UAV航磁系统及补偿研究
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摘要
地面高精度磁法的优点是可以开展大比例尺作业,可以高分辨率地反映地面的地质效果,缺点是采集效率太低；航空磁测的优点是采集效率高,缺点是受飞行高度的影响,反映的地质效果分辨率太低,且无法开展大比例尺工作。作者提出了一种折衷的方案,采用无入直升机作为载体的UAV航磁系统,既能够快速、高效、高精度定位采集数据,大比例尺地开展作业,又能高分辨地反映地面的地质效果,同时还能够消除地面地表等干扰物和起伏地形产生的影响。
UAV航磁系统在国外的研究已经趋于成熟,很多物探公司已经用于商业运作,在国内的研究还刚刚起步,很少看到国内的相关报道。
论文巧妙地利用无人机控制理论相关技术,借助无人机磁航向系统测量地磁场三分量值,姿态控制系统测量飞机的姿态角,提出了事后补偿的方法。
论文介绍了无人机及飞行平台系统和自动控制系统,研究了UAV磁干扰的类型和性质,建立了数学模型,阐明了磁补偿的基本原理,给出了具体的补偿方案,并仿真进行了实验,证明了UAV航磁系统的可行性。
Ground high-precision magnetic method can carry out large scale magnetic survey work and provide high-resolution image map of the geomagnetic field.Since walking is too slow,data collection efficiency of this method is too low;Aero-magnetic can collect data efficiently,but due to safety flight,this method can not provide high-resolution image map of the geomagnetic field,and can not carry out large scale magnetic survey mission.The author give a compromise proposal.UAV aero-magnetic system of using UAV as carrier can collect data more quickly, efficiently and accurately,and can carry out large scale magnetic survey mission and can provide rovide high-resolution image map of the geomagnetic field,in addition to eliminate the effect of magnetic interferences and rugged terrain.
The reserach of UAV aeromagnetic system has been proved to be successful,some company of geophysical has carried out magnetic survey mission and obtained great results.Domestic research of UAV aeromagnetic system has just set up the project,some relevant information rarely has been reported.
The papers uses UAV realted technology of UAV control theory,measures third-components of geomagnetic field by magnetic heading system of UAV,measure attitude angle of UAV by Inertial Naviagtion System(INS),and gives magnetic compensation method.
The paper introduces the platform system and automatic flight control system of UAV,study type and nature of magnetic interferences,constructs mathematical model,illustrates the basic principle of magnetic compensation,gives specific compensation proposal,does simulation experiments,and analysis the feasibility of UAV aero-magnetic system.
UAV航磁系统在国外的研究已经趋于成熟,很多物探公司已经用于商业运作,在国内的研究还刚刚起步,很少看到国内的相关报道。
论文巧妙地利用无人机控制理论相关技术,借助无人机磁航向系统测量地磁场三分量值,姿态控制系统测量飞机的姿态角,提出了事后补偿的方法。
论文介绍了无人机及飞行平台系统和自动控制系统,研究了UAV磁干扰的类型和性质,建立了数学模型,阐明了磁补偿的基本原理,给出了具体的补偿方案,并仿真进行了实验,证明了UAV航磁系统的可行性。
Ground high-precision magnetic method can carry out large scale magnetic survey work and provide high-resolution image map of the geomagnetic field.Since walking is too slow,data collection efficiency of this method is too low;Aero-magnetic can collect data efficiently,but due to safety flight,this method can not provide high-resolution image map of the geomagnetic field,and can not carry out large scale magnetic survey mission.The author give a compromise proposal.UAV aero-magnetic system of using UAV as carrier can collect data more quickly, efficiently and accurately,and can carry out large scale magnetic survey mission and can provide rovide high-resolution image map of the geomagnetic field,in addition to eliminate the effect of magnetic interferences and rugged terrain.
The reserach of UAV aeromagnetic system has been proved to be successful,some company of geophysical has carried out magnetic survey mission and obtained great results.Domestic research of UAV aeromagnetic system has just set up the project,some relevant information rarely has been reported.
The papers uses UAV realted technology of UAV control theory,measures third-components of geomagnetic field by magnetic heading system of UAV,measure attitude angle of UAV by Inertial Naviagtion System(INS),and gives magnetic compensation method.
The paper introduces the platform system and automatic flight control system of UAV,study type and nature of magnetic interferences,constructs mathematical model,illustrates the basic principle of magnetic compensation,gives specific compensation proposal,does simulation experiments,and analysis the feasibility of UAV aero-magnetic system.
