CN111538106A - Unmanned archaeological exploration method suitable for ultra-shallow water area - Google Patents
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005259 measurement Methods 0.000 claims abstract description 24
- 230000002159 abnormal effect Effects 0.000 claims abstract description 23
- 238000010586 diagram Methods 0.000 claims description 11
- 238000005516 engineering process Methods 0.000 claims description 8
- 238000004451 qualitative analysis Methods 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 3
- 239000000696 magnetic material Substances 0.000 claims description 2
- 230000000704 physical effect Effects 0.000 abstract description 3
- 238000011835 investigation Methods 0.000 abstract description 2
- 230000005389 magnetism Effects 0.000 abstract description 2
- 239000000523 sample Substances 0.000 description 5
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- 230000003287 optical effect Effects 0.000 description 4
- 229910052792 caesium Inorganic materials 0.000 description 3
- TVFDJXOCXUVLDH-UHFFFAOYSA-N caesium atom Chemical compound [Cs] TVFDJXOCXUVLDH-UHFFFAOYSA-N 0.000 description 3
- 230000008859 change Effects 0.000 description 2
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
- G01V3/081—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices the magnetic field is produced by the objects or geological structures
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Abstract
The invention discloses an unmanned archaeological exploration method suitable for an ultra-shallow water area, belonging to the technical field of archaeological exploration and geophysical exploration and comprising the following main steps: synchronously carrying out low-altitude unmanned aerial photogrammetry and aeromagnetic measurement to obtain a field terrain model and a regional magnetic field background; planning a survey network, and sequentially carrying out aeromagnetic survey and unmanned ship magnetic survey of the ultra-low altitude unmanned aerial vehicle according to the sequence of first space and then ground to obtain homologous magnetic field data on a plurality of layers with different heights; generating magnetic measurement result data on the water meter and various ultra-low altitude flight altitudes, and qualitatively analyzing magnetic anomaly causes by combining regional magnetic field backgrounds; and (3) establishing an inversion model of the underground magnetic abnormal body by using the terrain and the local magnetic parameter constraint conditions, and quantitatively judging the archaeological result. The method can efficiently carry out large-area investigation on the human ancient handwriting with the difference of the magnetism and the physical property.
Description
Technical Field
The invention relates to an unmanned archaeological exploration method suitable for an ultra-shallow water area, and belongs to the technical field of archaeological exploration and geophysical exploration.
Background
The archaeological work source of China is long-running, and the archaeological work source is an important means for protecting ancient culture and is also an important component of the cultural construction cause. Traditional land field archaeology and underwater archaeology systems are mature, local suspicious points are generally found through early multi-parameter areal geophysical and surveying and mapping exploration means, and then investigation operation is conducted through a Luoyang shovel or underwater frogman diving mode and the like. This plays a great role and achieves good results in the quaternary earth covering the land area and the near-shallow sea with a certain water depth. However, in ultra-shallow water areas (such as large-area ponds, lakes, rivers and the like) with the water depth less than 1m, general geophysical, mapping and archaeological equipment cannot pass through and complete exploration tasks, and possible archaeological findings are influenced.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an unmanned archaeological exploration method suitable for an ultra-shallow water area.
Principle of the invention
The ancient trails of human activities are influenced by residual ironware, rammed earth and calcined sites, weak magnetic anomalies exist, and the strength of the magnetic anomalies is generally several nT (10)-9T) to hundreds of nT, which is the basis of differences in physical properties for archaeological exploration using geophysical prospecting. The method provides an early-stage magnetic archaeological exploration method suitable for ultra-shallow water areas such as ponds, lakes, small rivers and the like by utilizing a systematic scheme that low-altitude unmanned aerial photography is matched with ultra-low-altitude unmanned aerial vehicle aeromagnetic measurement and in addition, unmanned water craft magnetic measurement is adoptedThe highly acquired homologous magnetic measurement data is contrasted, analyzed and interpreted to infer the possible historical relic and site target range, thereby solving the problems in the background technology.
