the failure of landing on an investigation ship are difficult to predict when the gasoline-powered unmanned aerial vehicle, such as a gasoline unmanned helicopter and a gasoline fixed wing unmanned aerial vehicle, takes off and lands on the investigation ship; 3) the survey ship is a mobile platform, so that the unmanned aerial vehicle has a narrow taking-off and landing space, and how to accurately take off and land the unmanned aerial vehicle on the high-speed mobile platform is a big difficulty; 4) at present, the mainstream optical pump magnetometer is generally more than 2KG, the mainstream aeromagnetic compensation acquisition instrument (such as AARC51 of Canada RMS company) is about 2KG, the optical pump probe and other sensors are also more than 2KG, the general total weight of an aeromagnetic detection system is in the level of 5KG, the size of the adaptable unmanned aerial vehicle is large, and the small survey ship is difficult to operate. Miniaturization of an acquisition compensation device of an aviation magnetic magnetometer is a big difficulty; 5) the unmanned aerial vehicle body can generate irregular electromagnetic interference, and aeromagnetic compensation is needed to suppress the interference; 6) the ship body strong magnetic interference influences the work of the optical pump magnetometer, and the optical pump magnetometer is easy to lose lock before taking off to cause data acquisition errors.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides a marine aeromagnetic detection system based on a vertical take-off and landing fixed wing unmanned aerial vehicle, and the wireless control circuit can realize compatible control of LED lamps in multiple communication modes.

The technical scheme adopted by the invention for solving the problems in the prior art is as follows: a marine aeromagnetic detection system based on VTOL fixed wing UAVs, comprising a miniature aeromagnetic detection system, the miniature aeromagnetic detection system comprising:

an optical pumping magnetometer probe;

the optical pump magnetometer control system is in control connection with the probe of the optical pump magnetometer, measures the frequency of a radio frequency coil when a magnetic resonance absorption phenomenon occurs, and obtains external magnetic field intensity data through calculation of a magnetic rotation ratio coefficient;

the three-axis fluxgate probe measures a time-varying magnetic field with mutually orthogonal X-axis, Y-axis and Z-axis directions;

the GPS antenna is used for acquiring GPS coordinate data and PPS signals;

the laser altimeter obtains elevation data;

the multi-data synchronous acquisition and aeromagnetic compensation system is connected with the optical pump magnetometer control system, the three-axis fluxgate probe, the GPS antenna and the laser altimeter and is also connected with the computer ground station system.

The data storage U disk is connected with a multi-data synchronous acquisition and aeromagnetic compensation system and used for storing flight measurement data.

The system also comprises a flight control data transparent transmission pipeline which is respectively connected with the multi-data synchronous acquisition and aeromagnetic compensation system and the computer ground station system and transparently transmits the data received from the multi-data synchronous acquisition and aeromagnetic compensation system to the computer ground station system.

As a preferable scheme of the invention, the multi-data synchronous acquisition and aeromagnetic compensation system further comprises a 24-bit high-speed ADC sampling plate, a GPS receiver/PPS signal, a 9-axis inertial measurement unit and an air pressure altimeter, a micro industrial personal computer CPU plate, an ARMLinux embedded operating system and a data real-time transmission module, wherein the data real-time transmission module is connected with a data storage U disk.

The multi-data synchronous acquisition and aeromagnetic compensation system is connected with the optical pump magnetometer probe, the three-axis fluxgate probe and the frequency meter through cables, and is further provided with a GPS antenna.

Compared with the prior art, the invention has the following technical effects:

the marine aeromagnetic detection system based on the vertical take-off and landing fixed wing unmanned aerial vehicle adopts a miniaturized and lightweight design, has small total weight of all equipment, adopts the vertical take-off and landing fixed wing unmanned aerial vehicle, takes a battery as power, has high carrying capacity, simultaneously has small-space vertical take-off and landing capacity on a mobile platform, GPS positioning and navigation capacity, real-time wireless data transmission capacity with the ground, operation capacity at 5-6 levels of wind speed and aeromagnetic compensation maneuvering automatic execution capacity.