引文
[1]熊盛青.发展中国航空物探技术有关问题的思考[J].中国地质,2009,6(36)：1365-1373.
[2]熊盛青.我国航空重磁勘探技术现状与发展趋势.http://www.cugyiqi.com/news.aspx?newsid=194.
[3]张洪瑞,范正国.2000年来西方国家航空物探技术的若干进展[J].物探与化探,2007,31(1)：1-8.
[4]张昌达,董浩斌.重力与磁力勘探进入新时代[J].物探与化探,2010,34(1)1-7.
[5]航遥中心.航空物探技术与应用.2007.
[6]淳于江民,张珩.无人机发展与展望[J].飞航导弹,2005,(2)23-27.
[7]孙杰,林宗坚,崔红霞.无人机低空遥感监测系统[J].遥感信息,2003,(1)49-51.
[8]方晓,雷金奎,刘志刚.小型无人侦察机飞行控制系统设计[J]飞行力学,2004,22(1)37-40.
[9]赵修明,单守江,于克振.某小型无人机无线电遥控遥测系统实现[J].探测与控制学报,2008,(30).94-97.
[10]秦博,王蕾.无人机发展综述[J].飞航导弹,2002,(8).4-10.
[11]胡军,都基焱,刘文清.多无人机控制与定位系统的研究[J]学科发展,2004,(1)29-32.
[12]无人机关键技术[J]无人机信息,2010.(41)2.51-52.
[13]王宏伦,王英勋.无人机飞行控制与管理[J].航空学报,2008,29(S1)：1-7.
[14]朱华勇,牛轶峰,沈林成,张国忠.无人机系统自主控制技术研究现状与发展趋势[J]国防科技大学学报,2010,(32)3.115-120.
[15]陈远炫,裴海龙,陈勇.小型无人机飞行控制系统的硬件设计与实现[J].计算机工程与设计,2010,31(10).2159-2162.
[16]何敬礼.飞机磁补偿、磁补偿器的历史、现状及发展趋势[J]物探与化探.
[17]吴文福.16种自动磁补偿系统[J].声学与电子工程,1993,32(4).14-21.
[18]何敬礼.飞机磁场的自动补偿方法[J].物探与化探,(9).464-469
[19]李晓禄,蔡文良.运五飞机上航磁梯度测量系统的安装与补偿[J].物探与化探,2006,3：224-232.
[20]吴文福.“海燕”机航磁仪的磁补偿方法和结果[J].声学与电子工程,1988,3：27-32
[21]庞学亮,张宁林,林春生.基于有限脉冲响应模型的飞机磁场补偿方法[J].振动、测试与诊断,2009,29(4).462-465.
[22]曾佩韦.机动式航磁补偿法[J].长春地质学院学报,1981,94-102.
[23]Airborne Geophysical Surveying[J].Supplement to The Northern Miner,2007, 93(1).
[24]S.H.BICKEL.Smal signal compensation of magnetic field result from airborne aircraft[J].IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS,1979,15(4)
[25]Identification and Evaluation of Magnetic Field sources of Magnetic Airborne Detector Equipped Aircarft[J]. IRE TRANSACTIONS ON AEROSPACE AND NAVIGATIONAL ELECTRONICS,1961,95-105.
[26]唐列娟,殷恭维,林钢.磁通门磁力计测地磁研究[J].传感器与微系统,2006,25,10：10-12.
[27]涂疑,郭文生,曹大平.磁通门传感器的应用与发展[J].水雷战与舰船防护,2002,1：36-38.
[28]Sheng-We Liu,Zhao-Nin Zhang.A high accuracy magnetic heading system composed of fluxgate magnetometers and a microcomputer[J]. Aerospace and Electronics Conference,1989,1:148-152.
[29]谢子殿,朱秀,周鑫.磁通门信号处理电路的设计与研究[J].黑龙江科技学院学报,2003,13,2：47-50.
[30]焦雄峰.三轴磁通门传感器及其在姿态测试中的应用研究[D].太原：华北工学院电子工程系,2001.
[31]Weyand,Bosse.Fluxgate magnetometer for low-frequency magnetic electromagnetic compatibility measurements [J].Instrumentation and Measurement,1997,46,2:617-620.
[32]石志勇,王怀光,吕游.一种三探头磁通门传感器的设计[J].传感技术学报,2005,18,2：433-435.
[33]石志勇,王怀光,庞发亮.磁通门信号处理电路分析与设计[J].测控技术,2006,25,6：82-88.
