阅读说明：本技术 雷场多源信息同步探测系统 (Mine field multi-source information synchronous detection system ) 是由 黄采伦 田勇军 赵延明 刘树立 张钰杰 黄华曦 戴长城 易雄胜 于 2019-10-02 设计创作，主要内容包括：本发明公开了一种雷场多源信息同步探测系统,由1个探测控制主机与<I>i</I>个具有飞行功能、多源信息探测功能的探测分机S<I>i</I>组成,探测分机个数<I>i</I>根据探测区域的大小选择,探测控制主机用于探测区域航线规划、WSN组网、探测分机飞行控制、同步探测控制和探测区域天然磁场同步探测,探测分机在探测控制主机控制下按规划探测区域航线飞行并进行天然电场、脉冲电磁感应、合成孔径雷达同步探测。其有益效果在于：系统对雷场区域进行多源信息同步探测,克服了传统单参量探测的不确定性,同时有效避免时空差异对探测数据的影响,提高雷场探测的准确性、可靠性。(The invention discloses a mine field multi-source information synchronous detection system, which consists of 1 detection control host and i detection extension sets S i with flight function and multi-source information detection function, wherein the number of the detection extension sets i is selected according to the size of a detection area, the detection control host is used for detection area route planning, WSN networking, detection extension set flight control, synchronous detection control and detection area natural magnetic field synchronous detection, and the detection extension sets fly according to the planned detection area route under the control of the detection control host and perform natural electric field, pulse electromagnetic induction and synthetic aperture radar synchronous detection.)

1. The invention relates to a synchronous detection system for multi-source information of a mine field, which consists of 1 detection control host and i detection extension units S i with flight function and multi-source information detection function, wherein the number i of the detection extension units is selected according to the size of a detection area, the detection control host is used for planning a detection area course, WSN networking, flight control of the detection extension units, synchronous detection control and synchronous detection of natural magnetic field of the detection area, the detection extension units fly according to the planning detection area course under the control of the detection control host and carry out synchronous detection of natural electric field, pulse electromagnetic induction and synthetic aperture radar, and is characterized in that in the detection process, WSN networking is carried out between the detection control host and each detection extension unit, the detection control host controls each detection extension unit to reach the starting point of the planning course of the detection area, then the detection control host sends flight and synchronous detection instructions to each detection extension unit, the detection tasks of the planning area are completed while controlling each detection extension unit to complete the flight and synchronous detection of the flight and synchronous detection instructions of the natural electromagnetic field in a time sharing mode according to the sequence of the natural electromagnetic field, synchronous detection control, the synchronous detection host and synchronous detection of the synchronous detection information of the natural electromagnetic induction, synchronous detection field, synchronous detection host, synchronous detection range, synchronous detection of the synchronous detection host is completed by the synchronous detection of natural electromagnetic induction, synchronous detection extension units, the synchronous detection of the synchronous detection field, the synchronous detection of.

2. The synchronous detection system for the multi-source information of the mine field according to claim 1, wherein three formation teams of the detection extension sets are i detection extension sets which are distributed into a straight line according to the flying height h ₁ and the distance between every two detection extension sets is 2 r ₁, the three formation teams of the detection extension sets which are 2 r ₂ apart from each other according to the flying height h ₂ and the distance between every two detection extension sets is two formation teams which are equally divided into two straight lines with the distance of d ₂, the i detection extension sets are 2 r ₃ apart from each other according to the flying height h ₃ and the distance between every two detection extension sets is three formation teams which are equally divided into three straight lines with the distance of d ₃, h ₁ = r ₁, h ₂ = r ₂, h ₃ = r ₃, h ₁ > h ₂, h ₂ >2 h ₂, the one formation team is used for performing a general investigation detection stage for evaluating whether the detection area has explosives and providing guiding data for next work, the general investigation stage of the detection stage is selected according to the size of the detection area and the number of the detection extension sets, the detection area is selected to realize the synchronous detection of the detection area, the three detection areas, the synchronous detection area is used for determining the accurate detection area, the next work of the ground detection area, the ground investigation stage is used for determining the ground investigation stage, the accurate detection stage for determining the ground investigation of the ground investigation, the ground investigation of the ground investigation, the ground investigation of the.

