CN107167846B - The quick Geomagnetism Information measurement apparatus of air-ground combination multifunction high-precision and measuring method - Google Patents

Abstract

The invention discloses an earth-air combined multifunctional high-precision and fast geomagnetic information measuring device and a measuring method. The device includes a ground earth magnetic field information measuring part and an air-suspended high-precision and fast earth magnetic field information measuring part. Several ground parts are arranged along the survey line to measure the earth's surface magnetic field and other information, and the air-suspended high-precision fast earth magnetic field information measurement part is loaded on the flying platform so that it has a certain height from the ground for measuring the earth's magnetic field in the air and other information . The ground part sends the measured information to the air-suspended high-precision fast earth magnetic field information measurement part through wireless communication, and the entire information data measured on the ground and in the air is transmitted to the satellite network through the satellite communication terminal until the ground monitoring query terminal. The present invention has the beneficial effects of high-precision, fast and efficient, and multi-parameter measurement of the earth's magnetic field measurement by the organic combination of ground and air. It combines the earth's magnetic field measurement, map information and GIS, has good system intelligence and advancement, and has the ability to measure the complex terrain. Long-term measurement advantages of geomagnetic information.

Description

Ground-air combined multifunctional high-precision rapid geomagnetic information measurement device and measurement method

technical field

The invention relates to the technical field of geophysical detection instruments, in particular to a ground-air combined multifunctional high-precision and fast geomagnetic information measuring device and a measuring method thereof.

technical background

The existence of the magnetic field widely affects the whole world. From the flight of pigeons to the aurora near the magnetic north and south poles, you can feel the extensive impact of the magnetic field on the earth's home. Magnets that generate magnetic fields are everywhere, from as small as a compass to as large as the entire giant Earth. We can feel all kinds of magnets. Magnetic field, as one of the properties of magnetic objects in nature, provides humans with a method to understand and transform the objective world. On the one hand, there are many applications of magnetic fields, such as geomagnetic navigation, constant magnetic field power generation, alternating magnetic field heating, charged particle magnetic field deflection, electromagnetic acceleration, magnetic resonance imaging, etc. It can be seen that magnetic fields are important to human civilization. On the other hand, there are also many measurements of magnetic fields, such as various magnetic balances, rotating magnetometers, magnetostrictive instruments, fluxmeters, superconducting quantum magnetometers, magnetometers, and so on. Although there are many kinds of magnetic application devices and magnetic measurement devices, some of them are used in the fields of biomedicine, geophysical exploration, space exploration, and national defense and military science and technology. The measurement sensitivity of magnetic measurement devices or instruments is relatively high, and in these Magnetic measuring devices in the high-tech field directly reflect the technological level of a country. At present, there is still a big gap between our country and the international advanced magnetic measurement device technology, especially some high-precision magnetic measurement and large-scale magnetic measurement systems still need to rely on imports. Therefore, the independent development of high-precision and high-reliability systematic magnetic measuring devices or instruments is of strategic significance to strengthen the country through science and technology.

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CN104730589Λ discloses an aeromagnetic measurement data collection system and device. The system can collect optical pump data, fluxgate data and GPS data in real time, and can perform human-computer interaction with a handheld terminal. The invention has the advantages of small size, light weight, easy installation and use, etc., and the use of the invention can provide strong support for my country's mineral exploration business.

CN204210739U discloses a kind of aeromagnetic survey ore prospecting system based on rotorcraft flight platform.

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CN203941299U discloses an unmanned marine aeromagnetic measurement system based on a water light aircraft. This invention overcomes the shortcomings of conventional marine magnetic measurement methods such as difficult operation, high labor intensity, low overall efficiency, and prominent safety hazards, and can meet the needs of COSCO. Regular monitoring of magnetic measurement in difficult areas such as shallow beaches and flats, as well as investigation and measurement operations by local departments.

CN202130571U discloses an aeromagnetic measurement system mounted on an airship platform. The invention has a simple structure and is easy to operate, and can obtain aeromagnetic data with high resolution, high precision and high collection density, providing high-quality data for land and resources investigations. Exploration data and interpretation results.

CN202975351U discloses an aeromagnetic measurement system mounted on a rotorcraft platform. The invention has the advantages of simple structure, convenient operation and high stability, convenient disassembly and installation, and low operating cost. The obtained aeromagnetic data has high resolution and high precision It provides high-quality exploration data and interpretation results for application fields such as regional geological mapping, prospecting evaluation of key metallogenic belts, and direct prospecting in mining areas.

CN102353911Λ discloses a high-sensitivity magnetic measurement device under an environmental field based on disturbance compensation and its implementation method. The method is based on a superconducting magnetic sensor and is suitable for application environments where the frequency of the magnetic field signal to be measured is higher than the frequency band of the environmental field disturbance.

CN201525503U discloses an ultra-low-altitude high-precision aeromagnetic measurement carrier, in particular to a flying carrier carrying a high-precision aeromagnetic measurement device to realize prospecting and exploration. The carrier is a power-driven aircraft with a delta wing, which consists of wings, body, cockpit, engine and fuel tank, and the measuring equipment is installed on the cockpit. It solves the problems of high cost, complex flight procedures, and low safety assurance in the airborne magnetic survey of the prior art, and achieves a high-precision magnetic survey system with low airborne magnetic survey implementation conditions, ultra-low altitude, slow flight, and low cost. Effect.

CN201107414 discloses a proton magnetometer for downhole magnetic field measurement. The invention is suitable for downhole magnetic field measurement and has the characteristics of reasonable structure, convenient and flexible use, and accurate measurement.

CN101710188Λ discloses an automatic measurement system for the relative displacement vector of the earth's magnetic field, which can adjust the orientation of the sensing module and calculate the relative displacement vectors of the starting point and the end point in the earth's magnetic field space.

CN104407313Λ discloses a portable three-dimensional magnetic field measurement system, which provides important support for measuring the three-dimensional magnetic field distribution of a magnet workpiece.

CN205427168U discloses an underwater magnetic field measurement system based on a front electronic warehouse. The invention has the characteristics of high measurement accuracy and fewer cables, and provides a solution for underwater magnetic field measurement.

CN105607015Λ discloses a three-dimensional space magnetic field measurement system. The invention realizes three-dimensional space magnetic field measurement, software and hardware cooperative work, real-time table and graphical display of measurement results, and has storage and playback functions, making magnetic field measurement more accurate and efficient , easy.

Although the above-mentioned patents have made inventions and creations from various aspects such as magnetic field measurement, some of them have carried out related inventions using low-temperature superconducting SQUID, proton magnetometer, and three-dimensional space magnetic field measurement to improve measurement accuracy, some are data acquisition systems and devices, and some are related to Some of the magnetic measurement devices for different flying platforms such as manned aircraft, unmanned aircraft, and airships are for land, ocean, underwater, underground and other fields of measurement, and some are for different detection purposes such as ore prospecting and workpiece magnetism. Measurement methods, the inventions of these patents have promoted the rapid development of magnetic field measurement, but there are still deficiencies in these inventions, and there are not many inventions for long-term measurement and observation devices for the geomagnetic field. In addition, although there is existing geomagnetic information measurement, the measurement of geomagnetic information is not detailed enough. There are three-dimensional measurements of the geomagnetic field, but there are not many inventions for the measurement of geomagnetic declination and geomagnetic inclination at various locations on the earth. There are inventions for airborne geomagnetic measurement, but there are few comprehensive geomagnetic field measurement devices that combine airborne geomagnetic measurement and earth's interior measurement. The accurate measurement of the earth's magnetic field has very important research and application value for the use of deep earth physics research, earth's interior activity changes, seismic observation, mineral resource detection, and nuclear magnetic resonance detection instruments.

Contents of the invention

The technical problem to be solved by the present invention is to provide a ground-air combined multi-functional high-precision rapid geomagnetic information measurement system and measurement method. The earth's magnetic field measurement using the ground-air organic combination can more comprehensively and accurately measure the magnetic field on the earth's surface and above the earth. It provides an efficient and precise device and method for the measurement and in-depth study of the geophysical magnetic field.

The present invention is realized through the following technical solutions:

The ground-air combined multifunctional high-precision and fast geomagnetic information measurement device includes several ground geomagnetic field information measurement parts (1) and air-suspended high-precision fast geomagnetic field information measurement parts (2); several ground geomagnetic field information measurement parts (2) arranged along the survey line The earth magnetic field information measuring part (1) is used for measuring the earth's surface earth magnetic field information, and the air-suspended high-precision fast earth magnetic field information measuring part (2) is loaded on the flight platform, so that it has a certain height from the ground for measuring the earth's magnetic field information; The ground earth magnetic field information measurement part (1) sends the measured information to the aerial suspension type high-precision earth magnetic field information measurement part (2) through wireless communication, and the entire information data measured on the ground and in the air is transmitted to the satellite network through the satellite communication terminal Until the ground monitoring query terminal.

Further: the ground earth's magnetic field information measurement part (1) includes at least the earth's magnetic field strength measuring unit (101), the earth's magnetic field declination angle and the earth's magnetic field inclination angle measuring unit (102), the GPS positioning timing unit (103), the device position adjustment unit (104), MCU calculation unit (105), wireless communication unit (106), information storage unit (108) and power supply unit (111);

Described geomagnetic field strength measuring unit (101) measures the magnetic field strength value of earth surface, and the data transmission of measurement is processed to MCU calculation unit (105);

The geomagnetic declination and the geomagnetic inclination measurement unit (102) measure the geomagnetic declination and the geomagnetic inclination on the surface of the earth, and the measured data is transmitted to the MCU calculation unit (105) for processing;

The GPS positioning and timing unit (103) provides latitude and longitude coordinates, altitude and time synchronization timing for the MCU calculation unit (105) in the ground earth magnetic field information measurement part (1);

The device position adjustment unit (104) receives an instruction from the MCU calculation unit (105) to adjust the horizontal and vertical positions of the ground earth magnetic field information measurement part (1), so that it meets the measurement position requirements;

Described MCU calculation unit (105) is to the data operation from geomagnetic field strength measurement unit (101), geomagnetic field declination and geomagnetic field inclination measurement unit (102), GPS positioning timing unit (103) and is stored in information storage unit (108);

The wireless communication unit (106) enables the ground earth magnetic field information measurement part (1) to perform data interaction with the wireless communication unit (2-102) in the air-suspended high-precision fast earth magnetic field information measurement part (2);

The information storage unit (108) stores data processed by the MCU computing unit (105) and pre-downloaded spare data;

The power supply unit (111) supplies power to other functional units of the ground earth magnetic field information measurement part (1) through a power line.

Further: the ground earth magnetic field information measurement part (1) also includes a parameter setting unit (107), a display unit (109), a device projection buffer unit (110), a recovery auxiliary unit (112) and a device ground protection unit (113 );

The parameter setting unit (107) performs parameter setting on the ground earth magnetic field information measurement part (1);

Described display unit (109) is the display when the ground earth magnetic field information measurement part (1) parameter setting unit (107) operates;

The projecting buffer unit (110) of the device provides buffer protection for the ground earth magnetic field information measurement part (1);

The recovery auxiliary unit (112) and the device ground protection unit (113) are fixedly connected by non-metallic bolts, respectively providing device recovery assistance and protection device functions.

Further: the air-suspended high-precision fast earth magnetic field information measurement part (2) is divided into three sub-parts, the main sub-part (2-1), the auxiliary sub-part (2-3) and its connecting sub-part (2- 2), wherein the auxiliary sub-section is installed on the flight platform, the connecting sub-section connects the main sub-section and the auxiliary sub-section, and the main sub-section is suspended.

Further: the main body sub-part (2-1) at least includes a GPS positioning and timing unit (2-101), a wireless communication unit (2-102), a laser altimetry unit (2-109), a data storage unit (2 -110), high-speed MCU calculation unit (2-111), earth magnetic field space information drawing unit (2-112), panoramic shooting unit (2-113), high-precision earth magnetic field strength measurement unit (2-114), earth magnetic field A declination and geomagnetic field inclination measuring unit (2-115) and a terrain scanning unit (2-116);

The GPS positioning and timing unit (2-101) is the positioning and timing data of the high-speed MCU calculation unit (2-111) in the aerial suspension type high-precision fast earth magnetic field information measurement part (2);

The wireless communication unit (2-102) performs two-way wireless communication with the wireless communication unit (106) in the ground earth magnetic field information measurement part (1);

The laser altimetry unit (2-109) is an aerial suspension type high-precision fast earth magnetic field information measurement part (2) measuring the height from the ground, and transmitting the measurement data to the high-speed MCU calculation unit (2-111);

The data storage unit (2-110) stores data processed from the high-speed MCU calculation unit (2-111) and stores pre-downloaded spare data;

The high-speed MCU calculation unit (2-111) calculates the data transmitted from other units of the air-suspended high-precision fast earth magnetic field information measurement part (2);

The panoramic shooting unit (2-113) synchronously performs half-space shooting of the measured position;

The high-precision geomagnetic field strength measuring unit (2-114) performs accurate measurement of the earth's magnetic field strength in the air;

The geomagnetic declination and geomagnetic inclination measurement unit (2-115) accurately measures the geomagnetic declination and geomagnetic inclination of the earth's magnetic field in the air;

The terrain scanning unit (2-116) scans and measures the terrain during air flight;

The earth magnetic field spatial information drawing unit (2-112) is based on the laser altimetry unit (2-109), the high-precision earth magnetic field strength measurement unit (2-114), the earth magnetic field declination angle and the earth magnetic field inclination angle measurement unit (2 -115) and the measurement data acquired by the terrain scanning unit (2-116) are used to draw the earth's magnetic field in the space map to form the earth's magnetic field spatial information map.