Drawings

FIG. 1 is a system block diagram of a marine aeromagnetic detection system based on a VTOL fixed wing UAV of the present invention;

FIG. 2 is a structural diagram of a left wing of an unmanned aerial vehicle in a marine aeromagnetic detection system based on a vertical take-off and landing fixed wing unmanned aerial vehicle according to the invention;

FIG. 3 is a structural diagram of the right wing of a vertical take-off and landing fixed wing drone-based marine aeromagnetic detection system of the present invention;

FIG. 4 is a structural diagram of a middle wing of a VTOL fixed wing UAV in the marine aeromagnetic detection system of the present invention;

FIG. 5 is one of the block diagrams of the pod in the marine aeromagnetic detection system of the present invention based on a VTOL fixed wing drone;

FIG. 6 is a second block diagram of a pod in a marine aeromagnetic detection system based on a VTOL fixed wing UAV of the present invention;

fig. 7 is a flowchart illustrating the operation of the aeromagnetic detection compensation system in the marine aeromagnetic detection system based on the vertical take-off and landing fixed wing drone.

Reference numbers in the figures: 1. an optical pumping magnetometer probe; 2. an optical pumping magnetometer control system; 3. a three-axis fluxgate probe; 4. a GPS antenna; 5. a laser altimeter; 6. a multi-data synchronous acquisition and aeromagnetic compensation system; 7. a data storage U disk; 8. a flight control data transparent transmission pipeline; 9. a computer ground station system; 10. a left wing; 11. a right wing; 12. a middle wing; 13. a nacelle; 14. a cable; 15. a frequency meter; 61. a 24-bit high-speed ADC sampling board; 62. GPS receiver/PPS signals; 63. a 9-axis inertia measuring unit and a barometric altimeter; 64. a micro industrial personal computer CPU board; 65. an ARMLinux embedded operating system; 66. and a data real-time transmission module.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

As shown in fig. 1: a marine aeromagnetic detection system based on VTOL fixed wing UAVs, comprising a miniature aeromagnetic detection system, the miniature aeromagnetic detection system comprising:

the probe 1 of the optical pumping magnetometer is a magnetometer developed by adopting an optical pump and a magnetic resonance technology on the basis of Zeeman splitting generated by atoms of helium and other gases and alkali metals potassium, rubidium, cesium and other elements in an external magnetic field. Preferably, the scheme adopts a probe 1 of a chip-level atomic rubidium optical pump magnetometer, which is realized by a micro-electro-mechanical technology. The rubidium optical pump magnetometer probe 1 mainly comprises a vertical resonant cavity surface emitting laser emitter (VCSEL), a collimating lens, a Glan Taylor prism, an 1/4 circular polarization plate, a reflector, a magnetic field offset heating coil, a miniature rubidium atom air chamber, a photosensitive sensor and a flexible radio frequency coil.

The optical pump magnetometer control system 2 is connected with an optical pump magnetometer probe 1 in a control mode, measures the frequency of a radio frequency coil when a magnetic resonance absorption phenomenon occurs, obtains external magnetic field intensity data through calculation of a magnetic rotation ratio coefficient, specifically, the optical pump magnetometer controller is controlled through an embedded MCU, a series of electronic circuits and electronic devices, the temperature and current of a VCSEL (vertical cavity surface emitting laser), the temperature of a micro rubidium atom air chamber and the frequency of a flexible radio frequency coil, measures the frequency of the radio frequency coil when the magnetic resonance absorption phenomenon (called as optical pump absorption) occurs (when the light intensity measured by a photosensitive sensor is darkest) through a sensing photosensitive sensor and a frequency meter 15 speeder, and obtains the external magnetic field intensity data through calculation of the magnetic rotation ratio coefficient.

The three-axis fluxgate probe 3 measures a time-varying magnetic field with mutually orthogonal directions of an X axis, a Y axis and a Z axis, and specifically, the three-axis fluxgate is a measuring device which measures the time-varying magnetic field with mutually orthogonal directions of the X axis, the Y axis and the Z axis with high precision and low noise, and is a precision portable magnetometer which is specially used for geomagnetic exploration and measurement. The flux gate output is analog output, the magnitude of the magnetic field component is related to the voltage signal, and the total field value can be obtained by taking the three components measured by the flux gate magnetometer as the square sum and the root.

The GPS antenna 4 obtains GPS coordinate data and PPS signals, the GPS antenna 4 adopts a non-magnetic GPS and Beidou dual-frequency active antenna, the model of a GPS/Beidou navigation system is sent to a GPS receiver 62 positioned in the data acquisition and correction compensation device, and the GPS coordinate data and the Pulse Per Second (PPS) signals are obtained through settlement.

The laser altimeter 5 obtains elevation data, and specifically, the laser altimeter 5 is an instrument which is installed on a test platform such as an unmanned aerial vehicle and a satellite and realizes remote non-contact measurement of elevation. The elevation data obtained by the laser altimeter 5 can be used for continuation calculation of magnetic field values obtained at different altitudes.

