Three-component airborne transient electromagnetic detection system and method with UAV

1 . A three-component airborne transient electromagnetic detection system with a UAV, comprising an airborne detection system and a ground assistance system, wherein the airborne detection system comprises:

the UAV;

a receiving device comprising a three-component magnetic sensor and a receiving sub-device, wherein the three-component magnetic sensor is configured to acquire three-component electromagnetic data, and wherein the receiving sub-device comprises: a first acquisition circuit configured to acquire the three-component electromagnetic data from the three-component magnetic sensor; a second acquisition circuit configured to acquire a transmitting current signal; a receiving master control circuit comprising a controller; and a transmission circuit configured to transmit the three-component electromagnetic data and the transmitting current signal; wherein the first acquisition circuit and the second acquisition circuit comprise data sampling circuits of an analog-to-digital converter, and wherein the transmission circuit is configured to transmit the three-component electromagnetic data and the transmitting current signal to the ground assistance system;

a transmitting device comprising a transmitting coil, a bucking coil, and a transmitting sub-device, wherein the bucking coil is disposed on an inner side of the transmitting coil, and a coil winding direction of the transmitting coil and a coil winding direction of the bucking coil cause a current direction flowing through the transmitting coil to be opposite to a current direction flowing through the bucking coil, so as to reduce an electromagnetic interference of the transmitting device to the receiving device, wherein the transmitting sub-device comprises;

a detection circuit configured to detect a waveform of the transmitting current signal, wherein the transmitting current signal is a current pulse signal; a transmitting master control circuit comprising a controller; a synchronous circuit configured to synchronize an instruction of the transmitting device and an instruction of the receiving device; and a constant-voltage double-clamp circuit configured to simultaneously clamp a rising edge and a falling edge of the transmitting current signal to reduce a turn-off time of a circuit;

a connecting device comprising a signal and rope composite cable, wherein the connecting device is configured to connect the UAV, the transmitting device, and the receiving device;

wherein the rising edge represents a time period during which the current signal rises from zero to a preset current, the falling edge represents a time period during which the current signal drops from the preset current to zero, the clamp represents that a voltage of the current signal is limited to a first-preset voltage, and the turn-off time represents a duration information of the falling edge.

2 . The system according to claim 1 , wherein the three-component magnetic sensor comprises:

a first receiving coil, wherein a plane on which the first receiving coil is located forms a first plane, and a direction perpendicular to the first plane is a first direction;

a second receiving coil, wherein a plane on which the second receiving coil is located forms a second plane, and a direction perpendicular to the second plane is a second direction; and

a third receiving coil, wherein a plane on which the third receiving coil is located forms a third plane, and a direction perpendicular to the third plane is a third direction;

wherein the first receiving coil, the second receiving coil, and the third receiving coil are fixedly connected through buckles, and each two directions of the first direction, the second direction, and the third direction are perpendicular, so as to acquire the three-component electromagnetic data; and

wherein the three-component electromagnetic data comprises electromagnetic data acquired in the first direction, the second direction, and the third direction.

3 . The system according to claim 1 , wherein the receiving sub-device further comprises:

a signal conditioning circuit configured to filter and amplify the acquired three-component electromagnetic data;

a storage circuit configured to store the three-component electromagnetic data and the transmitting current signal; and

a low-power power conversion circuit configured to convert a DC voltage to a preset voltage, so as to provide power to the receiving device.

4 . The system according to claim 2 , wherein the transmitting coil and the bucking coil are disposed in a same plane, each of the transmitting coil and the bucking coil is constructed into a ring, and the transmitting coil is in a same plane as one of the first receiving coil, the second receiving coil, or the third receiving coil of the three-component magnetic sensor.

5 . The system according to claim 4 , wherein the transmitting sub-device comprises:

a power inverter circuit configured to generate the transmitting current signal with a preset frequency and amplitude and load the transmitting current signal into the transmitting coil;

a driving circuit configured to control the power inverter circuit to generate the transmitting current signal with the preset frequency and amplitude; and

a high-power power conversion circuit configured to convert a DC voltage to a preset voltage, so as to provide power to the power inverter circuit, the driving circuit, and the transmitting device.

6 . The system according to claim 1 , wherein the airborne detection system further comprises:

a positioning device configured to perform a real-time positioning on the airborne detection system, so as to obtain a real-time position information of the airborne detection system; and

a power supply device configured to provide power to the airborne detection system;

wherein the ground assistance system comprises:

an airborne detection system monitoring device configured to real-time monitor electromagnetic data and the position information of the airborne detection system.

7 . A three-component airborne transient electromagnetic detection method, applied to the three-component airborne transient electromagnetic detection system with the UAV of claim 1 , wherein the method comprises:

performing a safety flight test on the airborne detection system, so as to ensure a detection safety of the airborne detection system during a flight survey;

setting detection parameters and flight parameters of the three-component airborne transient electromagnetic detection system with the UAV, wherein the detection parameters comprise an amplitude and a frequency of a transmitting current, and a sampling frequency, and the flight parameters comprise a flight altitude, a flight velocity, and a flight route, wherein the frequency is in a range of 0.1 Hz to 10 kHz, the amplitude is in a range of 0 A to 50 A, the sampling frequency is in a range of 100 kHz to 1 MHz, the flight altitude is greater than 10 m, and the flight velocity is in a range of 1 m/s to 6 m/s;

performing, at a target detection site, data acquisition comprising: transmitting, by the transmitting device, the transmitting current signal through the transmitting coil; acquiring, by the three-component magnetic sensor, the three-component electromagnetic data; and storing, by the receiving device the three-component electromagnetic data and the transmitting current signal.