Magnetic surveying with an unmanned ground vehicle

Author:

Hay A.1,Samson C.12,Tuck L.1,Ellery A.3

Affiliation:

1. Department of Earth Sciences, Carleton University, Ottawa, ON K1S 5B6, Canada.

2. Department of Construction Engineering, École de technologie supérieure, Montréal, QC H3C 1K3, Canada.

3. Department of Mechanical and Aerospace Engineering, Carleton University, Ottawa, ON K1S 5B6, Canada.

Abstract

With the recent proliferation of unmanned aerial vehicles for geophysical surveying, a novel opportunity exists to develop unmanned ground vehicles in parallel. This contribution features a study to integrate the Husky A200 robotic development platform with a GSMP 35U magnetometer that has recently been developed for the unmanned aerial vehicle market. Methods to identify and reduce the impact of magnetically noisy components on the unmanned ground vehicle platforms are discussed. The noise generated by the platform in laboratory and gentle field conditions, estimated using the fourth difference method for a magnetometer–vehicle separation distance of 121 cm and rotation of the chassis wheels at full speed (1 m/s), is ±1.97 nT. The integrated unmanned ground vehicle was used to conduct two robotic magnetic surveys to map cultural targets and natural variations of the magnetic field. In realistic field conditions, at a full speed of 1 m/s, the unmanned ground vehicle measured total magnetic intensity over a range of 1730 nT at 0.1 m spatial resolution with a productivity of 2651 line metres per hour.

Publisher

Canadian Science Publishing

Subject

Electrical and Electronic Engineering,Control and Optimization,Computer Science Applications,Aerospace Engineering,Automotive Engineering,Control and Systems Engineering

Reference24 articles.

1. Clearpath Robotics. 2018. Husky unmanned ground vehicle user manual, Rev. 1.1.3., 25 p.

2. Coyle, M., Dumont, R., Keating, P., Kiss, F., and Miles, W. 2014. Geological survey of Canada aeromagnetic surveys: design, quality assurance, and data dissemination. GSC Open file 7660.

3. Study of magnetic field, rock magnetization and lunar electrical conductivity in the Bay Le Monnier

4. Forrester, R.W. 2011. Magnetic signature control strategies for an unmanned aircraft system. M.App. Sci. thesis, Carleton University, Ottawa, Ont.

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