Further: the main body sub-part (2-1) also includes a warning obstacle avoidance unit (2-103), a keyboard operation unit (2-104), a device dynamic balance adjustment unit (2-105), a power supply unit (2 -106), optical fiber communication unit (2-107), display unit (2-108), and fall protection unit (2-117), and device body unit (2-118);

The warning and obstacle avoidance unit (2-103) performs obstacle early warning and obstacle avoidance for the air-suspended high-precision and fast earth magnetic field information measurement part (2);

The keyboard operation unit (2-104) provides an input function for the high-precision and fast earth magnetic field information measurement part (2) suspended in the air;

The dynamic balance adjustment unit (2-105) of the device performs balance adjustment on the air-suspended high-precision fast earth magnetic field information measurement part (2) according to the instructions of the high-speed MCU calculation unit (2-111);

The power supply unit (2-106) provides electric energy for other units inside the air-suspended high-precision fast earth magnetic field information measurement part (2);

The optical fiber communication unit (2-107) performs optical cable connection communication with the optical fiber communication unit (2-307) of the auxiliary sub-section (2-3) of the high-precision fast earth magnetic field information measurement part (2) suspended in the air;

The display unit (2-108) provides parameter display according to the control of the high-speed MCU computing unit (2-111);

The fall protection unit (2-117) provides fall protection for the high-precision and rapid earth magnetic field information measurement part (2) suspended in the air;

The device body unit (2-118) is connected with the fall protection unit (2-117) with non-metallic bolts to provide a base and buoyancy for the air-suspended high-precision and rapid earth magnetic field information measurement part (2).

Further: the auxiliary sub-part (2-3) is composed of a satellite communication unit (2-301), a keyboard operation unit (2-302), a display unit (2-303), an external interface unit (2-304), Auxiliary sub-part control unit (2-305), data storage unit (2-306), optical fiber communication unit (2-307), air pressure power unit (2-308) and fixed suspension unit (2-309);

The satellite communication unit (2-301) receives data from the optical fiber communication unit (2-307) in the auxiliary subsection (2-3) to realize connection with the satellite network;

The operation keyboard unit (2-302) provides an input function for the auxiliary sub-part;

The display unit (2-303) provides display measurement status for the auxiliary subsection (2-3);

The external interface unit (2-304) is a power supply interface and a data exchange interface of the auxiliary subpart (2-3);

The auxiliary subsection control unit (2-305) controls other units in the auxiliary subsection and some units in the main subsection (2-1);

The data storage unit (2-306) stores the data operated by the control unit (2-305), and backs up and stores the data of the optical fiber communication unit (2-307) and the satellite communication unit (2-301);

The optical fiber communication unit (2-307) is connected to the optical fiber communication unit (2-107) in the main body sub-part (2-1) with an optical cable for two-way communication;

The air pressure power unit (2-308) generates air pressure energy, and is a device dynamic balance adjustment unit (2-105) in the main sub-part (2-1) of the air-suspended high-precision fast earth magnetic field information measurement part Supply air pressure energy;

The fixed suspension unit (2-309) fixes the auxiliary sub-part (2-3) of the air-suspended high-precision and fast earth magnetic field information measurement part on the flight platform through the carbon fiber tension rope (2-203), giving the main sub-part Part (2-1) provides upward pulling force.

Further: the connector part (2-2) is mainly composed of a carbon fiber tube (2-201) capable of transmitting air pressure, a communication optical cable (2-202 and a carbon fiber tension rope (2-203);

The carbon fiber tube (2-201) that can transmit air pressure transmits the air pressure from the air pressure power unit (2-308) in the auxiliary subsection (2-3) to the device of the main subsection (2-1) Dynamic balance adjustment unit (2-105);

The communication optical cable (2-202) transmits the light generated by the optical fiber communication unit (2-107) in the main subsection (2-1) and the light source of the optical fiber communication unit (2-307) in the auxiliary subsection (2-3). laser signal;

The carbon fiber tension rope (2-203) is connected to the device body unit (2-118) of the air-suspended high-precision rapid earth magnetic field information measurement part (2), and lifts the entire main body sub-part (2-1).

The geomagnetic field information measuring method adopting the above-mentioned device comprises the following steps:

According to the need for long-term measurement of the area of the earth's surface magnetic field and the number of points for measuring the earth's surface magnetic field, determine the number of the ground earth's magnetic field information measurement parts (1), check the determined ground earth's magnetic field information measurement part (1), and load it on the flight platform middle;

Check whether each unit of the air-suspended high-precision and fast earth magnetic field information measurement part (2) is in good condition, install the air pressure power unit (2-308) in the auxiliary sub-part (2-3) inside the flight platform, and the auxiliary sub-part ( The fixed suspension unit (2-309) in 2-3) is fixed on the outside of the flight platform and loads the connection subsection (2-2) and the main subsection (2-2) of the high-precision rapid earth information measurement section (2) suspended in the air. 1);

The flying platform takes off, and slowly pulls the carbon fiber tension rope (2-203) to lift the entire air-suspended high-precision and fast earth magnetic field information measurement part (2). The tension measurement module in the unit (2-309) starts to work, and when the tension value measured by the module is greater than or equal to the gravity of the main body subsection (2-1) when the balance is suspended, the device dynamics in the main body subsection (2-1) is started The balance adjustment unit (2-105), followed by starting the laser height measuring unit (2-109) in the main body sub-section (2-1), starts the main body sub-section (2-1) when the height value measured by the laser reaches 10m GPS positioning and timing unit (2-101), data storage unit (2-110) and high-speed MCU calculation unit (2-111) in;

After the flight platform and the air-suspended high-precision fast earth magnetic field information measurement part (2) have all completed smooth take-off and start-up work, the main sub-part (2-1 ) other units work, when the flight platform and the air-suspended high-precision fast earth magnetic field information measurement part (2) arrive at the preset position height and position, the warning and obstacle avoidance unit (2- 103), device dynamic balance adjustment unit (2-105), power supply unit (2-106), earth magnetic field space information rendering unit (2-112), panoramic shooting unit (2-113), high-precision earth magnetic field strength measurement unit (2-114), geomagnetic field declination and geomagnetic inclination measuring unit (2-115) and terrain scanning unit (2-116);

Arrive at the sky above the surface of the earth that needs to be measured, lower the flying height of the flying platform, and drop the ground earth magnetic field information measurement part (1) along the energy rope at a constant speed of 3m/s. (1) automatically break away from the rope, and fall to the place to be measured under the protection of the device projection buffer unit (110);

In the same way, the remaining number of ground earth magnetic field information measurement parts (1) are respectively accurately dropped in the pre-measurement area, and after each ground earth magnetic field information measurement part (1) is dropped, the device position adjustment unit ( 104) Adjust the position and direction, and use the GPS positioning and timing unit (103), the geomagnetic field strength measuring unit (101), the geomagnetic field declination and the geomagnetic field inclination measuring unit (102) to carry out latitude and longitude, altitude, magnetic field strength, and geomagnetic field respectively. Declination and geomagnetic field inclination are measured, and the measured information data is stored in the information storage unit (108) through the MCU computing unit (105);

While landing the ground earth magnetic field information measurement part (1), the aerial suspension type high-precision fast earth magnetic field information measurement part (2) begins to measure the earth's magnetic field strength, geomagnetic field declination and geomagnetic Magnetic field inclination, terrain scanning, and ground panorama photos are collected and stored in the data storage unit (2-110);

The air-suspended high-precision and rapid earth magnetic field information measurement part (2) is pulled by the flight platform, and returns to the flight along the trajectory parallel to the earth magnetic field information measurement part (1) that is dropped on the ground and deviates from 20m to 200m;

In the process of returning to and from the original track, on the one hand, the earth's magnetic field information in the air is measured, and on the other hand, the ground earth's magnetic field information provided by the ground earth's magnetic field information measurement part (1) is received through the wireless communication module (2-102). , and stored in the data storage unit (2-110);

After completing the pre-measurement area and the ground earth's magnetic field information, the high-speed MCU calculation unit (2-111) in the aerial suspension type high-precision fast earth's magnetic field information measurement part (2) extracts the measured data from the data storage unit (2-110). The latitude and longitude coordinates, height position, latitude earth magnetic field strength, earth magnetic field declination angle and earth magnetic field inclination angle operation processing form the structure data information and store in the data storage unit (2-110) again, the earth magnetic field spatial information drawing unit (2-110) 112) Extract the structure data and combine the topographic scanning data to map the magnetic field spatial information in the measured area. Then the longitude and latitude coordinates, height position, earth's magnetic field strength, earth's magnetic field declination angle and earth's magnetic field inclination are calculated and processed to form the structure data information and the magnetic field spatial information map of the measured area and the ground earth's magnetic field information data through the main body subpart (2-1 The optical fiber communication unit (2-107) in ) is transmitted to the optical fiber communication unit (2-307) in the auxiliary subsection;

The optical fiber communication unit (2-307) in the auxiliary sub-section (2-3) forwards the transmitted data to its satellite communication unit (2-301), and the satellite communication unit (2-301) continues to transmit the data information to the satellite network until the terrestrial network client.

Further: if the ground earth magnetic field information measurement part (1) needs to carry out long-term geomagnetic information measurement and statistics on the measurement area, then keep these ground earth magnetic field information measurement parts (1), and regularly mount the air-suspended high-precision The fast earth magnetic field information measurement part (2) measures the flight geomagnetic field information in this area; if it is not necessary to carry out long-term ground earth magnetic field information measurement in this area, the flight platform passes the ground earth magnetic field information measurement part (1) along the drop trajectory. The recovery auxiliary unit (112) is recovered sequentially.

The present invention has the following beneficial effects:

The invention has the beneficial effects of high-precision, fast and efficient measurement of the earth's magnetic field, and multi-parameter measurement, and can simultaneously measure the strength of the earth's magnetic field, geomagnetic declination, geomagnetic inclination, longitude and latitude information, height information, and map information. This combination of the earth's magnetic field measurement, map information and GIS, has a good advanced system intelligence. Compared with the existing single earth magnetic field measurement device, the present invention has good high efficiency. The invention can draw and form a geomagnetic information map of the earth's surface space through multiple measurements of the earth's magnetic field.

The present invention adopts the measurement of the earth's magnetic field with the organic combination of ground and air, which can more comprehensively and accurately measure the magnetic field on the earth's surface and above the earth, and can carry out special mark records and image shooting on the geomagnetic anomaly areas and locations, and provide anomalous magnetic areas on the earth's surface and in the air The discovery and the comparative study of the Earth's magnetic field are of great significance. The invention can measure the geomagnetic field information on a specific line position according to the measuring line formed by the ground geomagnetic field information measurement part, and can obtain rich and accurate geomagnetic information.

The ground earth magnetic field information measurement part in the present invention can be conveniently dropped and deployed in the air, has the advantage of measuring complex terrain, can meet the advantages of long-term observation of earth geomagnetic information at a specific location, and provides a powerful technology for magnetic field measurement in areas that are not easy for humans to reach support.

In the present invention, the main body sub-part of the air-suspended high-precision rapid earth magnetic field information measurement part adopts the delta-wing body made of hard and ductile non-metallic materials and the dynamic balance adjustment of air pressure, so that the device can achieve good performance during rapid measurement in the air. The smooth reliability measurement can also reduce the gravitational energy consumption of the device itself.

