| 张平,张文杰,冀新臣,刘牧星,倪杰才,杨申勇.基于开源平台的无人机航磁航线规划脚本设计[J].矿产勘查,2025,16(10):2360-2368 |
| 基于开源平台的无人机航磁航线规划脚本设计 |
| Design of UAV aeromagnetic route planning script based on open source platform |
| 投稿时间：2024-03-13 |
| DOI：10.20008/j.kckc.202510012 |
| 中文关键词: 航磁 无人机 仿地 GMT KML 脚本 |
| 英文关键词: aeromagnetic UAV terrain following GMT KML script |
| 基金项目:本文受中国地质调查局项目(121201004000172201、DD20190166、DD2019057012)联合资助。 |
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| 中文摘要: |
| 当前航磁测量朝着更高精度和空间分辨率方向发展，多旋翼无人机具备低空仿地飞行的优势，成为大比例尺地质调查工作中的重要手段。多旋翼无人机按照预装在飞控系统中的规划路径执行飞行任务，进而完成航磁测量工作，因此航线规划成为实现低飞仿地航磁数据采集的关键因素。常见的路径规划软件普遍以覆盖测量为主，具有系统封闭、坐标系统单一和对 DEM兼容性差等不足，开发适用于航磁测量的航线规划软件是十分必要的。本文以 GMT开源软件为平台，依据其模块功能，提出平面测网布置和空中路径规划的工作流程，编写 bash脚本程序。利用工区范围坐标、测线间距、测线方位和测线外延长度等已知信息生成平面测网，以平面测网为基础在测线上插值坐标点，通过 DEM数据得到规划空中路径点高程，给定公差值对空中航路点进行简化处理，最终生成适用于无人机遥控器的 KML格式文件，为多旋翼无人机执行仿地航磁测量工作提供了具有现实意义的解决方案。 |
| 英文摘要: |
| The current aeromagnetic survey is developing towards higher accuracy and spatial resolution. Multirotor UAV have the advantage of low-altitude terrain following flight, and have become an important tool in large-scale geological survey work. Multi rotor UAV perform flight tasks according to the planned path preinstalled in theflight control system, thereby completing the aeromagnetic survey work. Therefore, route planning becomes a keyfactor in achieving low-flying terrain following aeromagnetic data acquisition. Common path planning software gen.erally focuses on coverage measurement, with limitations such as closed systems, single coordinate system, and poorcompatibility with DEM. It is necessary to develop a route planning software suitable for aeromagnetic survey. This article uses the GMT open source software as a platform, based on its module functions, proposes a workflow forplane survey network layout and air path planning, and writes bash script programs. Using known information suchas work area coordinates, line spacing, line orientation, and line extension length to generate a plane survey network,interpolate coordinate points on the survey line based on the plane survey network, obtain the elevation of plannedair path points through DEM data, simplify the air route points with given tolerance values, and finally generateKML format files suitable for UAV remote control. This provides a practical solution for Multi rotor UAV to performterrain following aeromagnetic survey work. |
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