使用地磁感測器陣列的UAV空中磁力探勘

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姓名

金則禹(Ze-Yu Jin) 查詢紙本館藏

畢業系所

資訊工程學系

論文名稱

使用地磁感測器陣列的UAV空中磁力探勘
(Conducting Aerial Magnetic Surveys Using an UAV with Geomagnetic Sensor Arrays)

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摘要(中)

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。

摘要(英)

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.

關鍵字(中)

★ 磁力探勘
★ 感測器融合
★ 地磁異常
★ 無人機

關鍵字(英)

論文目次

摘　要 I
Abstract II
謝誌 III
目錄 V
圖目錄 VIII
表目錄 X
第一章緒論 1
1.1研究背景 1
1.2 研究目的 2
1.3論文架構 3
第二章技術回顧 4
2.1引言 4
2.2微型感測器技術 4
2.3 加速規 5
2.4 陀螺儀 6
2.5 磁力計 8
2.6 航磁補償模型 9
2.7 無人機空中磁力探勘技術 11
第三章無人機磁力探勘系統架構設計 12
3.1 無人機磁力探勘平臺 12
3.2飛行控制系統 13
3.3 多感測器融合系統 13
3.3.1 感測器控制系統 14
3.3.2 感測數據處理系統 16
3.3.2 數據存取系統 18
3.4 MIAT系統設計方法論 19
3.4.1 IDEF0階層式系統設計 20
3.4.2 Grafect 23
3.5 無人機磁力探勘系統架構IDEF0 25
3.5.1 多感測器融合系統 26
3.6 無人機磁力探勘系統Grafect 27
3.6.1 多感測器融合系統Grafect 28
3.6.2 感測器控制系統Grafect 29
3.6.3 感測數據處理系統Grafect 30
3.6.4 數據存取系統Grafect 31
第四章實驗 33
4.1 實驗平臺 33
4.1.1 無人機開發平臺 33
4.1.2 MCU開發平臺 34
4.1.3 九軸運動感測器MPU9255 36
4.1.4 高精度磁力感測器MMC5883MA 37
4.2 磁力探勘實驗 38
4.3磁力異常探勘實驗 41
4.3.1水平感測陣列實驗 42
4.3.2垂直感測陣列實驗 46
第五章結論與未來展望 49
5.1 結論 49
5.2 未來展望 50
參考文獻 51

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指導教授

陳慶瀚

審核日期

2019-7-18

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