Description of drawings

Fig. 1 Structural diagram of ground-air combined multifunctional high-precision and rapid geomagnetic information measurement device;

Fig. 2 Schematic diagram of non-coincidence of geographical north and south poles and geomagnetic north and south poles;

Figure 3 is a block diagram of the measurement part of the earth's magnetic field information on the ground;

Fig. 4 Coordinate analysis diagram of the earth's magnetic field elements;

Fig. 5 is a schematic diagram of the main body sub-part model in the air-suspended high-precision fast earth magnetic field information measurement part;

Fig. 6 constitutes a block diagram of the main sub-parts in the air-suspended high-precision fast earth magnetic field information measurement part;

Figure 7 is a block diagram of the auxiliary sub-parts in the air-suspended high-precision fast earth magnetic field information measurement part;

Sectional view of the connecting subpart carbon fiber tube in the suspension type high-precision fast earth magnetic field information measurement part in Fig. 8;

Figure 9 is a block diagram of the aerial suspension type high-precision and rapid earth magnetic field information measurement part;

Figure 10 is a process diagram of the generation process of the earth's magnetic field space information in the air-suspended high-precision and fast earth's magnetic field information measurement part;

Fig. 11 is a schematic diagram of an actual measurement of an earth-air combined multifunctional high-precision and fast geomagnetic information measuring device;

Fig. 12 is a flow chart of the earth-air type geomagnetic field measurement method combining the ground geomagnetic field information measurement part and the air-suspended high-precision fast geomagnetic field information measurement part;

In the figure, 1 ground earth magnetic field information measurement part; 2 aerial suspended high-precision fast earth magnetic field information measurement part; 2-1 main body sub-part; 2-2 connection sub-part; 2-3 auxiliary sub-part; unit; 102 geomagnetic field declination and geomagnetic inclination measuring unit; 103 GPS positioning and timing unit; 104 device position adjustment unit; 105 MCU computing unit; 106 wireless communication unit; 107 parameter setting unit; 108 information storage unit; Projection buffer unit; 111 power supply unit; 112 recovery auxiliary unit; 113 device ground protection unit; 2-101 GPS positioning and timing unit; 2-102 wireless communication unit; 2-103 warning and obstacle avoidance unit; 105 device dynamic balance adjustment unit; 2-106 power supply unit; 2-107 optical fiber communication unit; 2-108 display unit; 2-109 laser height measurement unit; 2-110 data storage unit; 2-111 high-speed MCU calculation unit; 2 -112 Geomagnetic space information drawing unit; 2-113 Panoramic shooting unit; 2-114 High-precision geomagnetic field strength measurement unit; 2-115 Geomagnetic declination and geomagnetic inclination measurement unit; 2-116 Terrain scanning unit; 2- 117 Fall protection unit; 2-118 Device body unit; 2-201 Carbon fiber tube that can transmit air pressure; 2-202 Communication optical cable 2-203 Carbon fiber tension rope; 2-301 Satellite communication unit; 2-302 Keyboard operation unit; 2- 303 display unit; 2-304 external interface unit; 2-305 auxiliary sub-section control unit; 2-306 data storage unit; 2-307 optical fiber communication unit; 2-308 air pressure power unit; 2-309 fixed suspension unit.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

The ubiquity of the earth's magnetic field affects the whole world extensively. The study of the magnitude and direction of the earth's magnetic field, measuring instruments and measurement methods are of great importance to the detection of deep geological activities in the earth's interior, changes in the surface magnetic field, magnetic storms above the earth, slow decay of the earth's magnetic field strength and ferromagnetic minerals. Discovery etc. are of great significance. Therefore, the present invention relates to the technical field of geophysical detection instruments, and in particular relates to a ground-space multifunctional high-precision rapid geomagnetic information measurement device and measurement method.

The ground-air combined multifunctional high-precision and fast geomagnetic information measurement device is mainly composed of two parts: the ground geomagnetic field information measurement part 1 and the air-suspended high-precision and fast geomagnetic field information measurement part 2, as shown in Figure 1. The structure diagram of the ground-air combined multifunctional high-precision and fast geomagnetic information measurement device is shown.

It includes several ground earth magnetic field information measurement parts 1 and air-suspended high-precision fast earth magnetic field information measurement parts 2; several ground earth magnetic field information measurement parts 1 arranged along the survey line are used to measure the earth's surface earth magnetic field information. The platform is loaded with an air-suspended high-precision and fast earth magnetic field information measurement part 2, so that it has a certain height from the ground for measuring the earth's magnetic field information; the ground earth magnetic field information measurement part 1 sends the measured information to the air-suspended High-precision earth magnetic field information measurement part 2, the entire information data measured on the ground and in the air is transmitted to the satellite network through the satellite communication terminal until the ground monitoring query terminal.

The ground earth magnetic field information measurement part 1 is composed of a geomagnetic field strength measuring unit 101, a geomagnetic field declination angle and a geomagnetic field inclination measuring unit 102, a GPS positioning timing unit 103, a device position adjustment unit 104, an MCU computing unit 105, a wireless communication unit 106, a parameter The setting unit 107, the information storage unit 108, the display unit 109, the device projection buffer unit 110, the power supply unit 111, the recovery auxiliary unit 112, and the device ground protection unit 113 are composed of. The main function of the ground earth magnetic field information measurement part 1 is to measure the geographical location, the strength of the earth's magnetic field, the measurement of the declination angle of the earth's magnetic field, the measurement of the earth's magnetic field angle, and the measurement part of the earth's magnetic field information for the high-precision and fast suspension in the air. 2 Provide various information, etc.

Geomagnetic field strength measuring unit 101, its function is to measure the magnetic field strength of the earth's surface, the parameter value of its measurement is one of the important measured values of ground earth's magnetic field information measurement part 1, after measuring the magnetic field strength value of the earth's surface, the measured data transmission to the MCU computing unit 105 for processing.

Geomagnetic declination and geomagnetic inclination measuring unit 102 measure the geomagnetic declination and geomagnetic inclination on the surface of the earth, and the measured data is transmitted to the MCU computing unit 105 for processing; the two angle parameters of its measurement are important parameters of the geomagnetic field vector parameters, and these two parameter values are also important parameters for the geomagnetic field strength measurement unit 101 to adjust the measurement probe. As shown in Figure 2, the direction of the north-south pole of the earth's magnetic field and the declination angle of the geographic north-south pole exist, that is, the geographic north-south pole and the geomagnetic north-south pole do not coincide.

The GPS positioning and timing unit 103 is used to provide latitude and longitude coordinates, altitude and time synchronization timing for the ground earth magnetic field information measurement part 1 .

The device position adjustment unit 104, its function is when the ground earth magnetic field information measurement part 1 drops to the ground, generally speaking, when the ground earth magnetic field information measurement part 1 is on the ground, it is not suitable for the required position during the measurement, and the device position adjustment unit 104 can adjust the horizontal and vertical positions of the entire surface earth magnetic field information measurement part 1 to meet the measurement position requirements.

MCU calculating unit 105, its effect is to the geomagnetic field intensity measured by ground earth magnetic field information measuring part 1, geomagnetic declination angle, geomagnetic inclination angle, latitude and longitude position and altitude information operation analysis processing etc., to from geomagnetic field intensity measuring unit 101, The data of the geomagnetic declination and geomagnetic inclination measuring unit 102 and the GPS positioning and timing unit 103 are calculated and stored in the information storage unit 108 .

The wireless communication unit 106, its function is to make the earth's magnetic field information measurement part 1 on the ground communicate with the wireless communication unit 2-102 in the high-precision fast earth's magnetic field information measurement part 2 suspended in the air, and mainly completes the earth's magnetic field information measured on the ground. , location information, altitude information, etc. are wirelessly transmitted to the air-suspended high-precision fast earth magnetic field information measurement part 2.

The parameter setting unit 107 sets the parameters of the ground earth magnetic field information measuring part 1, sets the working mode of the ground earth magnetic field information measuring part 1, and performs operations such as query, copy, and delete on the measured data.

The information storage unit 108 stores the data processed by the MCU calculation unit 105 and the pre-downloaded standby data; the geomagnetic field strength, geomagnetic declination, geomagnetic inclination, measured latitude and longitude position and altitude measured by the ground geomagnetic field information measurement part 1 storage.

The display unit 109 is the display when the parameter setting unit 107 of the ground earth magnetic field information measurement part 1 is operating; it displays the measured value of the ground earth magnetic field information measurement part 1 and facilitates the parameter setting unit 107 to perform parameter setting and query display requirements for this part.

The device projection buffer unit 110 is used to reduce the impact force for the ground earth magnetic field information measurement part 1 when it is dropped, and provide a buffer effect to ensure that the device lands reliably and safely.

The power supply unit 111 is used to provide electric energy for each functional unit inside the ground earth magnetic field information measurement part.

The recovery auxiliary unit 112 is used to facilitate the recovery and utilization of the ground earth magnetic field information measurement part by the flight platform after the measurement task of the ground earth magnetic field information measurement part is completed.

The device ground protection unit 113 is used to provide protection against rain and sun protection for the ground earth magnetic field information measurement part 1 during operation, so as to delay the working life of the device.

The recovery auxiliary unit 11 and the device ground protection unit 11 are fixedly connected by non-metallic bolts, and respectively provide device recovery assistance and protection device functions.

In the ground earth magnetic field information measuring part 1, the earth magnetic field strength measuring unit 101, the earth magnetic field declination angle and the earth magnetic field inclination angle measuring unit 102, the GPS positioning and timing unit 103, the device position adjustment unit 104, the MCU computing unit 105, the wireless communication unit 106, Parameter setting unit 107, information storage unit 108, display unit 109, device projection buffer unit 110, power supply unit 111, recovery auxiliary unit 112 and device ground protection unit 113 are connected through communication bus; The power supply of the functional unit is shown in Figure 3, which shows the block diagram of the ground earth magnetic field information measurement part 1.

The air-suspended high-precision fast earth magnetic field information measuring part 2 can be divided into three sub-parts, a main sub-part 2-1, an auxiliary sub-part 2-3 and a connecting sub-part 2-2. The main function of the air-suspended high-precision rapid earth magnetic field information measurement part 2 is to perform rapid earth magnetic field strength measurement, geomagnetic declination measurement, geomagnetic inclination measurement, altitude position measurement, relative position measurement from the ground, space position photo, and formation of geomagnetic information map etc.

The main body sub-part 2-1 consists of a GPS positioning and timing unit 2-101, a wireless communication unit 2-102, a warning and obstacle avoidance unit 2-103, a keyboard operation unit 2-104, a device dynamic balance adjustment unit 2-105, and a power supply unit 2- 106. Optical fiber communication unit 2-107, display unit 2-108, laser height measurement unit 2-109, data storage unit 2-110, high-speed MCU calculation unit 2-111, earth magnetic field space information drawing unit 2-112, panoramic shooting Unit 2-113, high-precision geomagnetic field strength measurement unit 2-114, geomagnetic field declination and geomagnetic inclination measurement unit 2-115, terrain scanning unit 2-116, and fall protection unit 2-117, device body unit 2- 118 and so on constitute.

The GPS positioning and timing unit 2-101 provides positioning and timing data for the high-speed MCU calculation unit 2-111 in the air-suspended high-precision and fast earth magnetic field information measurement part 2, and provides latitude and longitude coordinates, altitude and time synchronization timing.

The wireless communication unit 2-102 carries out two-way wireless communication with the wireless communication unit 106 in the ground earth magnetic field information measurement part 1, and its function is to make the air-suspended high-precision fast earth magnetic field information measurement part 2 and the ground earth magnetic field information measurement part 1 The wireless communication unit 106 in the system communicates, mainly receiving the earth's magnetic field information, position information and altitude information measured by the ground part forwarded by the ground part wireless communication unit 106.

The warning and obstacle avoidance unit 2-103 is used to carry out forecast and early warning when encountering obstacles when flying for the aerial suspension type high-precision and fast earth magnetic field information measurement part 2, and provide flight position indicator lights when measuring in the dark.

The keyboard operation unit 2-104 provides an input function for the air-suspended high-precision and fast earth magnetic field information measuring part 2, sets the air-suspended high-precision and fast earth magnetic field information measuring part 2, and queries, copies, and retrieves the measured data. operations such as deletion.

The device dynamic balance adjustment unit 2-105 performs balance adjustment on the air-suspended high-precision and rapid earth magnetic field information measurement part 2 according to the instructions of the high-speed MCU calculation unit 2-111, so that it can work smoothly. The dynamic balance adjustment unit 2-105 of the device adopts two balance methods, one is a micro-balance adjustment method, and the other is a large-balance adjustment method. The micro-balance adjustment method is realized by aerodynamically controlling the movement of the slider; the large-balance adjustment method realizes rapid general direction balance adjustment of the main body sub-parts by controlling the aerodynamic jet impulse.

The power supply unit 2-106 provides electric energy for the high-precision and rapid earth magnetic field information measurement part 2 suspended in the air.

The optical fiber communication unit 2-107 enables the main body sub-part 2-1 and the optical fiber communication unit 2-307 of the auxiliary sub-part 2-3 of the air-suspended high-precision fast earth magnetic field information measurement part 2 to perform data transmission, and it mainly completes the The earth's magnetic field information, location information, altitude information, map information, and panoramas captured in the air and on the ground are transmitted to the auxiliary subsection 2-3 through optical cables.

The display unit 2-108 provides parameter display according to the control of the high-speed MCU calculation unit 2-111, and provides a display window for the air-suspended high-precision fast earth magnetic field information measurement part 2 when it is working, and provides a display window when setting parameters.