3. The system of claim 1, wherein the main detection control unit comprises a PC, a natural magnetic field detection module, a WSN module for forming a WSN network with i detection extensions, and an RTK-GPS base station module for sending RTCM data streams to the detection extensions to achieve RTK positioning, the natural magnetic field detection module comprises a 2-channel signal conditioning circuit, a 2-channel high-speed ADC, a detection CPU1 and a CPLD, the PC is connected with the WSN module through an SCI1 interface, the natural magnetic field detection module and the RTK-GPS base station module are connected through an SCI2 interface, the natural magnetic field detection module is connected with an X-direction magnetic field sensor and a Y-direction magnetic field sensor for detecting a natural magnetic field in a detection area X, Y direction through the 2-channel signal conditioning circuit, the main detection control unit is used for lane planning, network configuration, GPS positioning control, flight detection and synchronous detection control, RTK inversion and suspected thunder area analysis, the PC controls the GPS detection module to send a detection command to the WSN module, the WSN module and the GPS module to start the WSN module, the GPS module and the GPS module to send the GPS detection command, the WSN module and the GPS module to start the synchronous detection extension to obtain a synchronous detection result, the synchronous detection command.

4. The lightning field multi-source information synchronous detection system of claim 1, wherein: the detection extension set consists of a detection CPU2, a CPLD, a high-speed ADC, a flight controller for monitoring the flight process of the detection extension set in real time according to a flight control instruction sent by a detection control host, a WSN module for forming a WSN with the detection control host, a GPS slave station module for acquiring real-time position information, a UWB & pulse electromagnetic wave transmitting module, a signal receiving and conditioning module and a signal switching switch, and is externally connected with a transmitting and receiving antenna and an electric field sensor which can be used for receiving a natural electric field, transmitting and receiving pulse electromagnetic induction signals and transmitting and receiving synthetic aperture radar signals; when the detection CPU2 receives a synchronous detection instruction sent by the detection control host through the WSN module, the detection CPU2 outputs a control signal to the signal switch according to the detection function required by the synchronous detection instruction to select a signal transmission or reception channel connected to a natural electric field, pulse electromagnetic induction, or synthetic aperture radar, and simultaneously starts the UWB & pulse electromagnetic wave transmission module, the signal reception and conditioning module, and then synchronously starts the CPLD according to the GPS pulse agreed by the instruction to generate a signal sampling trigger frequency to be sent to the high-speed ADC, and then the detection CPU2 reads the sampling value of the high-speed ADC through the data bus and stores the detection result after processing, fusion, and inversion operation.

Technical Field

The invention relates to a detection system for mine field detection, in particular to a mine field multi-source information synchronous detection system.

Background

Mines are explosive weapons that are generally deployed under or on the ground to form obstacles, deter hostile action, kill forces and destroy their technical equipment. Since world war II, a great deal of land mines buried underground by enemy and opponent bring great threat to civilians in peace period; although a great deal of manpower, material resources and financial resources are invested in various countries to clean the problems of mines left after a war, the effects are very little, and the mines hurt people and cause disastrous accidents. As can be seen from the data displayed in the mine sweeping database of the United nations, due to successive wars and war disorder, about 1 hundred million land mines in 64 countries are not eliminated, about 2.5 million casualties are generated each year, and the return of the citizens with the war to the home in the countries is seriously hindered; about one million landmines are put into use every year due to new local wars, and the landmines are seriously damaged. Therefore, the effective solution of the land mine detection problem has become a hot difficult problem of great concern in the international society, and particularly, the post-war mine clearance work puts higher demands on the mine detection technology, because the psychological bearing capacity of people on casualties of mine clearance operators is far lower than that in the war, and the casualties can not be missed and reported, and can not cause too many false alarms, so that the land mine detection plays an important role in both modern war and post-war mine clearance.

