基于旋翼无人机技术的近地磁测系统

为了提高无人机航空磁探测精度，文章利用大疆六旋翼无人机作为飞行平台，搭载三轴磁通门传感器及相应的数据采集子系统，组建了旋翼无人机磁场测量系统；分析和测量了六旋翼无人机本底磁性分布特征，优化了无磁伸杆的安装位置；采用综合系数法修正了三轴磁通门传感器的误差；最后进行了野外飞行试验，对旋翼无人机磁测系统的整体性能进行验证。结果表明，系统可持续飞行15 min，可有效完成低空磁场探测和磁矩计算，且飞行稳定性能高。文章进一步提出了技术改进方向。该研究可为无人机磁探技术和工程应用提供参考。

A near-Earth magnetic surveying system based on rotor UAV technology

In order to improve the airborne magnetic detection accuracy of the UAV, in this paper, a magnetic field measurement system is set up by using the DJI six-rotor drone as the flight platform, with a three-axis magnetic fluxgate sensor and the corresponding data acquisition system,. The distributions of the background magnetic field around the six rotor drone are measured and analyzed in detail, and then the installation position of the non-magnetic extension rod is optimized. The errors of the three-axis magnetic fluxgate sensor are corrected by the comprehensive coefficient method. The field flight test is carried out to verify the overall performance of the magnetic measurement system, and the results show that the system can fly continuously for 15 minutes, to complete the low-altitude magnetic field detection and the magnetic moment calculation effectively, and the system enjoys high flight stability performance. The further direction of the technical improvement is proposed. This study provides a reference for the UAV magnetic exploration technology and the related engineering applications.