The laser altimetry unit 2-109 measures the height from the ground for the high-precision and fast earth magnetic field information measurement part 2 suspended in the air, and transmits the measurement data to the high-speed MCU calculation unit 2-111, and maintains the distance and terrain for the device at the same time Scanning unit 2-116 measures topography to provide reference data.

The data storage unit 2-110 stores the processed data from the high-speed MCU calculation unit 2-111 and stores the pre-downloaded backup data, for the airborne geomagnetic field intensity and geomagnetism measured by the aerial suspension type high-precision fast earth magnetic field information measurement part 2 Storage of information such as declination, geomagnetic inclination, measured latitude and longitude position, altitude and scanned maps.

The high-speed MCU calculation unit 2-111 is used to calculate the data transmitted from other units of the air-suspended high-precision and fast earth magnetic field information measurement part 2; to measure the strength of the earth's magnetic field in the air, the geomagnetic declination, the geomagnetic inclination, and the measured latitude and longitude position , Altitude and scanned maps and other information computing, analysis and processing.

Earth magnetic field spatial information drawing unit 2-112, based on laser altimetry unit 2-109, high-precision geomagnetic field strength measurement unit 2-114, geomagnetic declination and geomagnetic inclination measurement unit 2-115 and terrain scanning unit 2-116 The measurement data obtained by the other units are used to draw the earth's magnetic field in the space map to form the earth's magnetic field spatial information map.

Panoramic shooting unit 2-113, during measurement by laser altimetry unit 2-109, high-precision geomagnetic field strength measurement unit 2-114, geomagnetic field declination and geomagnetic inclination measurement unit 2-115, and terrain scanning unit 2-116 , synchronously perform half-space shooting of the measured position.

The high-precision geomagnetic field strength measuring unit 2-114 is used to accurately measure the earth's magnetic field strength in the air during the air-suspended high-precision fast geomagnetic field information measurement part 2 being dragged by the flying platform in the air.

The geomagnetic declination and geomagnetic inclination measuring unit 2-115 is used to measure the geomagnetic declination and geomagnetic inclination of the earth's magnetic field in the air while the air-suspended high-precision and fast earth magnetic field information measurement part 2 is dragged by the flying platform in the air. Measure accurately. The two angle parameters measured by it are important parameters of the geomagnetic field vector in the air, and the values of these two parameters are also the high-precision geomagnetic field strength measurement unit 2-114 of the air-suspended high-precision and fast earth magnetic field information measurement part 2 to adjust the measurement probe important parameters. As shown in Figure 4, some geomagnetic elements that need to be measured are given. In the figure, the geomagnetic field at a certain point on the earth’s surface is taken as the research object, and the vector of its geomagnetic field intensity is given, denoted by T. A Cartesian coordinate system is established with the research point as the origin, the x-axis points to the geographic north, the y-axis points to the geographic east, and the z-axis points vertically downward to the center of the earth. In this coordinate system, the angle between the projection of the vector T on the horizontal plane and the x-axis is called the magnetic declination, which is represented by D. The inclination of the vector T, called the magnetic inclination, is represented by I. The projections H, X, Y, and Z of the vector T on the xoy horizontal plane of the coordinate system and along each coordinate axis are called the horizontal component, the north component, the east component, and the vertical component, respectively.

The terrain scanning unit 2-116 is an air-suspended high-precision and rapid earth magnetic field information measurement part 2, which scans and measures the terrain within the range of 30° according to the axial cone angle of its gravity direction during the flight in the air.

The fall protection unit 2-117 is used to buffer the huge impact force produced when a part falls when the air-suspended high-precision and fast earth magnetic field information measuring part 2 falls accidentally, so as to play a certain protective effect on the device.

The device body unit 2-118, on the one hand, is to provide installation positions and protection for each unit inside the main body sub-part 2-1 of the air-suspended high-precision and fast earth magnetic field information measurement part 2. On the other hand, the device body unit 2-118 adopts non- The double vertical tail delta wing body designed with ferromagnetic non-metallic low-density hard material can not only have a good balance, but also can generate a certain lift during the measurement flight process to reduce the pulling force of the flight platform and reduce the Energy consumption due to gravity, as shown in Figure 5, is a schematic diagram of the model of the main sub-part 2-1 in part 2 of the air-suspended high-precision rapid earth magnetic field information measurement part 2.

In the main body sub-part 2-1, GPS positioning and timing unit 2-101, wireless communication unit 2-102, warning and obstacle avoidance unit 2-103, keyboard operation unit 2-104, device dynamic balance adjustment unit 2-105, power supply unit 2 -106, optical fiber communication unit 2-107, display unit 2-108, laser height measurement unit 2-109, data storage unit 2-110, high-speed MCU calculation unit 2-111, earth magnetic field space information drawing unit 2-112, panorama The photographing unit 2-113, the high-precision geomagnetic field strength measuring unit 2-114, the geomagnetic field declination and geomagnetic inclination measuring unit 2-115, the terrain scanning unit 2-116 and the fall protection unit 2-117 are connected via a communication bus. Connection; the power supply unit 2-106 supplies energy to other functional units through the power line, as shown in Figure 6, which provides a block diagram of the main sub-part 2-1 in the air-suspended high-precision fast earth magnetic field information measurement part 2.

The warning and obstacle avoidance unit 2-103 performs obstacle early warning and obstacle avoidance for the air-suspended high-precision and fast earth magnetic field information measurement part 2;

The keyboard operation unit 2-104 provides an input function for the air-suspended high-precision and rapid earth magnetic field information measurement part 2;

The device dynamic balance adjustment unit 2-105 performs balance adjustment on the air-suspended high-precision and fast earth magnetic field information measurement part 2 according to the instructions of the high-speed MCU calculation unit 2-111;

The power supply unit 2-106 provides electric energy for other units inside the air-suspended high-precision and fast earth magnetic field information measurement part 2;

The optical fiber communication unit 2-107 performs optical cable connection communication with the optical fiber communication unit 2-307 of the auxiliary sub-part 2-3 of the aerial suspension type high-precision fast earth magnetic field information measurement part 2;

The display unit 2-108 provides parameter display according to the control of the high-speed MCU calculation unit 2-111;

The fall protection unit 2-117 provides fall protection for the air-suspended high-precision fast earth magnetic field information measurement part (2);

The device body unit 2-118 is connected with the fall protection unit 2-117 by non-metallic bolts to provide a substrate and buoyancy for the air-suspended high-precision and rapid earth magnetic field information measurement part 2.

The auxiliary sub-part 2-3 consists of a satellite communication unit 2-301, a keyboard operation unit 2-302, a display unit 2-303, an external interface unit 2-304, an auxiliary sub-part control unit 2-305, a data storage unit 2-306, It consists of an optical fiber communication unit 2-307, an air pressure power unit 2-308 and a fixed suspension unit 2-309.

The satellite communication unit 2-301 forwards the earth's geomagnetic information measured by the ground earth's magnetic field information measuring part 1 and the air-suspended high-precision fast earth's magnetic field information measuring part 2 transmitted from the optical fiber communication unit 2-307, and forwards it to the satellite communication unit 2-301. In the link, it finally reaches the remote ground observation client.

The operation keyboard unit 2-302 provides input functions for the auxiliary sub-section, and the auxiliary sub-section 2-3 on the flight platform performs operations such as setting parameters for the entire ground-air combined multifunctional high-precision and fast geomagnetic information measuring device.

The display unit 2-303 provides display measurement status for the auxiliary sub-section 2-3, and the auxiliary sub-section 2-3 on the flight platform displays information such as measurement status, query data, and working status of each unit.

The external interface unit 2-304 is the power supply interface and data exchange interface of the auxiliary sub-part 2-3; its function one is to connect the power supply on the flight platform, thereby providing electric energy to each unit in the auxiliary sub-part 2-3 that needs electric energy; function two It provides an external data exchange interface, which is convenient for data reading, debugging and maintenance of auxiliary sub-parts 2-3.

The auxiliary sub-section control unit 2-305, on the one hand, controls the air pressure power unit 2-308 in the auxiliary sub-section 2-3, etc., and on the other hand controls the laser height measurement unit 2 in the main sub-section 2-1 from the flight platform -109. Panoramic shooting unit 2-113, high-precision geomagnetic field strength measurement unit 2-114, geomagnetic field declination and geomagnetic inclination measurement unit 2-115, terrain scanning unit 2-116, etc.

The data storage unit 2-306 stores the data that assists the operation of the sub-section control unit 2-305, and backs up and stores the data of the optical fiber communication unit 2-307 and the satellite communication unit 2-301.

The optical fiber communication unit 2-307 establishes communication with the optical fiber communication unit 2-107 in the main subsection 2-1 of the air-suspended high-precision fast earth magnetic field information measurement part 2 to receive the measured data.

The air pressure power unit 2-308 generates air pressure energy by means of the electric energy of the flight platform, and supplies air pressure for the device dynamic balance adjustment unit 2-105 in the main sub-section 2-1 of the air-suspended high-precision and fast earth magnetic field information measurement part 2 can.

The fixed suspension unit 2-309 is used to fix the auxiliary sub-part 2-3 of the air-suspended high-precision and rapid earth magnetic field information measurement part 2 on the flight platform through the carbon fiber tension rope 2-203, and provide the main sub-part 2-1 with upward pull. At the same time, there is a tension measurement module in the fixed suspension unit 2-309, which can measure the tension on the carbon fiber tension rope 2-203 in real time, and provide one of the important parameters for the flight work process of the whole device. The working start of the tension measurement module depends on the tension on the carbon fiber tension rope 2-203, and when the carbon fiber tension rope 2-203 is loaded with tension, the tension measurement module starts to work.

In the auxiliary subsection 2-3, satellite communication unit 2-301, keyboard operation unit 2-302, display unit 2-303, external interface unit 2-304, auxiliary subsection control unit 2-305, data storage unit 2-306 , the optical fiber communication unit 2-307, the air pressure power unit 2-308 and the fixed suspension unit 2-309 are connected through a communication bus; the external interface unit 2-304 communicates with the auxiliary sub-part 2-3 through a power line and a communication bus Each functional unit is connected to realize external power supply and external communication. As shown in Figure 7, a structural block diagram of the auxiliary sub-part 2-3 in the air-suspended high-precision fast earth magnetic field information measurement part 2 is given.

The connecting sub-part 2-2 is mainly composed of a carbon fiber tube 2-201 capable of transmitting air pressure, a communication optical cable 2-202 and a carbon fiber tension rope 2-203.

The carbon fiber tube 2-201 that can transmit air pressure, transmits the air pressure from the air pressure power unit 2-308 in the auxiliary sub-section 2-3 to the device dynamic balance adjustment unit 2-105 of the main body sub-section 2-1, which is convenient for the main body The body balance of subpart 2-1 is reliable.

The communication optical cable 2-202 transmits the laser signal generated by the optical fiber communication unit 2-107 in the main subsection 2-1 and the light source of the optical fiber communication unit 2-307 in the auxiliary subsection 2-3. The carbon fiber tube 2-201 that transmits the air pressure and the communication optical cable 2-202 adopt the mosaic design, and are designed on a carbon fiber tube, as shown in Fig. 8, which shows the air-suspended high-precision fast earth magnetic field information measurement part 2. Subsection 2-2 Sectional view of carbon fiber tube.

The carbon fiber tension rope 2-203 is connected to the device body unit 2-118 of the air-suspended high-precision and fast earth magnetic field information measurement part 2, and the whole main body sub-part 2-1 is promoted by the rope.

In the connection sub-part 2-2, the carbon fiber tube 2-201 capable of transmitting air pressure and the communication optical cable 2-202 are embedded and combined, and three carbon fiber tension ropes 2-203 bear the tension. The carbon fiber tube 2-201 that can transmit air pressure, the communication optical cable 2-202 and the carbon fiber tension rope 2-203 in the connection sub-section 2-2 jointly connect the main sub-section 2-1 and the auxiliary sub-section 2-3, as shown in the figure As shown in 9, a block diagram of the three sub-parts of the air-suspended high-precision and fast earth magnetic field information measurement part 2 is given.

Embodiment one:

The working process and principle of the present invention will be described below by taking the ground-air combination multifunctional high-precision and fast geomagnetic information measuring device as a specific example:

1. The specific hardware selected is as follows

Surface Earth Magnetic Field Information Measurement Part 1

The ground earth magnetic field information measurement part 1 is composed of a geomagnetic field strength measuring unit 101, a geomagnetic field declination angle and a geomagnetic field inclination measuring unit 102, a GPS positioning timing unit 103, a device position adjustment unit 104, an MCU computing unit 105, a wireless communication unit 106, a parameter The setting unit 107, the information storage unit 108, the display unit 109, the device projection buffer unit 110, the power supply unit 111, the recovery auxiliary unit 112, and the device ground protection unit 113 are composed of. Each unit in the ground earth magnetic field information measurement part 1 is designed through LXI bus technology, and each unit is closely connected together.

