現在空中磁力感測技術正藉助磁力異常感測這一方式大量應用與礦物探測的方面，一般的空中磁力感測主要採用有人駕駛飛行器攜帶單一磁力感測器進行磁力感測，有著成本較高功耗較高以及感測精度一般的劣勢。本論文則通過將小型化低功耗的磁力感測器與日漸成熟的UAV及其控制技術結合，利用兩者的優點構建一個低成本低功耗且精度高的空中磁力探勘平臺，再融合感測器陣列以及航磁補償模型提升磁力感測的靈敏度以及精確度。實驗比較表明，在使用單一感測器感測磁力異常區域時會產生2.7公尺到5.4公尺左右的距離誤差並且感測到3000~4000mG的磁力強度，而在使用水平以及垂直磁力感測陣列時只有0.5公尺到1公尺的誤差并感測到6000mG的磁場強度，因此證明瞭搭載感測陣列的UAV能提高感測器的靈敏度以及精確度。;Current techniques for aerial magnetic sensing are prevalently applied to mineral detection in the form of magnetic anomaly sensing. Aerial magnetic sensing generally involves a manned aircraft equipped with a magnetic sensor; however, this approach is costly, consumes a high amount of energy, and results in mediocre accuracy. This study combined the advantages of a low-power-consumption magnetic sensor and an unmanned aerial vehicle (UAV), the control techniques of which have become increasing mature in recent years, to create a low-cost, low-energy, and highly accurate aerial magnetic sensor platform. The platform was integrated with sensor arrays and an aeromagnetic compensation model to increase the sensor sensitivity and accuracy. The experimental results revealed that when using a single sensor to detect a magnetic anomaly region, a distance error between 2.7 and 5.4 m was generated, and a magnetic strength of 3000–4000 mG was detected. By contrast, when parallel and vertical sensor arrays were applied, the distance error was reduced to 0.5–1 m, and the detected magnetic strength was 6000 mG. This verified that an UAV equipped with a sensor array can improve the sensor sensitivity and accuracy.