[34]周行平.全数字磁通门的设计与实现[J].杭州：浙江大学生物医学工程与仪器科学学院,2007.
[35]高宪军,翟林培GPS/INS组合导航系统的研究[J].光学精密工程,2004,12,2：146-150.
[36]惯性导航系统编著小组.惯性导航系统[M].北京：国防工业出版社,1983.
[37]以光衢等.惯性导航原理[M].北京：航空工业出版社,1987.[46]Program forCalculation of the Coefficients Used for Magnetic Compensation. http://www.drobotenko.com/demagnitor.htm.
[38]吴太旗,孙付平,易维勇,李海峰.GPS/INS组合导航系统的Matlab/ Simulink仿真[J].测绘学院学报,2004.21(3)172-174.
[39]李飞,段哲民,龚诚.GPS/INS组合导航系统优越性研究及仿真[J]电子测量技术,2008.31(3).7-10.
[40]钱正祥,杨鹭怡,崔卫兵.无人机GPS/INS组合导航卡尔曼滤波技术[J]仪器仪表学报,2003,24(4).533-534.
[41]Bob Lo.Magnetic Compensation of Magnetic Noises Related to Aircraft's Maneuvers inAirborne Survey[J].BHL Earth Sciences,2004,2:12-16.
[42]Piotr Rudol, Mariusz Wzorek, Gianpaolo Conte and Patrick Doherty.Micro Unmanned Aerial Vehicle Visual Servoing for Cooperative Indoor Exploration. Department of Computer and Information Science Orla Dardis.
[43]Tang JinFei,Gao Honglin,Mu Lianyun,Ma Liang,Li Wei.Airborne Magnetic Anomaly Signal Generator and Detector based on Virtual Instruments.
[44]OVERVIEW OF AEROMAGNETIC COMPENSATION AND RMS INSTRUMENTS MODEL AADCII COMPENSATOR www.rmsinst.com
[45]Digital Compensation Creating the ideal sensor. www.binaryacoustictech.com
[46]History of aeromagnetic surveying in Canada http://tle.geoscienceworld.org/cgi/content/abstract/26/11/1384
[47]Real Time Compensation for Aircraft induced noise during high resolution Airborne Magnetic Survey. http://www.igu.in/8-3/2Vijay.pdf.
[2]熊盛青.我国航空重磁勘探技术现状与发展趋势.http://www.cugyiqi.com/news.aspx?newsid=194.
[3]张洪瑞,范正国.2000年来西方国家航空物探技术的若干进展[J].物探与化探,2007,31(1)：1-8.
[4]张昌达,董浩斌.重力与磁力勘探进入新时代[J].物探与化探,2010,34(1)1-7.
[5]航遥中心.航空物探技术与应用.2007.
[6]淳于江民,张珩.无人机发展与展望[J].飞航导弹,2005,(2)23-27.
[7]孙杰,林宗坚,崔红霞.无人机低空遥感监测系统[J].遥感信息,2003,(1)49-51.
[8]方晓,雷金奎,刘志刚.小型无人侦察机飞行控制系统设计[J]飞行力学,2004,22(1)37-40.
[9]赵修明,单守江,于克振.某小型无人机无线电遥控遥测系统实现[J].探测与控制学报,2008,(30).94-97.
[10]秦博,王蕾.无人机发展综述[J].飞航导弹,2002,(8).4-10.
[11]胡军,都基焱,刘文清.多无人机控制与定位系统的研究[J]学科发展,2004,(1)29-32.
[12]无人机关键技术[J]无人机信息,2010.(41)2.51-52.
[13]王宏伦,王英勋.无人机飞行控制与管理[J].航空学报,2008,29(S1)：1-7.
[14]朱华勇,牛轶峰,沈林成,张国忠.无人机系统自主控制技术研究现状与发展趋势[J]国防科技大学学报,2010,(32)3.115-120.
[15]陈远炫,裴海龙,陈勇.小型无人机飞行控制系统的硬件设计与实现[J].计算机工程与设计,2010,31(10).2159-2162.
[16]何敬礼.飞机磁补偿、磁补偿器的历史、现状及发展趋势[J]物探与化探.
[17]吴文福.16种自动磁补偿系统[J].声学与电子工程,1993,32(4).14-21.
[18]何敬礼.飞机磁场的自动补偿方法[J].物探与化探,(9).464-469
[19]李晓禄,蔡文良.运五飞机上航磁梯度测量系统的安装与补偿[J].物探与化探,2006,3：224-232.