The core component of the geomagnetic field strength measurement unit 101 is a highly sensitive fluxgate magnetometer that can measure weak magnetic fields. It can accurately measure from 1nT to 200μT with a resolution of 0.1nT. It uses a low-pass filter switch with a bandwidth of 0 to 1Kz and an accuracy of 0.5 %, offset ±5nT, this unit is connected with the geomagnetic declination and geomagnetic inclination measurement unit 102 through the LXI bus.

Geomagnetic declination and geomagnetic inclination measuring unit 102, the unit includes a reference angle module, geomagnetic declination and geomagnetic inclination three measurement modules. The geomagnetic declination measurement module is composed of an electronic compass and an optical electronic true north sensor. The electronic compass measures the magnetic north direction, and the optical electronic true north sensor measures the geographic north direction. The optical electronic true north sensor is mainly composed of two parallel plane reflectors, micron-scale suspension wire, laser light source, double parallel suspension beam, suspension wire projection photosensitive position encoding board, data acquisition circuit, day-time time and daily change data memory, STC89C52 single-chip microcomputer and algorithm program. The electronic compass transmits the measured magnetic north direction data and the true north direction data measured by the optical and electronic true north sensor to the reference angle module to measure the geomagnetic declination. Among them, the geomagnetic field inclination measurement module is mainly realized by magnetoresistive sensor measurement. This module is mainly composed of two sets of mutually perpendicular Wheatstone bridges formed by eight magnetoresistive sensors, an amplifier circuit, two sets of Helmholtz coils, and a high-precision small It is composed of program-controlled stepping motor, Λ/D conversion circuit and microprocessor for range angle adjustment. The geomagnetic field inclination measurement module can measure the horizontal component and vertical component of the geomagnetic field and calculate the geomagnetic field inclination.

The GPS positioning and timing unit 103 selects the M32M Oncorc time synchronization positioning module, which has 32 tracking channels, 2 fast acquisition channels, L1 band, C/Λ code, receiving sensitivity of -148dBm, horizontal accuracy of 1.5m, timing Accuracy is less than 10ns, -40～+85℃, built-in programmable pulse frequency output with 1PPS accuracy. GPS positioning and timing unit 103 transmits the time and position information obtained to MCU calculation unit 105 for time synchronization, and the synchronized time is for the optical electronic true north sensor in the geomagnetic field declination and geomagnetic field inclination measurement unit 102 to perform geographic north direction. Measurement OK.

The device position adjustment unit 104 is composed of four sets of anti-corrosion ball screw mechanisms, four stepping motors, a gear transmission mechanism, a two-axis level sensor, and a levelness control comparison circuit. The dual-axis level sensor forms a high-precision position relationship with each unit inside the ground earth magnetic field information measurement part 1 with very strict position tolerance requirements, so as to ensure the measurement accuracy of the entire system. Under the measurement of the two-axis level sensor, the control of the level control comparison circuit drives the gear transmission mechanism of the stepper motor to rotate the ball screw to adjust the four sets of supporting feet to complete the levelness and position adjustment of the entire ground earth magnetic field information measurement part 1.

MCU calculation unit 105 adopts ΛRM Cortcx M4 core, LQFP-64 package, 32bit data bus, 512kB program memory space, 128kB data RΛM space, 180MHz maximum clock frequency, 16 ΛDC channels, 12-bit DΛC resolution, operating temperature range -40 ℃～85℃.

The wireless communication unit 106 adopts a ZigBcc wireless module with low power consumption and low transmission rate and a WiFi module with a high transmission rate of higher power consumption, wherein the ZigBcc wireless module is used to communicate with the wireless system in the aerial suspension type high-precision fast earth magnetic field information measurement part 2. The communication units 2-102 transmit control commands with a small amount of data, so that the WiFi module in the wireless communication unit 106 can be activated in time to transmit the measured data. The WiFi module is mainly used to quickly transmit a large amount of measured data to the wireless communication unit 2-102 of the air-suspended high-precision fast earth magnetic field information measurement part 2. Data transmission is carried out through the RS232 serial port line between the ZigBcc wireless module and the WiFi module.

The parameter setting unit 107 adopts a small and completely sealed plastic film type full-coding keyboard with numbers, letters and other special function keys, and this unit is connected to this part of the circuit by means of a PS/2 interface.

The information storage unit 108 adopts a microSD card with a capacity of 64GB and a read/write speed of Class 10.

The display unit 109 adopts a surface capacitive touch LED display screen, which can be directly operated on the display screen for data query or function setting.

The projecting buffer unit 110 of the device adopts plastic spring buffer and high pressure recoil buffer, and the unit is installed around the ground earth magnetic field information measurement part 1 . When the ground earth magnetic field information measuring part 1 breaks away from the rope automatically, the high-pressure recoil in the projecting buffer unit 110 of the device decelerates, and at the same time it lands safely under the buffering action of the plastic spring.

The power supply unit 111 adopts a power supply method combining colloidal lead-acid energy storage batteries and solar energy. The unit mainly includes colloidal lead-acid energy storage battery, solar light energy receiving board, voltage conversion circuit and so on. The design of the power supply unit can provide long-term recyclability and wide temperature range discharge requirements for the ground earth magnetic field information measurement part 1, and has good adaptability to complex and harsh environments. The rated voltage of the selected storage battery is 12V. In addition, there is a step-down module in the power supply unit 111, which can change the voltage of 12V to 9V, 5V, and 3.3V. voltage.

The recovery auxiliary unit 112 is composed of a hard non-metallic hook with a program-controlled relay and a positioning sensor. When the ground earth magnetic field information measuring part 1 is being recovered, the falling rope on the flying platform will be combined with the recovery auxiliary unit 112 to pull the ground earth magnetic field information measuring part 1 for recovery.

The ground protection unit 113 of the device adopts a hard plexiglass acrylic plate to form the shell of the ground earth magnetic field information measurement part 1, and uses polyurethane rubber to seal against water and dust.

Air-suspended high-precision fast earth magnetic field information measurement part 2

The air-suspended high-precision fast earth magnetic field information measuring part 2 can be divided into three sub-parts, the main sub-part 2-1, the auxiliary sub-part 2-3 and the connecting sub-part 2-3. Each unit in the main sub-section 2-1 and the auxiliary sub-section 2-3 is also designed using LXI bus technology to closely connect each unit. The main body sub-part 2-1 is composed of GPS positioning and timing unit 2-101, wireless communication unit 2-102, warning and obstacle avoidance unit 2-103, keyboard operation unit 2-104, device dynamic balance adjustment unit 2-105, power supply Unit 2-106, optical fiber communication unit 2-107, display unit 2-108, laser height measurement unit 2-109, data storage unit 2-110, high-speed MCU calculation unit 2-111, earth magnetic field spatial information drawing unit 2-112 , panoramic shooting unit 2-113, high-precision geomagnetic field intensity measurement unit 2-114, geomagnetic field declination angle and geomagnetic field inclination measurement unit 2-115, terrain scanning unit 2-116, and fall protection unit 2-117, device body Units 2-118 etc. constitute. The auxiliary sub-part 2-3 is composed of a satellite communication unit 2-301, a keyboard operation unit 2-302, a display unit 2-303, an external interface unit 2-304, an auxiliary sub-part control unit 2-305, and a data storage unit 2 -306, optical fiber communication unit 2-307, air pressure power unit 2-308 and fixed suspension unit 2-309. The connecting sub-part 2-2 is mainly composed of a carbon fiber tube 2-201 capable of transmitting air pressure, a communication optical cable 2-202 and a carbon fiber tension rope 2-203.

Main body subpart 2-1

GPS positioning and timing unit 2-101 uses M32M Oncorc time synchronization positioning module, which has 32 tracking channels, 2 fast acquisition channels, L1 band, C/Λ code, receiving sensitivity -148dBm, horizontal accuracy 1.5m , Timing accuracy is less than 10ns, -40 ~ +85 ℃, built-in programmable pulse frequency output with 1PPS accuracy. GPS positioning timing unit 2-101 transmits the time and position information obtained to the high-speed MCU calculation unit 2-111 for time synchronization, and the synchronized time is for the electronic compass in the geomagnetic field declination and geomagnetic field inclination measurement unit 2-115 And the electronic gyroscope is used to measure and determine the geographic north direction.

The wireless communication unit 2-102 adopts a ZigBcc wireless module with low power consumption and a low transmission rate and a WiFi module with a high power consumption and a high transmission rate, wherein the ZigBcc wireless module is used to communicate with the wireless communication unit 106 in the ground earth magnetic field information measurement part 1 Control instructions with a small amount of data are transmitted between them, so that the WiFi module in the wireless communication unit 2-102 can be started in time to receive good data measured on the ground. The WiFi module mainly receives a large amount of measured data transmitted from the wireless communication unit 106 of the ground earth magnetic field information measurement part 1 . Data transmission is carried out through the RS232 serial line between the ZigBcc wireless module and the WiFi module.

The warning obstacle avoidance unit 2-103 is installed on the four sides of the main body sub-part 2-1 of the high-precision fast earth magnetic field information measurement part 2 suspended in the air, and this unit includes a radar ranging module, an alarm circuit, a buzzer, a red anti- Consists of bumping lights and lighting control circuits. The radar ranging module is used to measure the distance of obstacles around the main sub-part of the air-suspended high-precision fast earth magnetic field information measuring part 2, and provide air condition information for the flying platform. The buzzer and the alarm circuit give an audible alarm to remind the flight platform to pay attention to the front when an obstacle is encountered in front of the main body sub-part 2-1. The red anti-collision light and the light opening circuit are used for the aerial beacon light of the aerial suspension type high-precision fast earth magnetic field information measurement part 2 when working at night to prevent being bumped.

The keyboard operation unit 2-104 adopts a small and completely sealed plastic film type full-coding keyboard with numbers, letters and other special function keys, and this unit is connected to this part of the circuit by means of a PS/2 interface.

The dynamic balance adjustment unit 2-105 of the device adopts air pressure to control the non-metallic slider to adjust the balance, air jet adjustment and carbon fiber tension rope adjustment. The unit consists of an air-pressed non-metallic slider adjustment balance component, a jet balance adjustment component, a carbon fiber tension rope adjustment component, a biaxial level sensor and a levelness control comparison circuit. The non-metallic slider adjustment balance part is used for the adjustment of the micro balance degree, the air jet balance adjustment part and the carbon fiber tension rope balance adjustment part are used for the large-angle and fast air-suspended high-precision fast earth magnetic field information measurement part 2 of the main sub-part 2 Levelness adjustment of -1. The pneumatic non-metallic slider adjustment balance part and the jet balance adjustment part realize the movement and The jet recoil force realizes the levelness adjustment of the device, and the adjustment of the carbon fiber tension rope 2-203 is to realize the level adjustment by controlling the length of the three carbon fiber tension ropes 2-203.

The power supply unit 2-106 adopts a large-capacity 300ΛH lithium battery, and the unit mainly includes a large-capacity lithium battery, an overcurrent protection circuit, and a step-down circuit. The rated voltage of the selected lithium battery is 12V. The maximum stable output current of the battery is 80Λ, and the overcurrent current is 120Λ. In addition, there is a step-down module in the power supply unit that can change the 12V voltage into four gears of 9V, 5V, and 3.3V. , to provide required voltages for each unit in the main subsection 2-1 of the air-suspended high-precision fast earth magnetic field information measurement section 2.

The optical fiber communication unit 2-107 adopts a single-mode single-fiber optical module with a single LC interface, a rate of 1.25Gb/s, a wavelength of 1310nm, an operating voltage of 3.3V, and an operating temperature of -10°C to 70°C. The high-speed transmission speed of the optical fiber communication unit 2-107 and the weak electromagnetic interference in the transmission process are conducive to the high-precision measurement of other magnetic measurement units. The optical fiber communication unit 2-107 mainly connects the main sub-part 2-1 and the auxiliary sub-part 2-3 of the air-suspended high-precision and fast earth magnetic field information measurement part for high-speed data link connection.

The display unit 2-108 adopts a surface capacitive touch LED display screen, which can be directly operated on the display screen for data query or function setting.

The laser height measuring unit 2-109 adopts the laser distance measuring module, the distance measuring range of this module is 5-1000m, the resolution is 0.5m, the working current is 50mΛ, the working temperature is -20℃～60℃, the input voltage is 9V～12V, and the emitted beam is pulse Laser, laser pulse frequency 1Hz.