The traditional method for removing land mines is sniffing and manual probing by using military dogs, obviously, the former is unreliable, and the latter is extreme risk. Later, a plurality of more advanced mine detection and mine clearance technologies are researched, such as metal detectors, infrared imaging, X-ray detection, electric wave and ultrasonic wave detection and the like, but the methods respectively have some limitations and defects, such as detection of omission or false signals, low detection speed, small detection area, heavy equipment and the like. Taking a common metal detector as an example, the metal detector is considered as the only device for exploring a buried mine for a long time, has higher availability and precision, but has lower efficiency; a large amount of fragments of weapons and ammunition after explosion generally exist in a battlefield zone, and the metal fragments can trigger a metal detector to alarm, so that further manual investigation is needed, the false alarm rate of mine detection of the metal detector is high, and the mine removal speed is obviously reduced; another drawback of metal detectors is the inability to detect non-metallic mines, and the trend in the development of modern mines is to reduce the metal content of them as much as possible, especially for small anti-walkman mines, which are characterized by small volume and low metal content.

The mine exploring technology is greatly improved from world war II, the mine exploring technology is also developed from an individual mine exploring device to a vehicle-mounted and airborne mine exploring system, but the existing mine exploring equipment cannot meet the requirements of the existing mine exploring. Therefore, the development of novel mine detection technology and equipment by using modern high and new technology is a very interesting problem in many technical fields. In recent years, ultra-wideband ground penetrating radar is proposed as an effective way to solve the problem of mine penetration; unlike metal detectors, ground penetrating radars not only detect targets containing metal components, but also react to any discontinuity in dielectric constant within the radar footprint, so that mines made of any material other than the soil surrounding the mine may be detected with a sufficiently high signal-to-noise ratio. Meanwhile, due to the high-resolution characteristic of the ultra-wideband radar, target information contained in radar echo signals can be used for target classification, so that the false alarm probability can be effectively reduced. For a shallow-buried plastic mine, ground reflection clutter is usually much stronger than useful target signals, and the ground clutter overlaps with the target signals in the arrival time, so that the ground reflection clutter is difficult to detect by a ground penetrating radar, and the method is very critical for subsequent synthetic aperture radar imaging by filtering strong ground clutter from radar echo signals.

the methods all adopt a single-parameter detection mode, and detection results have uncertainty; meanwhile, as the process is carried out point by point, the singularity change of the detection data caused by space-time difference cannot be avoided. The integration of multiple technical approaches is the trend of future development of mine exploration technology, and the key is how to organically integrate multiple information to exert overall advantages and improve the overall performance of a mine exploration system, so that the method is an important subject in front of mine exploration technologists.

Disclosure of Invention

In order to overcome the technical problem, the invention discloses a mine field multi-source information synchronous detection system.

The technical scheme includes that the synchronous detection system for the multi-source information of the mine field comprises 1 detection control host and i detection extension units S i with flight functions and multi-source information detection functions, the number i of the detection extension units is selected according to the size of a detection area, the detection control host is used for planning a route of a detection area, WSN networking, flight control of the detection extension units, synchronous detection control and synchronous detection of a natural magnetic field of the detection area, the detection extension units fly according to the planned route of the detection area under the control of the detection control host and synchronously detect natural electric fields, pulse electromagnetic induction and synthetic aperture radars, in the detection process, WSN networking between the detection control host and the detection extension units is firstly carried out, the detection control host controls the detection extension units to reach the starting point of the planned route of the detection area, then the detection control host sends flight electromagnetic fields and synchronous detection instructions to the detection extension units, the detection tasks of the detection planning area are completed while controlling the detection extension units to finish the detection tasks of the detection planning route flight, the natural synchronous detection control host and synchronous detection of the natural synchronous detection extension units are carried out in a time sharing mode of detecting electromagnetic fields, the electromagnetic induction, the natural synchronous detection control host and synchronous detection of the detection extension units, the synchronous detection of the natural electromagnetic field, the synchronous detection control host and synchronous detection of the synchronous detection extension units, the synchronous detection of the synchronous detection area, the synchronous detection of the synchronous detection extension units are carried out by the synchronous detection of synchronous detection area according to the synchronous detection of.