The technical scheme of the invention is as follows:
an unmanned archaeological exploration method suitable for ultra-shallow water areas comprises the following steps:
(1) the method comprises the following steps: synchronously carrying out low-altitude unmanned aerial photogrammetry and aeromagnetic measurement (the prior art) to obtain a field terrain model and a regional magnetic field background;
(2) step two: planning a survey network according to 5-100 m equal survey line intervals by taking the site terrain model obtained in the step one as a base map, sequentially carrying out aeromagnetic survey and unmanned ship magnetic survey (the prior art) of the ultra-low altitude unmanned aerial vehicle according to the sequence of first space and second space, and obtaining homologous magnetic field data of more than 2 different height layers, wherein the height layers are distributed on a water meter and the ultra-low altitude;
(3) step three: according to the water meter and the homologous magnetic field data on various ultralow-altitude flight heights obtained in the step two, generating magnetic measurement result data of the water meter and the ultralow-altitude layers with different heights by using software, wherein the magnetic measurement result data comprise a contour line plane diagram, a section plane diagram and a polar-change contour line plane diagram on each height, determining a magnetic abnormal area by combining the regional magnetic field background obtained in the step one, and performing qualitative analysis on the magnetic abnormal area by a worker, wherein the qualitative analysis is to judge whether the magnetic abnormal area is caused by a potential target body or a natural geologic body;
(4) step four: establishing an inversion geological model of the underground magnetic abnormal body by using the field terrain model obtained in the step one and the theoretical magnetic parameter constraint condition of the region through human-computer interaction inversion software, wherein the magnetic abnormal body is an objective existence causing magnetic abnormality, and the inversion is to use a man-made model which is established by software by a worker to fit the magnetic abnormal body, approximate the shape of the magnetic abnormal body by the inversion geological model, and judge an archaeological result by the worker;
the theoretical magnetic parameter constraint conditions are the earth magnetic field intensity, the magnetic declination and the magnetic dip angle of the region. The parameters are open, and can be found by inputting the longitude and latitude and the query time of any point on the earth on the network; general magnetic measurement comprehensive processing software can also calculate.
The inversion geological model is a proper term of geophysical, a fixed model and a discrimination mode do not exist, each region has an inversion model of each region, and a certain region can have different inversion models. For example, the magnetic field inversion model for region a is a, then a is a fit that satisfies a; b may also be the result of a fitting that satisfies a, and there are many results that may satisfy a, so there is no one-to-one correspondence.
In the technical scheme of the method, the low altitude is the relative safe flight altitude of which the flight altitude exceeds the maximum altitude of trees, buildings and industrial facilities in the periphery of the archaeological exploration field, no specific numerical range exists, but the maximum working flight altitude capacity of the unmanned aerial vehicle is required to exceed 300 m.
The water area of the archaeological exploration working area may have more land exposure, and the unmanned ship magnetic survey cannot be completely covered, so that the ultra-low altitude unmanned ship magnetic survey must be carried out. There is no specific lower numerical limit for the relative flying height, but the upper numerical limit should not exceed 50 m.
Preferably, in the first step, the medium and low altitude unmanned aerial vehicle aerial photogrammetry and aeromagnetic surveying technology and in the second step, platform equipment such as boats, airplanes and the like adopted by the ultra-low altitude unmanned aerial vehicle aeromagnetic and unmanned boat magnetic surveying technology should use non-magnetic materials to the maximum extent and have a magnetic compensation system, and the maximum remote control distance should not be less than 2.0 km.
Preferably, in the second step, the data of the homologous magnetic fields on 2-10 layers with different heights are obtained by using the aeromagnetic technology of the ultra-low altitude unmanned aerial vehicle and the magnetic measurement technology of the unmanned ship.
Preferably, in the second step, the space between the aeromagnetic survey lines of the ultra-low altitude unmanned aerial vehicle is not less than the relative flying height, and the space between the aeromagnetic survey lines of the unmanned ship is 5m-20 m.
The invention has the beneficial effects that:
the conventional early archaeological exploration method cannot work in an ultra-shallow water area. Compared with the method, the method can efficiently carry out large-area exploration on the human ancient trails with the difference of the magnetism and the physical property, and provides a targeted and efficient archaeological exploration method.
Drawings
FIG. 1 is a schematic diagram of a working flow of an unmanned archaeological exploration method suitable for ultra-shallow water.
FIG. 2 is a schematic diagram of magnetic measurement of magnetic field data of different height layers obtained by the ultra-low altitude aeromagnetic field and the unmanned ship magnetic field.
Detailed Description
The present invention will be further described by way of examples, but not limited thereto, with reference to the accompanying drawings.