The system comprises a multi-data synchronous acquisition and aeromagnetic compensation system 6, wherein the multi-data synchronous acquisition and aeromagnetic compensation system 6 is connected with an optical pump magnetometer control system 2, a three-axis fluxgate probe 3, a GPS antenna 4 and a laser altimeter 5, the multi-data synchronous acquisition and aeromagnetic compensation system 6 is further connected with a computer ground station system 9, and specifically, system hardware adopts an ARM embedded system and is combined with a high-speed ADC sampling module and a GPS receiver 62. The software platform is based on an embedded real-time Linux operating system, a multi-data synchronous acquisition and aeromagnetic compensation software system is developed, the total field data acquisition of the optical pump magnetometer, the real-time acquisition and conversion calculation of the triaxial fluxgate data are realized, and the accuracy and the real-time data output of the high-speed ADC sampling data are improved by adopting an algorithm. And after the data output by the GPS receiver 62, the three-axis fluxgate data and the 9-axis inertia measurement unit data are combined in series through the PPS signal, the data are output and stored in real time. By pre-storing the coefficients, an 18-parameter aeromagnetic compensation algorithm is adopted for the optical pump magnetic total field, and a 12-parameter digital correction compensation algorithm is adopted for the fluxgate, so that the high-precision magnetic three-component magnetic field calculated by the optical pump magnetic total field and the three-component magnetic field angle output by the fluxgate magnetometer can be output and stored in real time.

Preferably, the system further comprises a data storage U disk 7, wherein the data storage U disk 7 is connected with the multi-data synchronous acquisition and aeromagnetic compensation system 6 and stores flight measurement data, and particularly, the data storage U disk 7 stores the flight measurement data during each operation period in a file. The data comprises GPS UTC time, longitude and latitude coordinates, GPS height, WGS84 UTM coordinates, UTM zone, effective GPS satellite number, GPS signal quality, GPS coordinate level precision, GPS coordinate system fluctuation information, rolling of a 9-axis inertial measurement unit, pitching and yawing angle data, three-axis fluxgate X, Y, Z axis and total field original data, corrected and compensated three-axis fluxgate X, Y and Z axis, optical pump magnetometer total field data, optical pump magnetometer locking indication and optical pump signal strength and compensated optical pump magnetometer total field data.

Preferably, the system further comprises a flight control data transparent transmission pipeline 8, the flight control data transparent transmission pipeline 8 is respectively connected with the multi-data synchronous acquisition and aeromagnetic compensation system 6 and the computer ground station system 9, and transparently transmits data received from the multi-data synchronous acquisition and aeromagnetic compensation system 6 to the computer ground station system 9, and specifically, the flight control data transparent transmission pipeline 8 transparently transmits data received from the multi-data synchronous acquisition and aeromagnetic compensation system 6 to the aeromagnetic ground station.

The ship body strong magnetic interference influences the work of the optical pump magnetometer, and the optical pump magnetometer is easy to lose lock before taking off to cause data acquisition errors. After taking off, the aeromagnetic ground station command is also required to be uploaded to the multi-data synchronous acquisition and aeromagnetic compensation system 6 through the pipeline, the rubidium optical pump is reset, and the magnetic field is locked again.

The computer ground station system 9 adopts a Windows strong flat board or a Windows notebook suitable for field operation, and is connected with the data acquisition and correction compensation device through a wireless/wired data real-time transmission module 66. The method comprises the steps of importing flying data required by parameter calculation into software through self-research aeromagnetic data recording and processing software, cleaning invalid data, carrying out data analysis on valid data, and carrying out parameter calculation through the software to obtain 18 parameters of optical pump aeromagnetic compensation and 12 correction parameters of a fluxgate. The obtained parameters are written into the data acquisition and correction compensation device through the wireless/wired data real-time transmission module 66, and the data of the subsequent aeromagnetic investigation operation are corrected and compensated in real time.