In the invention, three formation phases of detection extension sets are i detection extension sets which are distributed into a straight line according to the flying height h ₁ and the distance between every two detection extension sets is 2 r ₁, i detection extension sets are distributed into a straight line 'one' formation phase according to the flying height h ₂ and the distance between every two detection extension sets is 2 r ₂ and are divided into two straight line 'two' formation phases with the distance of d ₂, i detection extension sets are distributed into three straight line 'three' formation phases with the flying height h ₃ and the distance between every two detection extension sets is 2 28 and are divided into three straight line phases with the distance of d ₃, h ₁ = r ₁, h ₂ = r ₂, h ₃ = r ₃, h ₁ > h ₂, h ₂ > 6372 and h ₂, the 'one' formation phase is used for evaluating whether an explosive exists in a detection area and providing guidance data for next work, the flying height h ₂ is selected according to the size of the detection area and the number of detection extension sets, so as to realize quick scanning of the detection area, the ground area identification of the suspected objects, the ground area coverage data of the ground area is selected according to the ground area, the ground area is provided for accurate detection, the ground area identification and the ground area is provided for the next work control, the ground area is provided for the ground detection area detection, the ground area identification, the ground area is provided for the ground detection phase, the ground area is provided for the ground area detection phase, the ground detection phase of the ground.

iThe system comprises a detection control host, a radar detection control host, a radar detection control host, a radar detection control.

The detection extension consists of a detection CPU2, a CPLD, a high-speed ADC, a flight controller for monitoring the flight process of the detection extension in real time according to a flight control instruction sent by a detection control host, a WSN module for forming a WSN with the detection control host, a GPS slave station module for acquiring real-time position information, a UWB & pulse electromagnetic wave transmitting module, a signal receiving and conditioning module and a signal switch, and is externally connected with a transmitting and receiving antenna and an electric field sensor which can be used for receiving a natural electric field, transmitting and receiving a pulse electromagnetic induction signal and transmitting and receiving a synthetic aperture radar signal; when the detection CPU2 receives a synchronous detection instruction sent by the detection control host through the WSN module, the detection CPU2 outputs a control signal to the signal switch according to the detection function required by the synchronous detection instruction to select a signal transmission or reception channel connected to a natural electric field, pulse electromagnetic induction, or synthetic aperture radar, and simultaneously starts the UWB & pulse electromagnetic wave transmission module, the signal reception and conditioning module, and then synchronously starts the CPLD according to the GPS pulse agreed by the instruction to generate a signal sampling trigger frequency to be sent to the high-speed ADC, and then the detection CPU2 reads the sampling value of the high-speed ADC through the data bus and stores the detection result after processing, fusion, and inversion operation.

The invention has the beneficial effects that: the detection control host controls each detection extension to carry out multi-source information synchronous detection on the mine field area, so that the uncertainty of the traditional single-parameter detection is overcome, meanwhile, the influence of space-time difference on detection data is effectively avoided, and the accuracy and the reliability of the mine field detection are improved.

drawings

FIG. 1 is a block diagram of a multi-source synchronous detection system of the present invention;

FIG. 2 is a distribution diagram of the flight and detection of i detection extensions in a straight formation according to the present invention;

FIG. 3 is a distribution diagram of the flight and detection of i detection extensions in a two-letter formation according to the present invention;

FIG. 4 is a distribution diagram of the flight and detection of i detection extensions in a three-dimensional formation according to the present invention;

FIG. 5 is a block diagram of the probe control host according to an embodiment of the present invention;

