Unmanned Aerial Vehicle Aeromagnetic Positioning Method for Nearshore Submarine Cables Based on Power Frequency Magnetic Characteristics
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摘要: 针对近岸海底电缆“最后一公里”高精度探测与定位的技术瓶颈, 本研究提出融合工频磁场特征解析的无人机(UAV)航磁综合探测方法。首先建立海底电缆工频磁场正演模型, 通过数值模拟揭示电缆工频磁特征信号的传播衰减规律; 其次, 创新性构建基于工频磁特征的频域信号提取算法, 有效提升强环境噪声背景下弱磁信号的识别精度; 继而提出结合地磁方向的逆向解析定位方法, 实现海底电缆走向的米级空间反演。实验采用自主研发的旋翼式超低空(飞行高度1 m)磁测UAV系统, 在温州近岸海域开展实测验证。结果表明: 系统在潮间带复杂地形条件下进行工频磁特征的航空磁探测作业, 通过对比分析发现, 工频特征定位法较常规磁异常定位法在近岸浅水区具有显著优势, 其定位误差不超过1.8 m, 可准确追踪电缆埋设路径。本研究为海底电缆工程巡检与定位提供了新的技术范式。Abstract: Aiming at the technical bottleneck of high-precision detection and positioning of the "last mile" of nearshore submarine cables, this study proposes a comprehensive unmanned aerial vehicle(UAV) aeromagnetic detection method integrating the analysis of power frequency magnetic field characteristics. Firstly, a forward model of the power frequency magnetic field of submarine cables is established, and the propagation and attenuation law of the power frequency magnetic characteristic signal of the cables is revealed through numerical simulation. Secondly, an innovative frequency-domain signal extraction algorithm based on power frequency magnetic characteristics is constructed, effectively improving the recognition accuracy of weak magnetic signals in the background of strong environmental noise. Then, a reverse analytical positioning method combined with the geomagnetic direction is proposed to achieve the meter-level spatial inversion of the direction of submarine cables. The experiment adopted the self-developed rotorcraft ultra-low-altitude (flight altitude of 1 meter) magnetic measurement unmanned aerial vehicle system to conduct actual measurement and verification in the coastal waters of Wenzhou. The results show that the system conducts aerial magnetic detection operations of power frequency magnetic characteristics under the complex terrain conditions of the intertidal zone. Through comparative analysis, it is found that the power frequency characteristic positioning method has significant advantages over the conventional magnetic anomaly positioning method in the nearshore shallow water area. Its positioning error does not exceed 4 meters, and it can accurately track the cable burial path. This research provides a new technical paradigm for the inspection and positioning of submarine cable projects.
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图 3 铠装层周围磁场分布示意图
Figure 3. Schematic diagram of the magnetic field distribution around the armor layer
图 5 交流电缆上方测线中的磁场
Figure 5. The magnetic field in the measurement line above the AC cable
图 6 交流电缆上方测线中的磁场时间序列
Figure 6. The time series of the magnetic field in the measurement line above the alternating current cable
图 8 UAV航磁探测系统中的传感器和采集器
Figure 8. Sensors and collectors in the UAV aeromagnetic detection system
图 11 典型电缆走向时信号形态与定位关系
Figure 11. The relationship between signal morphology and positioning in typical cable directions
图 12 不同电缆走向时信号上包络与定位关系
Figure 12. The relationship between upper envelope and positioning of signals with different cable routing
图 13 不同电缆走向时信号峰峰值与距离关系
Figure 13. The relationship between peak-to-peak value and distance of signals with different cable routing
图 14 仿真信号与实测信号时间序列对比
Figure 14. Comparison of time series between simulated signals and measured signals
图 15 仿真信号与实测信号空间分布对比
Figure 15. Comparison of the spatial distribution of simulated signals and measured signals
图 17 预处理后的位置-磁场对应图
Figure 17. The position-magnetic field correspondence diagram after preprocessing
图 18 结合实测数据的电缆与探头距离和信号值估计
Figure 18. The distance between the cable and the probe and estimation signal based on measured data
图 20 估计电缆位置和真实位置对比
Figure 20. Comparison of estimated cable position and actual position
表 1 UAV基本参数
Table 1. Parameters of the UAV
参数 指标 轴距/mm 1 600 自重(无电池)/kg 5 续航时间 55 min@3 kg载荷 最大速度/m/s 15 探杆总长度(展开作业)/m 4.8 单个探杆长度(折叠收纳)/m 1.2 
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表 2 深度-信号幅值衰减曲线对应参数
Table 2. The corresponding parameters of the depth-signal magnitude attenuation curve
参数 数值 $ p\left(1\right) $ −0.671 0 $ p\left(2\right) $ 11.838 5 $ p\left(3\right) $ −71.536 2 $ p\left(4\right) $ 155.688 2
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表 3 估计位置和实测位置结果
Table 3. Estimated position and measured position results
估计X/m 估计Y/m 实测X/m 实测Y/m 误差/m 84.30 35.58 83.56 35.82 0.78 81.76 41.41 80.00 41.25 1.76 75.20 47.44 74.84 47.85 0.54 64.63 61.79 62.89 61.65 1.75 53.78 68.69 53.50 69.14 0.53 48.52 81.31 46.97 81.22 1.55 38.87 89.73 38.47 90.17 0.59 28.80 102.27 27.04 102.14 1.76 21.56 109.29 21.40 109.85 0.58 13.80 123.78 12.34 123.78 1.46 4.70 132.54 4.75 133.21 0.67 −2.43 146.68 −4.03 146.71 1.61 −7.68 147.45 −7.28 148.27 0.92 −12.10 155.64 −11.99 156.29 0.66 −15.62 161.85 −16.84 161.60 1.25 −21.02 167.40 −22.55 167.23 1.54 −29.34 172.13 −28.67 173.16 1.23 −42.47 186.20 −43.21 186.24 0.75 −50.98 193.17 −50.49 194.04 1.00
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