Preferably, the multi-data synchronous acquisition and aeromagnetic compensation system 6 further comprises a 24-bit high-speed ADC sampling board 61, a GPS receiver 62/PPS signal, a 9-axis inertial measurement unit and barometric altimeter 63, a micro industrial personal computer CPU board 64, an ARM Linux embedded operating system, and a data real-time transmission module 66, wherein the data real-time transmission module 66 is connected with the data storage U disk 7; specifically, the 24-bit high-speed ADC sampling board 61 converts the output voltage of the fluxgate into digital information by using a high-speed ADC sampling module manufactured by using a TI company ADS1256 chip as a core, and transmits the digital information to the armlink embedded operating system through the SPI interface; the GPS adopts a small UBlox GPS M8N module, receives GPS/Beidou system signals to calculate longitude and latitude height information, and transmits the result to the ARM Linux embedded operating system through the UART interface in real time. A UBlox GPS M8N module PPS signal is transmitted to an ARM Linux embedded operating system through a GPIO interface, and the total sampling of the system is synchronized through the PPS signal, so that the real-time and consistent effectiveness of all data is ensured; the 9-axis inertia measurement unit and the barometric altimeter 63 adopt an MEMS nine-axis accelerometer gyroscope attitude dip angle measurement sensor, and integrate a high-precision three-axis gyroscope, a three-axis accelerometer, a three-axis Euler angle and a three-axis magnetic field; the barometric altimeter adopts a high-performance microprocessor and an advanced dynamic calculation and Kalman dynamic filtering algorithm; the micro industrial personal computer CPU board 64 is a card type computer and is configured to be a 4-core ARM Cortex-A53, a 1.2GHz CPU, a 1GB memory, a 4USB port, a MicroSD card slot, a gigabit Ethernet and an 802.11ac wireless network card, and 5V power supply; an Arm Linux embedded operating system is used as a bottom system software platform and a corresponding configuration file, and data are obtained by driving an SPI (serial peripheral interface), a GPIO (general purpose input/output) interface, a UART (universal asynchronous receiver/transmitter) interface, a USB (universal serial bus) interface and an Ethernet interface, so that the self-developed multi-data synchronous acquisition and operation of aeromagnetic compensation system 6 software is supported; the data real-time transmission module 66 adopts a USB-to-serial port transmission module to transmit the aeromagnetic data to the flight control serial port in real time, and the flight phase data is stored in the data storage U disk 7

Preferably, the unmanned aerial vehicle also comprises a vertical take-off and landing fixed wing unmanned aerial vehicle, in the embodiment, a CW-15 mobile take-off and landing carrier-based vertical take-off and landing fixed wing unmanned aerial vehicle of Chengdu-Changcong unmanned aerial vehicle science and technology Limited company is adopted as a aeromagnetic detection unmanned aerial vehicle platform, the vertical take-off and landing fixed wing unmanned aerial vehicle comprises a middle wing 12, wherein the two ends of the middle wing 12 are connected with a left wing 10 and a right wing 11, an optical pump magnetometer probe 1, a three-axis fluxgate probe 3 and a frequency meter 15 are arranged on the left wing 10 or the right wing 11, a pod 13 is arranged on the middle wing 12, a multi-data synchronous acquisition and aeromagnetic compensation system 6 is arranged on the pod 13, the multi-data synchronous acquisition and aeromagnetic compensation system 6 is connected with the optical pump magnetometer probe 1, the triaxial fluxgate probe 3 and the frequency meter 15 through cables 14, and a GPS antenna 4 is further arranged on the multi-data synchronous acquisition and aeromagnetic compensation system 6.

Specifically, a slot is formed in the wingtip of a right wing 11, a triaxial fluxgate probe 3 is installed in the slot at the bottom of the wing at the front end of the right wing 11, a fairing is installed outside the slot, and a cable 14 between the triaxial fluxgate probe 3 and a multi-data synchronous acquisition and aeromagnetic compensation system 6 (aeromagnetic host) is fixed in the wing;

a groove is formed in the wing tip of a left wing 10, an optical pump magnetometer probe 1 is installed in a groove in the bottom of the front end wing of the left wing 10, a fairing is installed outside, the connecting flat cable of the probe and a frequency meter 15 is not easy to disassemble and assemble, the connecting flat cable of the optical pump magnetometer probe 1 and the frequency meter 15 is attached to the outer bottom of the wing, the groove is formed in the side surface of the left wing 10 connected with a machine body, and the frequency meter 15 is inserted into the groove;

a USB cable 14 for connecting the multi-data synchronous acquisition and aeromagnetic compensation system 6 (aeromagnetic host) and the frequency meter 15 is fixed in the middle left wing, passes through the wire through hole of the middle wing 12 and is connected into the aeromagnetic host from the tail cone hole of the nacelle 13; the connecting line of the three-axis fluxgate probe 3 and the aeromagnetic host is divided into two sections, the middle of the connecting line is connected through an aeromagnetic connector, a cable 14 is fixed in the right wing of the middle wing 12, passes through the wire passing hole of the middle wing 12 and passes through the tail cone hole of the nacelle 13 to be connected into the aeromagnetic host;

the GPS antenna 4 is arranged on one side of the tail cone of the nacelle 13, so that the GPS signal is prevented from being shielded by the fuselage and the tail rod, and a connecting wire penetrates through a hole of the tail cone of the nacelle 13 and is connected into the aeromagnetic host.