Fig. 6 is a block diagram of the detection extension of the present invention.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to the attached figure 1, a synchronous detection system for multi-source information of a mine field comprises 1 detection control host and i detection extension units S i with flight function and multi-source information detection function, wherein the number i of the detection extension units is selected according to the size of a detection area, the detection control host is used for detecting area route planning, WSN networking, detection extension unit flight control, synchronous detection control and synchronous detection of natural magnetic field of the detection area, the detection extension units fly according to the planned detection area route under the control of the detection control host and perform synchronous detection of natural electric field, pulse electromagnetic induction and synthetic aperture radar, during detection, WSN networking is performed between the detection control host and the detection extension units, the detection control host controls the detection extension units to reach the initial point of the planned route of the detection area, the detection control host sends flight and synchronous detection electromagnetic field instructions to the detection extension units, the detection host completes detection tasks of the planned detection area while controlling the detection extension units to complete flight and synchronous detection of natural electromagnetic field in a time-sharing mode, the synchronous detection host and synchronous detection of natural detection field are controlled by time-sharing detection host, the detection host and synthetic aperture radar, the synchronous detection host and synchronous detection host are placed under the principle of synchronous detection of time-space-time-space electromagnetic induction and electromagnetic induction, synchronous detection of synchronous detection host, synchronous detection of synchronous detection information, synchronous detection host, synchronous detection of natural electromagnetic induction, synchronous detection of natural electromagnetic induction, synchronous detection of synchronous.

In the process of detecting the thunder field, firstly, networking between a detection control host and each detection extension to enable all the detection extensions and the detection control host and the detection extensions to be connected into a WSN network, enabling communication and data transmission between the detection extensions and the detection extensions, configuring parameters of each detection extension through the detection control host, simultaneously collecting magnetic field signals of a region to be detected by a control sensor, preprocessing the collected data, simultaneously sending the preprocessed data to i detection extensions S i under the control of the detection control host, then, planning flight regions and flight route of an aircraft in the thunder field region through the detection control host, simultaneously determining the number and flight parameter settings of the detection extensions in the planned flight region, checking and powering on equipment before detection, enabling the detection extensions to be in a state to be flown to be detected, then, sending a clock pulse for starting flight instruction and synchronous detection by the detection control host, enabling the detection extensions to hover and enable all the detection extensions to receive the clock pulse of the synchronous detection extensions, storing the clock pulse for waiting for detection, and controlling the acquisition of the data, and storing the data which are obtained by the detection control host and are subjected to be synchronized and inverted by software, and storing the software, and controlling the acquisition of the data which are synchronously and data, and data which are transmitted to the detection extensions, and are synchronously executed in the software, and are obtained when the software which are synchronously executed in the detection field.

i i i i h ₁ r ₁ i h ₂ r ₂ d ₂ i h ₃ r ₃ d ₃ h ₁ r ₁ h ₂ r ₂ h ₃ r ₃ h ₁ h ₂ h ₃ d ₂ r ₂ d ₃ r ₃ h ₁ h ₃ h ₂The method comprises the steps of providing a ground-based survey area, a ground-based on a ground-based survey area, a ground-based, a ground-based, a ground-based survey area, a ground-based survey area, a ground-based.

The detection control host sets the flying height h ₁, sets the distance between two detection extension sets to be 2 times r ₁, performs 1 st flying, synchronous scanning and detection according to one-line-shaped formation, averagely divides i detection extension sets into two rows, sets the flying height h ₂ and the distance between the two detection extension sets to be 2 times r ₂, performs 2 nd flying, synchronous scanning and detection according to two-line-shaped formation, wherein the distance between d ₂ rows is more than 2 times r ₂, averagely divides i detection extension sets into three rows, sets the flying height h ₃ and the distance between the two detection extension sets to be 2 times r ₃, performs 3 rd flying, synchronous scanning and detection according to three-line-shaped formation, and the distance between the rows d ₃ is more than 2 times r ₃.