Data storage unit 2-110 adopts 8TB hard disk storage, cache 128M, speed 7200rpm, external transfer rate 205MB/s, internal transfer rate 195MB/s, average seek time read/write 8.5ms/9ms. The data storage unit has the characteristics of super large capacity and fast transmission, which meets the requirements of the laser altimetry unit 2-109, the earth magnetic field space information drawing unit 2-112, the panoramic shooting unit 2-113, and the high-precision geomagnetic field intensity measurement unit 2-114. , geomagnetic declination and geomagnetic inclination measuring unit 2-115 and terrain scanning unit 2-116 measure a large amount of data storage requirements, while adapting to receiving a large amount of data transmitted by the ground earth magnetic field information measurement part 1.

The high-speed MCU computing unit 2-111 adopts 64-bit ΛMD Ryzcn 7CPU, the main frequency is 3GHz, the dynamic acceleration frequency is 3.7GHz, 8 cores, 16 threads, the second-level cache is 4MB, the third-level cache is 16MB, and the memory type is DDR4. The high-speed MCU calculation unit 2-111 carries out the unified and coordinated calculation of data, data compression, forwarding, storage, etc. for each unit inside the air-suspended high-precision and fast earth magnetic field information measurement part 2, as shown in Figure 10, the air-suspended The high-precision and fast earth magnetic field information measurement part 2 is the process diagram of the earth magnetic field space information generation process.

The earth magnetic field spatial information rendering unit 2-112 is composed of a graphics processor GPU and a cache memory, and according to the GPS positioning and timing unit 2-101, the laser altimetry unit 2-109, the high-precision earth magnetic field intensity measuring unit 2-114, and the earth magnetic field The declination and geomagnetic inclination measurement unit 2-115, the terrain scanning unit 2-116, etc. preprocess the data, reconstruct the geometric model and visualize the model. The data collected by each unit is the premise of the spatial information reconstruction of the earth's magnetic field. The preprocessing of the data provides reliable and selected point cloud data for information reconstruction, reduces complexity, and improves the accuracy and speed of reconstruction. The earth magnetic field spatial information drawing unit 2-112 finally transmits the data generated by calculation to the high-speed MCU calculation unit 2-111 for further processing and storage in the data storage unit.

Panoramic shooting unit 2-113 adopts an industrial-grade panoramic camera, which is composed of 5 side and 1 bottom lenses, with a 170° ultra-wide-angle viewing distance and ultra-low dispersion multi-layer coated lenses. When working, this unit combines GPS positioning and timing unit 2-101, laser altimetry unit 2-109, high-precision geomagnetic field strength measurement unit 2-114, geomagnetic declination and geomagnetic inclination measurement unit 2-115, etc. to synchronize from 6 simultaneously capture images in two directions, and automatically calibrate the captured panoramic images.

The high-precision geomagnetic field strength measurement unit 2-114 adopts an inductive optical pump nuclear magnetic resonance magnetometer, which includes a radio frequency oscillator, a helium lamp source, a lens, a polarizer, a 1/4 wavelength plate, a bias magnetic field coil, a receiving coil probe, Amplifier circuit, frequency counter, MCU module, data buffer module, etc. The unit precesses in the geomagnetic field by using the magnetization intensity generated by the excitation of ³ He ground state nuclei, and induces the NMR signal of the precession frequency in the receiving coil, and uses the relationship between the precession frequency and the geomagnetic field to amplify the signal. The frequency meter measures the frequency of the magnetic resonance signal, and the MCU calculation module is used to calculate the strength value of the earth's magnetic field.

Geomagnetic declination and geomagnetic inclination measurement unit 2-115, the unit includes a reference angle module, geomagnetic declination and geomagnetic inclination three measurement modules. The geomagnetic declination measurement module is composed of an electronic compass and an electronic gyroscope. The electronic compass measures magnetic north, and the electronic gyroscope measures geographic north. The measurement of geographic north direction by the electronic gyroscope is obtained by combining the position information and heading measured by the GPS positioning and timing unit 2-101 during the movement of the high-precision and fast earth magnetic field information measurement part 2 suspended in the air, combined with the direction measured by the electronic gyroscope. Ultimate geographic northbound information. The gyroscope can be used to effectively compensate the signal of the GPS positioning and timing unit 2-101, so as to ensure that the direction can be maintained and work normally even after the GPS signal is lost. The electronic compass transmits the measured magnetic north direction data and the true north direction data obtained by the electronic gyroscope combined with the GPS positioning and timing positioning unit 2-101 to the reference angle module to measure the geomagnetic declination. Among them, the geomagnetic field inclination measurement module is mainly realized by magnetoresistive sensor measurement. This module is mainly composed of two sets of mutually perpendicular Wheatstone bridges formed by eight magnetoresistive sensors, an amplifier circuit, two sets of Helmholtz coils, and a high-precision small It is composed of program-controlled stepping motor, Λ/D conversion circuit and microprocessor for range angle adjustment. The geomagnetic field inclination measurement module can measure the horizontal component and vertical component of the geomagnetic field and calculate the geomagnetic field inclination.

The terrain scanning unit 2-116 adopts a three-dimensional laser terrain scanning module, which acquires the three-dimensional coordinate data of the measured earth surface under the aerial suspension type high-precision fast earth magnetic field information measurement part 2 through the method of high-speed laser scanning measurement , to reproduce the three-dimensional shape of the measured earth's surface in a point-by-point scanning manner. Including: field data acquisition, obtaining high-precision point cloud data with image reality; point cloud data registration, unifying the scanned point cloud data of the same-named control target in the same coordinate system; landform data acquisition, non-geomorphology data culling, generation of contour lines and overlay calculation of ground objects and landforms.

The fall protection unit 2-117 adopts two forms of an airbag and a safety parachute, and the unit includes an airbag, a safety parachute, an acceleration sensor, a control circuit and ancillary parts thereof. When the unit is suspended in the air with high-precision and fast earth magnetic field information measurement part 2, the acceleration sensor measures the corresponding falling acceleration, and the control circuit and its subsidiary parts operate the airbag and safety parachute to open to protect the entire measurement during the fall. function of the device.

The device body unit 2-118 adopts a delta-wing aircraft model design and uses hard and tough non-metallic materials. The body has a good flight curve effect, can reduce the pulling force of the flight platform on the main sub-part 2-1, and reduce energy consumption. The air-suspended high-precision and rapid earth magnetic field information measurement part 2 and other units are fixed in the body unit 2-118 through reasonable installation or inlaying.

Auxiliary subparts 2-3

Satellite communication unit 2-301 adopts a global broadband network satellite communication terminal, which establishes a broadband satellite link to transmit voice and data through INMΛRSΛT-4 satellites, with a maximum transmission rate of 384kbps, and supports voice, Intcrnct, VoIP, FoIP and video images For real-time transmission, the satellite communication unit 2-301 is installed on the outside of the flight platform, with a rotating shaft that can accurately adjust the built-in antenna to align with the satellite direction, and the establishment of a satellite communication link is simple and fast.

The keyboard operation unit 2-302 adopts a small and completely sealed plastic film type full-coding keyboard with numbers, letters and other special function keys, and this unit is connected to this part of the circuit by means of PS/2 interface.

The display unit 2-303 adopts a surface-type capacitive touch LED display screen, which can be directly operated on the display screen for data query or function setting.

The external interface unit 2-304 includes two types of power interface and communication interface. The power interface adopts a three-pin plum blossom interface, and its function is to connect the power supply of the flight platform and the auxiliary sub-section, so as to provide power to the auxiliary sub-section 2-3. The communication interface adopts RS232, USB and RJ45 three kinds of data transmission interfaces to realize the data transmission and control command transmission between the flight platform and the auxiliary sub-part 2-3.

The auxiliary sub-part control unit 2-305 adopts the Core M5 generation CPU, the main frequency is 0.8GHz, the maximum turbo frequency is 2GHz dual-core, four threads, three-level cache 4M, two-channel memory, and supports a maximum memory of 16G. The auxiliary sub-section control unit 2-305 performs data processing on each unit inside the auxiliary sub-section 2-3 of the entire air-suspended high-precision fast earth magnetic field information measurement section 2, compresses and stores the data from the optical fiber communication unit 2-307, And forward to the satellite communication unit 2-301 and so on.

Data storage unit 2-306 adopts 8TB hard disk storage, cache 128M, speed 7200rpm, external transfer rate 205MB/s, internal transfer rate 195MB/s, average seek time read/write 8.5ms/9ms. The data storage unit 2-306 in this part mainly performs the backup of the entire device data.

The optical fiber communication unit 2-307 adopts a single-mode single-fiber optical module with a single LC interface, a rate of 1.25Gb/s, a wavelength of 1310nm, an operating voltage of 3.3V, and an operating temperature of -10°C to 70°C. The high-speed transmission speed of the optical fiber communication unit 2-307 and the weak electromagnetic interference in the transmission process are beneficial to the high-precision measurement of other magnetic measurement units. The optical fiber communication unit 2-307 mainly connects the main sub-part 2-1 and the auxiliary sub-part 2-3 of the air-suspended high-precision and fast earth magnetic field information measurement part for high-speed data link connection.

The air pressure power unit 2-308 uses an oil-free air compressor to supply air power. The selected air compressor has a rated working pressure of 100KPa, an input rated power of 35W, a rated voltage of DC12V, a rated current of 3.5Λ, and a rated speed of 1600-1700r/min.

The fixed suspension unit 2-309 is mainly composed of bolts and nuts, a flight platform fixing plate, a tension strain sensor and a detection circuit. The fixed suspension unit 2-309 adopts bolts, nuts, rubber gaskets and flight platform fixing plates to fix the carbon fiber tube 2-201, the communication optical cable 2-202 and the carbon fiber tension rope 2-203 connecting the sub-parts, so as to It meets the installation and fixing requirements of the air-suspended high-precision and rapid earth magnetic field information measurement part 2.

Link subsection 2-2

The carbon fiber tube 2-201 capable of transmitting air pressure adopts a carbon fiber tube with a length of 35m to 50m. When the carbon fiber tube is processed, a through hole for transmitting air pressure is left in the middle, and a communication optical cable 2-202 is also inlaid. The carbon fiber tube plays the role of transmitting aerodynamic force and also protects the communication optical fiber.

The communication optical cable 2-202 adopts a single-mode optical fiber, and the communication optical cable 2-202 is embedded in a carbon fiber tube 2-201 capable of transmitting air pressure.

The carbon fiber tension rope 2-203 adopts 3 carbon fiber tension ropes 2-203 to pull the main sub-part 2-1 of the air-suspended high-precision rapid earth magnetic field information measurement part 2.

2. Working process and principle

First, a plurality of ground earth magnetic field information measurement parts 1 and air-suspended high-precision fast earth magnetic field information measurement part 2 required by the device are loaded on the flight platform, and then the flight platform flies to the ground area to be measured after the flight platform takes off. A plurality of ground earth magnetic field information measurement parts 1 fall on the ground at a certain distance apart, and the ground earth magnetic field information measurement part 1 starts to adjust after reaching the ground and then starts to work, and starts to measure the strength of the earth's magnetic field, the declination angle of the earth's magnetic field, and the inclination angle of the earth's magnetic field in the landing area. , longitude, latitude, altitude and other information to measure and save. At the same time, the air-suspended high-precision and fast earth magnetic field information measurement part 2 starts to measure the sky above the ground to be measured along the survey line during the flight, and the information measured above the ground includes the strength of the earth's magnetic field, the declination angle of the earth's magnetic field, and the inclination angle of the earth's magnetic field. , longitude and latitude, altitude, topographic maps, panoramas, etc. Then, after the ground earth magnetic field information measurement part 1 and the air-suspended high-precision fast earth magnetic field information measurement part 2 complete the information of the measurement, the air-suspended high-precision fast earth magnetic field information measurement part 2 is flying along the measurement flight route After receiving the measurement information transmitted by each ground earth magnetic field information measurement part 1 through the wireless communication unit 106, the earth space three-dimensional vector is formed by the earth magnetic field spatial information drawing unit 2-112 in the air-suspended high-precision fast earth magnetic field information measurement part 2 geomagnetic information map, and store it in the data storage unit 2-110, and at the same time, transmit data such as the geomagnetic information of the three-dimensional vector of the earth space to the optical fiber communication unit 2-307 of the auxiliary sub-part 2-3 through the optical fiber communication unit 2-107, Then it is transmitted to the satellite communication unit 2-301 in the auxiliary unit 2-3, and finally transmitted to the ground monitoring and query terminal through the satellite communication link. Through the comprehensive measurement of the earth's magnetic field information in the whole process, the measurement process of the ground-air combined multifunctional high-precision and fast geomagnetic information measurement device is realized. As shown in Figure 11, a schematic diagram of an actual measurement of an earth-air combined multifunctional high-precision and fast geomagnetic information measurement device is given.