Further, the operation flow of the aeromagnetic detection compensation system comprises

Due to the more or less weak magnetic properties of both the aircraft material and the original device. The magnetic field generated by the motion of an engine rotor in flight and the induced magnetic field generated by the electrified aviation system in the airplane can cause interference to the magnetometer. In order to enable the aircraft to carry the magnetometer and obtain effective data, the patent adopts an aeromagnetic compensation model and an algorithm (see formula 1) commonly used in the industry, and calculates the aircraft magnetic field related to aircraft maneuvering, including a constant magnetic field Hp (constant field), an induction magnetic field Hi (induced field) and an Eddy current magnetic field He (Eddy-current field), to remove the constant magnetic field Hp (constant field), the induction magnetic field Hi (induced field) and the Eddy current field He (Eddy-current field). The constant magnetic field is generated by the remanence of magnetic parts and ferromagnetic materials on the airplane. The induction magnetic field is mainly generated by magnetizing a soft magnetic material on the unmanned aerial vehicle body in a geomagnetic field, and the magnitude of the magnetic field is in direct proportion to an external magnetic field causing the magnetic field, so that the magnitude and the direction of the induction magnetic field change along with the attitude change of the unmanned aerial vehicle under a coordinate system of the three-axis fluxgate sensor. The eddy magnetic field is generated by cutting the geomagnetic field in the flight of the airframe, and each component of the eddy magnetic field is in direct proportion to the change rate of the geomagnetic field projected on each coordinate axis.

The industry main general aeromagnetic compensation model is expressed as the following theoretical formula:

HT c1 cos X c2 cosY c3 cos Z He{c4 cos 2X c5 cosX cosY c6 cos X cosZ c7 cos2 Y c8 cosY cos Z c9 cos 2Z}He{c10 cos X(cos X)

c11 cos X(cosY)c12 cos X(cos Z)c13 cosY(cos X)c14 cosY(cosY)c15 cosY(cos Z)c16 cos Z(cos X)c17 cos Z(cosY)c18 cos Z(cos Z)}

HT denotes the interfering magnetic total field, He denotes the earth magnetic field, (cosX, cosY, cosZ) is the direction cosine of the three-axis fluxgate whose position is fixed with respect to the aircraft, corresponding to the axial direction, and '()' denotes the rate of change of the direction cosine of the magnetic field projected on each coordinate axis. c1-c18 are the 18 parameters estimated. Wherein c1-c3 is related to constant magnetic field interference Hp, c4-c9 is related to induced magnetic field interference Hi, and c9-c18 is related to eddy current magnetic field interference He.

The magnetometer and the aircraft adopt a hard connection scheme, and a three-axis fluxgate magnetometer is required to be used for recording flight postures.

The magnetic compensation operation process of the aeromagnetic detection system of the vertical fixed-wing unmanned aerial vehicle requires that four-side maneuvering flight is carried out to collect data when a compensation coefficient is obtained. The high altitude over 500 meters off the ground is required to perform maneuvers comprising 3 pitching angles (+ -5 degrees), 3 rolling angles (+ -10 degrees) and 3 yawing angles (+ -5 degrees) in four directions of north and south, wherein each maneuver is spaced by 2 seconds, and the maneuvering time is not more than 5 seconds for matching with filter parameters. The high-altitude four-side-band maneuvering flight method comprises the steps of obtaining direction cosine parameters generated by data of a total field and a three-axis fluxgate vector magnetic field of the optical pump magnetometer through maneuvering flight at high altitude, obtaining compensation estimation 18 parameters through filtering and solving a linear equation, and performing compensation calculation on data in actual working measurement through the series of estimation parameters to remove magnetic interference generated by an aircraft on the optical pump magnetometer. And adopting a 12-parameter digital correction compensation algorithm for the fluxgate data. The high-precision magnetic three-component magnetic field calculated by the optical pump magnetic total field and the three-component magnetic field angle output by the fluxgate magnetometer can be output and stored in real time.

Compared with the prior art, the invention has the following technical effects:

the marine aeromagnetic detection system based on the vertical take-off and landing fixed wing unmanned aerial vehicle adopts a miniaturized and lightweight design, has small total weight of all equipment, adopts the vertical take-off and landing fixed wing unmanned aerial vehicle, takes a battery as power, has high carrying capacity, simultaneously has small-space vertical take-off and landing capacity on a mobile platform, GPS positioning and navigation capacity, real-time wireless data transmission capacity with the ground, operation capacity at 5-6 levels of wind speed and aeromagnetic compensation maneuvering automatic execution capacity.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.