The detection control host comprises a PC, a natural magnetic field detection module, a WSN module and an RTK-GPS base station module, wherein the WSN module is used for forming a WSN network with i detection extensions, the RTK-GPS base station module is used for sending RTCM data streams to the detection extensions to realize RTK positioning, the natural magnetic field detection module consists of a 2-channel signal conditioning circuit, a 2-channel high-speed ADC, a detection CPU1 and a CPLD, the PC is connected with the WSN module through an SCI1 interface and is connected with the natural magnetic field detection module and the RTK-GPS base station module through an SCI2 interface, the natural magnetic field detection module is connected with an X-direction magnetic field sensor and a Y-direction magnetic field sensor for detecting a natural magnetic field in a detection area X, Y direction through the 2-channel signal conditioning circuit, the detection control host is used for route planning, WSN networking, RTK-GPS positioning control, flight and synchronous detection extension detection control, thunder field inversion and suspected thunder area analysis, the WSN module sends a detection command to the natural detection extensions and synchronous detection control, the GPS detection extension, the WSN module starts a synchronous detection command, the synchronous detection control module and the synchronous detection control module, the synchronous detection modules send the synchronous detection command to the synchronous detection control of the GPS detection extensions, the synchronous detection extension, the synchronous detection control of the synchronous detection extension, the synchronous detection modules, the synchronous detection extension, the synchronous detection control of the synchronous detection extension, the synchronous detection of the synchronous detection extension, the synchronous detection of the synchronous detection extension, the synchronous detection of the.

The detection control host machine is used for detecting CPU, CPLD and PC as core structures, mainly comprises an X-direction magnetic field sensor, a Y-direction magnetic field sensor, a 2-channel signal conditioning circuit, a 2-channel high-speed ADC, a WSN module and an RTK-GPS base station module, wherein the connection relationship among the CPU, the CPLD and the PC is that the detection CPU and the CPLD communicate through SPI or I ² C, the detection CPU and the PC are connected and communicate through a USB interface on the PC via a USB-to-SPI chip, the detection CPU receives a control command sent from the PC and transmits data collected by a magnetic field sensor to the PC, the CPLD and the PC are not connected, the CPU, the CPLD and the PC form a core structure of a detection control host machine for data processing and calculation, planning a flight area and a course path of an aircraft, synchronous pulses and control command transmission, multi-source information fusion and inversion and report generation, wherein the PC is further integrated with a USB interface for connecting with other peripheral equipment for data transmission, such as a WSN module, a keyboard, a mouse, a core, a mouse, a host machine, a detection control host machine, a central processing module.

Fig. 6 is a block diagram of the detection extension of the present invention. The detection extension set consists of a detection CPU2, a CPLD, a high-speed ADC, a flight controller for monitoring the flight process of the detection extension set in real time according to a flight control instruction sent by a detection control host, a WSN module for forming a WSN with the detection control host, a GPS slave station module for acquiring real-time position information, a UWB & pulse electromagnetic wave transmitting module, a signal receiving and conditioning module and a signal switch, and is externally connected with a transmitting and receiving antenna and an electric field sensor which can be used for receiving a natural electric field, transmitting and receiving pulse electromagnetic induction signals and transmitting and receiving synthetic aperture radar signals; when the detection CPU2 receives a synchronous detection instruction sent by the detection control host through the WSN module, the detection CPU2 outputs a control signal to the signal switch according to the detection function required by the synchronous detection instruction to select a signal transmission or reception channel connected to a natural electric field, pulse electromagnetic induction, or synthetic aperture radar, and simultaneously starts the UWB & pulse electromagnetic wave transmission module, the signal reception and conditioning module, and then synchronously starts the CPLD according to the GPS pulse agreed by the instruction to generate a signal sampling trigger frequency to be sent to the high-speed ADC, and then the detection CPU2 reads the sampling value of the high-speed ADC through the data bus and stores the detection result after processing, fusion, and inversion operation.