Then, the measurement method of the present invention is further set forth, and the measurement method of the present invention is realized by the following technical solutions:

There are two kinds of measurement methods in the present invention: one is a measurement method that only adopts the high-precision and fast earth magnetic field information measurement part 2 suspended in the air to measure and form. The spatial magnetic field information map of the detection area is suitable for rapid earth magnetic field detection; another measurement method is to use the ground earth magnetic field information measurement part 1 and the air-suspended high-precision fast earth magnetic field information measurement part 2 to closely and orderly combine together The method formed by measurement can not only quickly measure the earth's air magnetic field in the area that needs to be measured, form a spatial magnetic field information map of the measured area, but also perform long-term magnetic measurement of the measured area on the earth's surface Magnetic observation and geomagnetic information collect.

A kind of is the measurement method that only adopts the high-precision fast earth magnetic field information measurement part 2 suspended in the air to measure and form, and its steps are as follows:

Step 1. Check whether each unit of the air-suspended high-precision and fast earth magnetic field information measurement part 2 is in good condition, and install the air pressure power unit 2-308 in the auxiliary sub-part 2-3 inside the flight platform, and the auxiliary sub-part 2-3 The fixed suspension unit 2-309 in the middle is fixed on the outside of the flight platform and loads the connecting sub-part 2-2 and the main sub-part 2-1 of the air-suspended high-precision rapid earth information measurement part 2;

Step 2, the flight platform takes off, slowly pull the carbon fiber tension rope 2-203 to lift the entire air-suspended high-precision and fast earth magnetic field information measurement part 2, as the whole device gradually leaves the ground, fix the suspension unit 2- in the auxiliary sub-part 2-3 In 309, the tension measurement module starts to work, and when the tension value measured by the module is greater than or equal to the gravity of the main body subsection 2-1 when the balance is suspended, the device dynamic balance adjustment unit 2-105 of the main body subsection 2-1 is started, and then Start the laser altimetry unit 2-109 in the main body sub-part 2-1, start the GPS positioning and timing unit 2-101, the data storage unit 2-110 and the High-speed MCU computing unit 2-111;

Step 3. After the flight platform and the air-suspended high-precision rapid earth magnetic field information measurement part 2 have completed the smooth take-off and start-up work, carry out the main sub-part 2-1 according to the pre-set magnetic measurement altitude and the coordinate position of the magnetic measurement route. Other units work, when the flight platform and the air-suspended high-precision fast earth magnetic field information measurement part 2 reach the preset position height and position, turn on the warning and obstacle avoidance unit 2-103 in the main body sub-part 2-1, and adjust the dynamic balance of the device Unit 2-105, power supply unit 2-106, earth magnetic field space information rendering unit 2-112, panoramic shooting unit 2-113, high-precision earth magnetic field strength measurement unit 2-114, earth magnetic field declination angle and earth magnetic field inclination angle measurement unit 2 -115 and terrain scanning unit 2-116, etc.;

Step 4. Arrive at the predetermined location and above the sky, the air-suspended high-precision fast earth magnetic field information measurement part 2 begins to measure the earth's magnetic field strength, earth's magnetic field declination and earth's magnetic field inclination, terrain scanning, and ground to the predetermined survey line and height Panorama photos and the like are collected and stored in the data storage unit 2-110;

Step 5, the high-speed MCU calculation unit 2-111 in the air-suspended high-precision fast earth magnetic field information measurement part 2 extracts the measured latitude and longitude coordinates, height position, latitude earth magnetic field strength, and earth magnetic field deviation in the data storage unit 2-110. Angle and geomagnetic field inclination calculation process forms the structure data information and stores it again in the data storage unit 2-110, the earth magnetic field spatial information rendering unit 2-112 extracts the structure data combined with the topographic scanning data to map the magnetic field spatial information of the measured area draw. Then the longitude and latitude coordinates, height position, earth magnetic field strength, earth magnetic field declination angle and earth magnetic field inclination angle are calculated and processed to form the structure data information and the magnetic field spatial information map of the measured area through the optical fiber communication unit 2-107 in the main body sub-part 2-1 Transmission to fiber optic communication section 2-307 in auxiliary subsection 2-3;

Step 6, the optical fiber communication unit 2-307 in the auxiliary sub-section 2-3 forwards the transmitted data to its satellite communication unit 2-301, and the satellite communication unit 2-301 continues to transmit the data information to the satellite network until the ground network client.

The other is the measurement method formed by combining the air-suspended high-precision rapid earth magnetic field information measurement part 2 and the ground earth magnetic field information measurement part 1 at the same time, as shown in Figure 12. The specific steps are as follows:

Step 1. According to the long-term measurement of the area of the earth's surface magnetic field and the number of points for measuring the earth's surface magnetic field, determine the number of ground earth's magnetic field information measurement parts 1, and after these determined ground earth's magnetic field information measurement parts 1 have been checked, load them on the flight platform middle;

Step 2. Check whether each unit of the air-suspended high-precision and fast earth magnetic field information measurement part 2 is in good condition, and install the air pressure power unit 2-308 in the auxiliary sub-part 2-3 inside the flight platform, and the auxiliary sub-part 2-3 The fixed suspension unit 2-309 in the middle is fixed on the outside of the flight platform and loads the connecting sub-part 2-2 and the main sub-part 2-1 of the air-suspended high-precision rapid earth information measurement part 2;

Step 3, the flight platform takes off, slowly pull the carbon fiber tension rope 2-203 to lift the entire air-suspended high-precision and fast earth magnetic field information measurement part 2, as the whole device gradually leaves the ground, fix the suspension unit 2- in the auxiliary sub-part 2-3 In 309, the tension measurement module starts to work, and when the tension value measured by the module is greater than or equal to the gravity of the main body subsection 2-1 when the balance is suspended, the device dynamic balance adjustment unit 2-105 in the main body subsection 2-1 is started, and then Start the laser altimetry unit 2-109 in the main body sub-part 2-1, start the GPS positioning and timing unit 2-101, the data storage unit 2-110 and the High-speed MCU computing unit 2-111;

Step 4. After the flight platform and the air-suspended high-precision and fast earth magnetic field information measurement part 2 have successfully taken off and started, carry out the main sub-part 2-1 according to the pre-set magnetic measurement altitude and the coordinate position of the magnetic measurement route. Other units work, when the flight platform and the air-suspended high-precision fast earth magnetic field information measurement part 2 reach the preset position height and position, turn on the warning and obstacle avoidance unit 2-103 in the main body sub-part 2-1, and adjust the dynamic balance of the device Unit 2-105, power supply unit 2-106, earth magnetic field space information rendering unit 2-112, panoramic shooting unit 2-113, high-precision earth magnetic field strength measurement unit 2-114, earth magnetic field declination angle and earth magnetic field inclination angle measurement unit 2 -115 and terrain scanning unit 2-116, etc.;

Step 5. Arrive at the sky above the surface of the earth that needs to be measured, lower the flying height of the flight platform, and drop the ground earth magnetic field information measurement part 1 along the energy rope at a constant speed of 3m/s. When it reaches a height of 2m on the ground, the ground earth magnetic field information measurement Part 1 is automatically detached from the rope, and falls to the place to be measured under the protection of the projection buffer unit 110 of the device;

Step 6. Complete the remaining number of ground earth magnetic field information measurement parts 1 in the same way and accurately drop them in the pre-measurement area respectively. After each ground earth magnetic field information measurement part 1 is dropped, automatically use the device position adjustment unit 104 to carry out Adjust the position and direction, and use the GPS positioning and timing unit 103, the geomagnetic field strength measuring unit 101, the geomagnetic field declination and the geomagnetic field inclination measuring unit 102 to measure latitude and longitude, altitude, magnetic field strength, geomagnetic field declination and geomagnetic field inclination, and The measured information data is stored in the information storage unit 108 through the MCU calculation unit 105;

Step 7. While landing on the earth's magnetic field information measuring part 1, the air-suspended high-precision and fast earth's magnetic field information measuring part 2 begins to measure the earth's magnetic field strength, geomagnetic declination and geomagnetic field in the measurement area with respect to the predetermined survey line and height Inclination, terrain scanning, ground panorama photos, etc. are collected and stored in the data storage unit 2-110;

Step 8. Under the lifting action of the flight platform, the air-suspended high-precision and fast earth magnetic field information measurement part 2 returns to fly along the trajectory parallel to the earth magnetic field information measurement part 1 that is dropped on the ground and deviates from 20m to 200m;

Step 9. During the return-to-home flight of this deviation from the original track, on the one hand, measure the earth's magnetic field information in the air, and on the other hand, receive the ground earth's magnetic field information provided by the ground earth's magnetic field information measurement part 1 through the wireless communication module 2-102, and stored in the data storage unit 2-110;

Step 10, after completing the pre-measurement area and the earth's magnetic field information on the ground, the high-speed MCU calculation unit 2-111 in the air-suspended high-precision fast earth's magnetic field information measurement part 2 extracts the measured longitude and latitude coordinates in the data storage unit 2-110 , height position, latitude, earth's magnetic field strength, earth's magnetic field declination angle, and earth's magnetic field inclination are calculated and processed to form structure data information and stored in the data storage unit 2-110 again, and the earth's magnetic field space information rendering unit 2-112 extracts the structure data and combines them The topographic scan data is used to map the spatial information of the magnetic field in the measured area. Then the longitude and latitude coordinates, height position, earth magnetic field strength, earth magnetic field declination angle and earth magnetic field inclination angle are calculated and processed to form the structure data information and the magnetic field spatial information map of the measured area and the ground earth magnetic field information data through the main body sub-part 2-1 The fiber optic communication unit 2-107 transmits to the fiber optic communication unit 2-307 in the auxiliary subsection;

Step 11, the optical fiber communication unit 2-307 in the auxiliary sub-section 2-3 forwards the transmitted data to its satellite communication unit 2-301, and the satellite communication unit 2-301 continues to transmit the data information to the satellite network until the ground network client.

Step 12, if the ground earth magnetic field information measurement part 1 needs to carry out long-term geomagnetic information measurement and statistics on the measurement area, then keep these ground earth magnetic field information measurement parts 1, and regularly mount the air-suspended high-precision fast earth magnetic field information through the flight platform The measurement part 2 measures information such as the flight geomagnetic field in this area; if it is not necessary to measure the long-term ground geomagnetic field information in this area, the flying platform passes through the recovery auxiliary unit 112 of the ground geomagnetic field information measurement part 1 sequentially along the drop trajectory. Recycle.

The above description is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Any simple modifications made to the above embodiments according to the technical essence of the present invention, equivalent changes and modifications, all belong to this invention. within the scope of the technical solution of the invention.

Claims (7)