Example 1:
an unmanned archaeological exploration method suitable for ultra-shallow water areas comprises the following steps:
(1) the method comprises the following steps: on a certain safety height (such as 100m), a single-rotor electric unmanned helicopter is adopted to synchronously carry out five-lens oblique photography (or more advanced three-dimensional laser scanning) and low-altitude aeromagnetic measurement based on an optical pump magnetometer, a real-scene three-dimensional field terrain model and an area magnetic field background which can completely cover and are properly larger than the archaeological exploration field range are obtained, and collision danger points are eliminated for the next-step aeromagnetic operation of the ultra-low altitude unmanned aerial vehicle, so that the flight height is higher than the ground height in a working area. In the embodiment, a Flying-Cam SARAH4.0 electric unmanned helicopter is adopted, the relative safe Flying height can reach more than 500m, the highest Flying speed can reach 120km/h, a real-time compensation aeromagnetic system is loaded, a cesium optical pump magnetometer is carried, and the real-time positioning is realized in a GPS-RTK mode.
(2) Step two: planning a survey network at 5-100 m equal survey line intervals, and sequentially carrying out aeromagnetic survey of the ultra-low altitude unmanned aerial vehicle and magnetic survey of the unmanned ship according to the sequence of first air and then ground. According to the archaeological exploration target requirement, the survey line spacing and the sampling frequency of the water meter unmanned ship magnetic survey and the ultra-low altitude unmanned aerial vehicle aeromagnetic survey are determined and the work is carried out. If the ancient site range is expected to be about dozens of meters, the Flying-Cam SARAH4.0 cesium optical pump magnetometer can be used for carrying out ultralow-altitude aeromagnetic measurement at four heights of 20m, 30m, 50m and 100m, and then the ME40 unmanned ship hard towing G882 cesium optical pump magnetometer is used for carrying out overwater unmanned ship magnetic measurement to obtain magnetic measurement data of the water meter. The space between the aeromagnetic survey lines of the ultra-low altitude unmanned aerial vehicle is not less than the relative flight height, and the space between the aeromagnetic survey lines of the unmanned ship is generally between 5m and 20 m. The sampling frequency of the magnetic probes of the unmanned ship and the unmanned aerial vehicle can ensure that the space point distance of physical measuring points is less than 1.0m, the positioning navigation device and the air route holding system in the ultra-low altitude aeromagnetic surveying process can ensure that the yaw distance is less than 1.0m, the positioning navigation device and the air route holding system in the unmanned ship magnetic surveying process can ensure that the yaw distance is less than 2.0m, and the overall network surveying regularity is ensured to the maximum extent.
(3) Step three: by utilizing software (the software has similar functions and can realize required drawing functions) such as Surfer, mapGIS, ArcGIS and the like, one of the software is selected to respectively generate water meter, 20m, 30m, 50m and 100 m-high series magnetic measurement result data, the data comprises a contour line plane diagram, a section plane diagram and a polar-chemical contour line plane diagram system complete set of drawing parts on each height, the magnetic field trend change condition and the local abnormal change condition are compared transversely and longitudinally in combination with the regional magnetic field background obtained in the step one, a magnetic abnormal region is determined, qualitative analysis is carried out on the magnetic abnormal region by a worker, the qualitative analysis is to judge whether the magnetic abnormal region is caused by a potential target body or a natural ground object, generally speaking, no invariant rule is determined, and the analysis is judged by the worker through experience in combination with the characteristics of different regions.
The magnetic field variation trend on each level is "transverse" and the magnetic field variation trend on different levels is "longitudinal". In the transverse direction, the local abnormal scale of the humanistic ancient trails is generally small and is distributed in a point shape and a strip shape, a geological background field is mostly spread in a surface shape, and preliminary qualitative screening can be carried out according to the shape difference of the two; in addition, the attenuation of the high-frequency magnetic field information of the historic sites is fast along with the difference of the flight heights, and the attenuation of the low-frequency magnetic field information of the geological background field is slow, so that the possible positions of the historic site area can be further locked.
(4) Step four: using Oasis montaj, RGIS, GeoIPAS and other software (the software functions are similar and can all realize the required drawing function), selecting one of them, using filtering method to remove the low-frequency information of magnetic field background, using the field terrain model obtained in the first step as the surface boundary condition, using the theoretical magnetic parameter constraint condition of said region to make three-dimensional physical inversion or 2.5D man-machine interaction inversion for the local magnetic abnormal region of three-dimensional space, building inversion geological model of underground magnetic abnormal body, and making iterative modification by regulating its space range, magnetization intensity and magnetization direction parameter, i.e. using software, the working personnel can regulate the model sample, and make the artificially-built geological model approach to the measured data. The space range, the magnetization intensity and the magnetization direction of the model are adjusted in detail, fitting errors between an inversion geological model and actual geological facts are reduced, the multi-solution of geophysical inversion is reduced, the shape of a target body is determined by the inversion geological model, and an archaeological result is judged by workers.