The detection extension adopts detection to use CPU, CPLD as core structure, detects extension mount and on the aircraft, adopts RS485 communication with the aircraft, and the chip that uses is ADM2587 isolated 485 chip, adopts 5P or 8P connector and detection device to carry out physical connection, realizes RS485 communication and power supply, and detection device's power is provided by the battery on the aircraft, and input voltage is DC24V, mainly includes: the system comprises a WSN module, a GPS slave station module, a power supply module, a high-speed ADC, a UWB and pulse electromagnetic wave transmitting module, a transmitting/receiving antenna and electric field sensor and a signal receiving and conditioning module; the structure and function of the WSN module in the WSN module and the detection control host are completely communicated, the core chip is DW1000, the DW1000 can realize the WSN networking function with the detection extension set with the DW1000 module through an antenna connected with the DW1000 during detection, so that the detection extension set can more accurately obtain the area and the position of a suspected thunder area during general survey, detailed survey and precise survey, and wireless data transmission can be simultaneously carried out between the detection extension set and the detection extension set after the detection is finished, and the working process is as follows: the host computer and each detection extension set are networked before detection, dynamic positioning is carried out on the host computer and the detection extension sets in the detection process, and data transmission is carried out on the host computer and the detection extension sets after detection; the GPS slave station module comprises an RTK-GPS and a GPS and is used for acquiring real-time longitude and latitude values and providing a data basis for acquiring accurate suspected thunder areas; the input of the power supply module is connected with a power supply battery of the aircraft to provide power for the detection extension set; the UWB and pulse electromagnetic wave transmitting module, the transmitting/receiving antenna and electric field sensor, the signal receiving and conditioning module and the high-speed ADC form an ultra-wideband ground surface synthetic aperture radar module (UWB-GPSAR) for detecting and imaging underground substances, the transmitting/receiving antenna and electric field sensor, the signal receiving and conditioning module and the high-speed ADC form a natural electric field detecting module for obtaining basic data of suspected thunder area information, the detecting CPU is used for carrying out operation, fusion, inversion and result storage on magnetic field information transmitted from the detecting control host, electric field information collected by the natural electric field detecting module and information collected by the UWB-GPSAR, the high-speed ADC is used for carrying out A/D conversion on signals collected by the conditioned UWB-GPSAR and natural electric field detecting module, UWB radar echo and pulse electromagnetic induction wave, the UWB & pulse electromagnetic wave transmitting module is used for generating pulse electromagnetic waves and UWB radar waves, the UWB module can also be used as a networking device, a positioning module and a data transmission module, the transmitting/receiving antenna and electric field sensor is used for transmitting the pulse electromagnetic waves and the UWB radar waves generated by the UWB & pulse electromagnetic wave transmitting module and receiving UWB radar echoes and pulse electromagnetic waves, the transmitting/receiving antenna is provided with three working modes for receiving, transmitting and receiving, only one of the three modes can be in a working state, the electric field sensor is used for collecting electric field information of a superficial layer of the ground, and the signal receiving and conditioning module is used for conditioning signals collected by the UWB-GPSAR and natural electric field detecting module and the UWB radar echoes and the pulse electromagnetic waves received by the common transmitting/receiving antenna; during detection, firstly, an operator plans a flight area and a route path of an aircraft on system management and control software on a detection control host computer and simultaneously sends synchronous pulses, then sends a data sampling enabling control instruction to enable detection modules on all detection extension sets to be simultaneously started and detected, and after the detection is finished, a detection CPU performs operation and inversion and stores results.

The mine field multi-source information synchronous detection system has the advantages that the mine field multi-source information synchronous detection system is composed of 1 detection control host and i detection extension sets S i with flight functions and multi-source information detection functions, the number of the detection extension sets i is selected according to the size of a detection area, the detection control host is used for detection area route planning, WSN networking, detection extension set flight control, synchronous detection control and detection area natural magnetic field synchronous detection, the detection extension sets fly according to the detection area route planning under the control of the detection control host and carry out natural electric field, pulse electromagnetic induction and synthetic aperture radar synchronous detection, and the system carries out multi-source information synchronous detection on a mine field area, so that the uncertainty of traditional single-parameter detection is overcome, meanwhile, the influence of time-space difference on detection data is effectively avoided, and the accuracy and reliability of mine.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.