1. The ground-air combined multifunctional high-precision and fast geomagnetic information measuring device is characterized in that it includes several ground geomagnetic field information measuring parts (1) and air-suspended high-precision and fast geomagnetic field information measuring parts (2); Several ground earth magnetic field information measuring parts (1) arranged in lines are used to measure the earth's surface earth's magnetic field information, and the air-suspended high-precision fast earth's magnetic field information measuring part (2) is loaded on the flight platform so that it has a certain height from the ground for use. It is used to measure the earth’s magnetic field information; the ground earth’s magnetic field information measurement part (1) sends the measured information to the aerial suspension type high-precision fast earth’s magnetic field information measurement part (2) through wireless communication, and the whole information data of the ground and air measurement passes through The satellite communication terminal transmits to the satellite network until the ground monitoring query terminal; The ground earth magnetic field information measuring part (1) includes at least the earth magnetic field strength measuring unit (101), the first earth magnetic field declination angle and earth magnetic field inclination angle measuring unit (102), the first GPS positioning and timing unit (103), the device position An adjustment unit (104), an MCU calculation unit (105), a first wireless communication unit (106), an information storage unit (108) and a first power supply unit (111); Described geomagnetic field strength measuring unit (101) measures the magnetic field strength value of earth surface, and the data transmission of measurement is processed to MCU calculation unit (105); The first geomagnetic declination and the geomagnetic inclination measurement unit (102) measure the geomagnetic declination and the geomagnetic inclination on the surface of the earth, and the measured data is transmitted to the MCU calculation unit (105) for processing; The first GPS positioning timing unit (103) provides latitude and longitude coordinates, altitude and time synchronization timing for the MCU calculation unit (105) in the ground earth magnetic field information measurement part (1); The device position adjustment unit (104) receives an instruction from the MCU calculation unit (105) to adjust the horizontal and vertical positions of the ground earth magnetic field information measurement part (1), so that it meets the measurement position requirements; Described MCU computation unit (105) is to the data calculation and storage from the geomagnetic field strength measuring unit (101), the first geomagnetic field declination angle and geomagnetic field inclination angle measuring unit (102), the first GPS positioning timing unit (103) In the information storage unit (108); The first wireless communication unit (106) makes the ground earth magnetic field information measurement part (1) and the second wireless communication unit (2-102) in the aerial suspension type high-precision fast earth magnetic field information measurement part (2) carry out data interact; The information storage unit (108) stores data processed by the MCU computing unit (105) and pre-downloaded spare data; The first power supply unit (111) supplies power to other functional units of the ground earth magnetic field information measurement part (1) through a power line; The ground earth magnetic field information measurement part (1) also includes a parameter setting unit (107), a first display unit (109), a device projection buffer unit (110), a recovery auxiliary unit (112) and a device ground protection unit (113) ; The parameter setting unit (107) performs parameter setting on the ground earth magnetic field information measurement part (1); The first display unit (109) is a display when the ground earth magnetic field information measurement part (1) parameter setting unit (107) operates; The projecting buffer unit (110) of the device provides buffer protection for the ground earth magnetic field information measurement part (1); The recovery auxiliary unit (112) and the device ground protection unit (113) are fixedly connected by non-metallic bolts, which respectively provide device recovery assistance and protection device functions; the aerial suspension type high-precision fast earth magnetic field information measurement part (2 ) is divided into three sub-sections, the main sub-section (2-1), the auxiliary sub-section (2-3) and its connection sub-section (2-2), wherein the auxiliary sub-section is installed on the flight platform, and the connection sub-section connects the main sub-section Sections with auxiliary subsections, main subsections are hung up. 2. According to claim 1, the ground-air combined multifunctional high-precision and fast geomagnetic information measuring device is characterized in that: the main body sub-part (2-1) at least includes a second GPS positioning and timing unit (2-101), The second wireless communication unit (2-102), the laser altimetry unit (2-109), the data storage unit (2-110), the high-speed MCU calculation unit (2-111), the earth magnetic field spatial information drawing unit (2-112 ), a panoramic shooting unit (2-113), a high-precision geomagnetic field strength measuring unit (2-114), a second geomagnetic field declination and geomagnetic inclination measuring unit (2-115), and a terrain scanning unit (2-116) ; The second GPS positioning and timing unit (2-101) is the positioning and timing data of the high-speed MCU calculation unit (2-111) in the aerial suspension type high-precision fast earth magnetic field information measurement part (2); The second wireless communication unit (2-102) performs two-way wireless communication with the first wireless communication unit (106) in the ground earth magnetic field information measurement part (1); The laser altimetry unit (2-109) is an aerial suspension type high-precision fast earth magnetic field information measurement part (2) measuring the height from the ground, and transmitting the measurement data to the high-speed MCU calculation unit (2-111); The data storage unit (2-110) stores data processed from the high-speed MCU calculation unit (2-111) and stores pre-downloaded spare data; The high-speed MCU calculation unit (2-111) calculates the data transmitted from other units of the air-suspended high-precision fast earth magnetic field information measurement part (2); The panoramic shooting unit (2-113) synchronously performs half-space shooting of the measured position; The high-precision geomagnetic field strength measuring unit (2-114) performs accurate measurement of the earth's magnetic field strength in the air; The second geomagnetic declination and geomagnetic inclination measurement unit (2-115) accurately measures the geomagnetic declination and geomagnetic inclination of the earth's magnetic field in the air; The terrain scanning unit (2-116) scans and measures the terrain during air flight; The earth magnetic field spatial information rendering unit (2-112) is based on the laser altimetry unit (2-109), the high-precision earth magnetic field strength measurement unit (2-114), the second earth magnetic field declination angle and the earth magnetic field inclination angle measurement unit (2-115) and the measurement data acquired by the terrain scanning unit (2-116) to draw the earth's magnetic field in a spatial map to form a spatial information map of the earth's magnetic field. 3. The ground-air combined multifunctional high-precision and fast geomagnetic information measuring device according to claim 1, characterized in that: the main body sub-part (2-1) also includes a warning and obstacle avoidance unit (2-103), a keyboard Operation unit (2-104), device dynamic balance adjustment unit (2-105), second unit (2-106), optical fiber communication unit (2-107), second display unit (2-108), and fall protection unit (2-117), and device body unit (2-118); The warning and obstacle avoidance unit (2-103) performs obstacle early warning and obstacle avoidance for the air-suspended high-precision and fast earth magnetic field information measurement part (2); The keyboard operation unit (2-104) provides an input function for the high-precision and fast earth magnetic field information measurement part (2) suspended in the air; The dynamic balance adjustment unit (2-105) of the device performs balance adjustment on the air-suspended high-precision fast earth magnetic field information measurement part (2) according to the instructions of the high-speed MCU calculation unit (2-111); The second power supply unit (2-106) provides electric energy for other units inside the air-suspended high-precision fast earth magnetic field information measurement part (2); The optical fiber communication unit (2-107) performs optical cable connection communication with the optical fiber communication unit (2-307) of the auxiliary sub-section (2-3) of the high-precision fast earth magnetic field information measurement part (2) suspended in the air; The second display unit (2-108) provides parameter display according to the control of the high-speed MCU computing unit (2-111); The fall protection unit (2-117) provides fall protection for the high-precision and rapid earth magnetic field information measurement part (2) suspended in the air; The device body unit (2-118) is connected with the fall protection unit (2-117) with non-metallic bolts to provide a base and buoyancy for the air-suspended high-precision and rapid earth magnetic field information measurement part (2). 4. According to the ground-air combined multifunctional high-precision and fast geomagnetic information measuring device according to claim 1, it is characterized in that: the auxiliary sub-part (2-3) is composed of a satellite communication unit (2-301), a keyboard operation unit (2-302), a third display unit (2-303), an external interface unit (2-304), an auxiliary sub-part control unit (2-305), a data storage unit (2-306), an optical fiber communication unit (2 -307), air pressure power unit (2-308) and fixed suspension unit (2-309); The satellite communication unit (2-301) receives data from the optical fiber communication unit (2-307) in the auxiliary subsection (2-3) to realize connection with the satellite network; The keyboard operation unit (2-302) provides an input function for the auxiliary sub-part; The third display unit (2-303) provides display measurement status for the auxiliary subsection (2-3); The external interface unit (2-304) is a power supply interface and a data exchange interface of the auxiliary subpart (2-3); The auxiliary subsection control unit (2-305) controls other units in the auxiliary subsection and some units in the main subsection (2-1); The data storage unit (2-306) stores the data that assists the operation of the sub-section control unit (2-305), and backs up the data of the optical fiber communication unit (2-307) and the satellite communication unit (2-301) storage; The optical fiber communication unit (2-307) is connected to the optical fiber communication unit (2-107) in the main body sub-part (2-1) with an optical cable for two-way communication; The air pressure power unit (2-308) generates air pressure energy, and is a device dynamic balance adjustment unit (2-105) in the main sub-part (2-1) of the air-suspended high-precision fast earth magnetic field information measurement part Supply air pressure energy; The fixed suspension unit (2-309) fixes the auxiliary sub-part (2-3) of the air-suspended high-precision and fast earth magnetic field information measurement part on the flight platform through the carbon fiber tension rope (2-203), giving the main sub-part Part (2-1) provides upward pulling force. 5. According to the ground-air combination multifunctional high-precision and fast geomagnetic information measuring device according to claim 1, it is characterized in that: the described connector part (2-2) is mainly composed of a carbon fiber tube (2-201) that can transmit air pressure , communication optical cable (2-202) and carbon fiber tension rope (2-203); The carbon fiber tube (2-201) that can transmit air pressure transmits the air pressure from the air pressure power unit (2-308) in the auxiliary subsection (2-3) to the device dynamics of the main subsection (2-1). Balance adjustment unit (2-105); The communication optical cable (2-202) transmits the optical fiber communication unit (2-107) in the main subsection (2-1) and the light source of the optical fiber communication unit (2-307) in the auxiliary subsection (2-3). laser signal; The carbon fiber tension rope (2-203) is connected to the device body unit (2-118) of the air-suspended high-precision rapid earth magnetic field information measurement part (2), and lifts the entire main body sub-part (2-1). 6. adopt the geomagnetic field information measuring method of the device described in any one of claim 1-5, it is characterized in that: comprise the following steps: According to the need for long-term measurement of the area of the earth's surface magnetic field and the number of points for measuring the earth's surface magnetic field, determine the number of the ground earth's magnetic field information measurement parts (1), check the determined ground earth's magnetic field information measurement part (1), and load it on the flight platform middle; Check whether each unit of the air-suspended high-precision and fast earth magnetic field information measurement part (2) is in good condition, install the air pressure power unit (2-308) in the auxiliary sub-part (2-3) inside the flight platform, and the auxiliary sub-part ( The fixed suspension unit (2-309) in 2-3) is fixed on the outside of the flight platform and loads the connection subsection (2-2) and the main subsection ( 2-1); The flying platform takes off, and slowly pulls the carbon fiber tension rope (2-203) to lift the entire air-suspended high-precision and fast earth magnetic field information measurement part (2). The tension measurement module in the unit (2-309) starts to work, and when the tension value measured by the module is greater than or equal to the gravity of the main body subsection (2-1) when the balance is suspended, the device dynamics in the main body subsection (2-1) is started The balance adjustment unit (2-105), followed by starting the laser height measuring unit (2-109) in the main body sub-section (2-1), starts the main body sub-section (2-1) when the height value measured by the laser reaches 10m The second GPS positioning timing unit (2-101), data storage unit (2-110) and high-speed MCU computing unit (2-111) in the second; After the flight platform and the air-suspended high-precision fast earth magnetic field information measurement part (2) have all completed smooth take-off and start-up work, the main sub-part (2-1 ) other units work, when the flight platform and the air-suspended high-precision fast earth magnetic field information measurement part (2) arrive at the preset position height and position, the warning and obstacle avoidance unit (2- 103), device dynamic balance adjustment unit (2-105), second power supply unit (2-106), earth magnetic field space information rendering unit (2-112), panoramic shooting unit (2-113), high-precision earth magnetic field strength A measuring unit (2-114), a second geomagnetic field declination and geomagnetic inclination measuring unit (2-115), and a terrain scanning unit (2-116); Arrive at the sky above the surface of the earth that needs to be measured, lower the flying height of the flight platform, and drop the ground earth magnetic field information measurement part (1) along the rope at a constant speed of 3m/s. 1) Automatically break away from the rope, and fall to the place to be measured under the protection of the projection buffer unit (110) of the device; In the same way, the remaining number of ground earth magnetic field information measurement parts (1) are respectively accurately dropped in the pre-measurement area, and after each ground earth magnetic field information measurement part (1) is dropped, the device position adjustment unit ( 104) Adjust the position and direction, and use the first GPS positioning and timing unit (103), the geomagnetic field strength measurement unit (101), the first geomagnetic field declination angle and the geomagnetic field inclination angle measurement unit (102) to carry out latitude and longitude, altitude, magnetic field Intensity, geomagnetic declination and geomagnetic inclination are measured, and the measured information data is stored in the information storage unit (108) through the MCU calculation unit (105); While landing the ground earth magnetic field information measurement part (1), the aerial suspension type high-precision fast earth magnetic field information measurement part (2) begins to measure the earth's magnetic field strength, geomagnetic field declination and geomagnetic Magnetic field inclination, terrain scanning, and ground panorama photos are collected and stored in the data storage unit (2-110); The air-suspended high-precision and rapid earth magnetic field information measurement part (2) is pulled by the flight platform, and returns to the flight along the trajectory parallel to the earth magnetic field information measurement part (1) that is dropped on the ground and deviates from 20m to 200m; In the process of returning to and from the original track, on the one hand, the earth’s magnetic field information in the air is measured; Magnetic field information, and stored in the data storage unit (2-110); After completing the pre-measurement area and the ground earth's magnetic field information, the high-speed MCU calculation unit (2-111) in the aerial suspension type high-precision fast earth's magnetic field information measurement part (2) extracts the measured data from the data storage unit (2-110). The latitude and longitude coordinates, height position, latitude earth magnetic field strength, earth magnetic field declination angle and earth magnetic field inclination angle operation processing form the structure data information and store in the data storage unit (2-110) again, the earth magnetic field spatial information drawing unit (2-110) 112) Extract structure data and combine terrain scanning data to map the magnetic field spatial information of the measured area, and then calculate and process the latitude and longitude coordinates, height position, earth magnetic field strength, earth magnetic field declination and earth magnetic field inclination to form structure data information and measurement The magnetic field spatial information map of the region and the ground earth magnetic field information data are transmitted to the optical fiber communication unit (2-307) in the auxiliary subpart through the optical fiber communication unit (2-107) in the main subpart (2-1); The optical fiber communication unit (2-307) in the auxiliary sub-section (2-3) forwards the transmitted data to its satellite communication unit (2-301), and the satellite communication unit (2-301) continues to transmit the data information to the satellite network until the terrestrial network client. 7. according to the described method of claim 6, it is characterized in that: if ground earth's magnetic field information measurement part (1) needs to carry out long-term geomagnetic information measurement and statistics to measurement area, then keep these ground earth's magnetic field information measurement parts (1), And regularly mount the air-suspended high-precision fast earth magnetic field information measurement part (2) to the area to measure the earth's magnetic field information by flying the platform; The falling track is sequentially recovered by the recovery auxiliary unit (112) of the ground earth magnetic field information measurement part (1).