Unmanned aerial vehicle array-based airborne multi-component electric and magnetic field cooperative detection system and detection method

An unmanned aerial vehicle (UAV) array-type airborne multi-component electric and magnetic field cooperative detection method, comprising:

• S1, assembling and debugging a cooperative detection system;
• S2, setting up system parameters of the detection system and flight parameters of a UAV array according to a field situation and user detection requirements;
• S3, implementing the excitation of a primary electromagnetic pulse signal by the central primary field compensation technology according to a received control instruction;
• S4, collecting a horizontal component electric field signal and a three-component magnetic field signal data;
• and
• S5, preprocessing the acquired data of the horizontal component electric field signal and the three-component magnetic field signal, and obtaining underground space electrical information of a detection region by means of a joint inversion method of the electric and magnetic field data;
• wherein the system parameters of the detection system comprise a transmitting current amplitude, a transmitting current shape, a transmitting current frequency of a current transmitter and a sampling rate of an electromagnetic data receiver;
• the flight parameters of the UAV array comprise a UAV array formation mode, a flight height, a flight speed and a flight route;
• the obtaining underground space electrical information of a detection region by means of a joint inversion method of the electric and magnetic field data comprises:
• S51, setting an initial resistivity model and model parameters;
• S52, obtaining magnetic field response errors and electric field response errors by calculating errors between the magnetic field response and the electric field response of the initial resistivity model and the detected magnetic field response and electric field response by using the forward models of magnetic and electric field response;
• S53, constructing the Jacobian matrix of magnetic field and electric field data inversion by using the resistivity model, and calculating a model update quantity of magnetic field data inversion and a model update quantity of electric field data inversion by using the magnetic field response errors and the electric field response errors;
• S54, obtaining the updated resistivity model by adding the model update quantity and the model parameters;
• S55, judging whether a fitting error of the forward-modeling electric and magnetic field response data of the updated resistivity model is less than a set threshold value, and successively determining whether to perform iteration;
• and S56, ending the iteration when the fitting error is less than the set threshold value, and adding one to the number of iterations when the fitting error is greater than the set threshold value, and proceeding to the step S53;
• at this moment, the electric field inversion updated resistivity model is obtained by calculating the model parameters obtained from the magnetic field inversion in the last iteration, and the magnetic field inversion updated resistivity model is obtained by calculating the model parameters obtained from the electric field inversion in the last iteration, until the fitting error is less than the set threshold value to end the iteration.