[20]吴文福.“海燕”机航磁仪的磁补偿方法和结果[J].声学与电子工程,1988,3：27-32
[21]庞学亮,张宁林,林春生.基于有限脉冲响应模型的飞机磁场补偿方法[J].振动、测试与诊断,2009,29(4).462-465.
[22]曾佩韦.机动式航磁补偿法[J].长春地质学院学报,1981,94-102.
[23]Airborne Geophysical Surveying[J].Supplement to The Northern Miner,2007, 93(1).
[24]S.H.BICKEL.Smal signal compensation of magnetic field result from airborne aircraft[J].IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS,1979,15(4)
[25]Identification and Evaluation of Magnetic Field sources of Magnetic Airborne Detector Equipped Aircarft[J]. IRE TRANSACTIONS ON AEROSPACE AND NAVIGATIONAL ELECTRONICS,1961,95-105.
[26]唐列娟,殷恭维,林钢.磁通门磁力计测地磁研究[J].传感器与微系统,2006,25,10：10-12.
[27]涂疑,郭文生,曹大平.磁通门传感器的应用与发展[J].水雷战与舰船防护,2002,1：36-38.
[28]Sheng-We Liu,Zhao-Nin Zhang.A high accuracy magnetic heading system composed of fluxgate magnetometers and a microcomputer[J]. Aerospace and Electronics Conference,1989,1:148-152.
[29]谢子殿,朱秀,周鑫.磁通门信号处理电路的设计与研究[J].黑龙江科技学院学报,2003,13,2：47-50.
[30]焦雄峰.三轴磁通门传感器及其在姿态测试中的应用研究[D].太原：华北工学院电子工程系,2001.
[31]Weyand,Bosse.Fluxgate magnetometer for low-frequency magnetic electromagnetic compatibility measurements [J].Instrumentation and Measurement,1997,46,2:617-620.
[32]石志勇,王怀光,吕游.一种三探头磁通门传感器的设计[J].传感技术学报,2005,18,2：433-435.
[33]石志勇,王怀光,庞发亮.磁通门信号处理电路分析与设计[J].测控技术,2006,25,6：82-88.
[34]周行平.全数字磁通门的设计与实现[J].杭州：浙江大学生物医学工程与仪器科学学院,2007.
[35]高宪军,翟林培GPS/INS组合导航系统的研究[J].光学精密工程,2004,12,2：146-150.
[36]惯性导航系统编著小组.惯性导航系统[M].北京：国防工业出版社,1983.
[37]以光衢等.惯性导航原理[M].北京：航空工业出版社,1987.[46]Program forCalculation of the Coefficients Used for Magnetic Compensation. http://www.drobotenko.com/demagnitor.htm.
[38]吴太旗,孙付平,易维勇,李海峰.GPS/INS组合导航系统的Matlab/ Simulink仿真[J].测绘学院学报,2004.21(3)172-174.
[39]李飞,段哲民,龚诚.GPS/INS组合导航系统优越性研究及仿真[J]电子测量技术,2008.31(3).7-10.
[40]钱正祥,杨鹭怡,崔卫兵.无人机GPS/INS组合导航卡尔曼滤波技术[J]仪器仪表学报,2003,24(4).533-534.
[41]Bob Lo.Magnetic Compensation of Magnetic Noises Related to Aircraft's Maneuvers inAirborne Survey[J].BHL Earth Sciences,2004,2:12-16.
[42]Piotr Rudol, Mariusz Wzorek, Gianpaolo Conte and Patrick Doherty.Micro Unmanned Aerial Vehicle Visual Servoing for Cooperative Indoor Exploration. Department of Computer and Information Science Orla Dardis.
[43]Tang JinFei,Gao Honglin,Mu Lianyun,Ma Liang,Li Wei.Airborne Magnetic Anomaly Signal Generator and Detector based on Virtual Instruments.
[44]OVERVIEW OF AEROMAGNETIC COMPENSATION AND RMS INSTRUMENTS MODEL AADCII COMPENSATOR www.rmsinst.com
[45]Digital Compensation Creating the ideal sensor. www.binaryacoustictech.com
[46]History of aeromagnetic surveying in Canada http://tle.geoscienceworld.org/cgi/content/abstract/26/11/1384
[47]Real Time Compensation for Aircraft induced noise during high resolution Airborne Magnetic Survey. http://www.igu.in/8-3/2Vijay.pdf.