The fitting error and the multi-solution are geophysical terms, the former refers to the precision influence caused by the difference between the model and the reality, and the latter refers to the non-uniqueness of the inversion interpretation on the reality.
As further illustration of the method, no matter what way the unmanned aerial vehicle magnetic measurement is adopted, the influence error of the machine body on the accuracy of the magnetic probe does not exceed +/-0.5 nT, and the ultra-low altitude aeromagnetic measurement is close to the ground as much as possible so as to reduce the magnetic anomaly attenuation of the ground surface.
As further illustration of the method example, no matter what unmanned boat is adopted, the influence error of the boat body on the magnetic probe should not exceed +/-0.5 nT, and the total draft depth of the boat body (including probe equipment and the like) should not exceed 0.5m so as to adapt to the ultra-shallow water depth condition.
Claims (4)
1. An unmanned archaeological exploration method suitable for ultra-shallow water areas is characterized by comprising the following steps:
(1) the method comprises the following steps: synchronously carrying out low-altitude unmanned aerial photogrammetry and aeromagnetic measurement to obtain a field terrain model and a regional magnetic field background;
(2) step two: planning a survey network according to 5-100 m equal survey line intervals by taking the site terrain model obtained in the step one as a base map, sequentially carrying out aeromagnetic survey and unmanned ship magnetic survey of the ultra-low altitude unmanned aerial vehicle according to the sequence of first altitude and second altitude, and obtaining homologous magnetic field data on more than 2 different height layers, wherein the height layers are distributed on a water meter and ultra-low altitude;
(3) step three: according to the water meter and the homologous magnetic field data on various ultralow-altitude flight heights obtained in the step two, generating magnetic measurement result data of the water meter and the ultralow-altitude layers with different heights by using software, wherein the magnetic measurement result data comprise a contour line plane diagram, a section plane diagram and a polar-change contour line plane diagram on each height, determining a magnetic abnormal area by combining the regional magnetic field background obtained in the step one, and performing qualitative analysis on the magnetic abnormal area by a worker, wherein the qualitative analysis is to judge whether the magnetic abnormal area is caused by a potential target body or a natural geologic body;
(4) step four: utilizing the field terrain model obtained in the first step and the theoretical magnetic parameter constraint condition of the area, utilizing human-computer interaction inversion software to establish an inversion geological model of the underground magnetic abnormal body, wherein the magnetic abnormal body causes the objective existence of a magnetic abnormal area, and the inversion is to use a man-made model which is established by software by workers to fit the magnetic abnormal body, approximate the shape of the magnetic abnormal body by the inversion geological model, and judge an archaeological result by the workers;
the theoretical magnetic parameter constraint conditions are the earth magnetic field intensity, the magnetic declination and the magnetic dip angle of the region.
2. The unmanned archaeological exploration method for ultra-shallow water, according to claim 1, wherein the platform devices adopted by the aerial photogrammetry and aeromagnetic measurement technology of the low-altitude unmanned aerial vehicle in the first step and the aeromagnetic and unmanned boat magnetic measurement technology of the ultra-low altitude unmanned aerial vehicle in the second step use non-magnetic materials and have magnetic compensation systems, and the maximum remote control distance is not less than 2.0 km.
3. The unmanned archaeological exploration method for ultra-shallow water as claimed in claim 1, wherein in step two, the data of the homologous magnetic fields on 2-10 different height layers are obtained by using the ultra-low altitude unmanned aerial vehicle aeromagnetic and unmanned ship magnetic measurement technology.
4. The unmanned archaeological exploration method for ultra-shallow water, according to claim 1, wherein in step two, the space between the aeromagnetic survey lines of the ultra-low altitude unmanned aerial vehicle is not less than the relative flying height, and the space between the aeromagnetic survey lines of the unmanned surface vehicle is 5m-20 m.
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| CN114200953A (en) * | 2021-10-28 | 2022-03-18 | 山东省物化探勘查院 | Pollutant diffusion channel identification method and system based on unmanned aerial vehicle aeromagnetic measurement |
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