Frequency Domain Electromagnetic System Based on Unmanned Aerial Vehicles Platform for Detecting Shallow Subsurface Targets

Abstract

Due to the advantages of being nondestructive, rapid, and convenient, the electromagnetic detection method has attracted growing interest in the field of shallow subsurface detection. With the rapid development of unmanned aerial vehicle (UAV) technology, the use of the UAV platform for measurement can not only improve work efficiency but also avoid the significant losses that may be caused by humans working in dangerous areas. Therefore, we propose a broadband frequency domain electromagnetic system AFEM-3 based on a UAV platform for shallow subsurface targets detection (within less than 2 m). The sensor head adopts a concentric planar coil structure with a high spatial resolution, and a bucking coil connected in reverse series with the transmitting coil is used to suppress the primary field at the receiving coil. We designed a transmitting module based on unipolar frequency multiplication sinusoidal pulse width modulation technology that can generate multi-frequency arbitrary combination transmitting waveforms with low total harmonic distortion. It can also be matched to a variety of different transmitter coils by using the same hardware circuit. In addition, the global navigation satellite system and inertial measurement unit are integrated on the sensor head. The measurement response value, position, and attitude information can be displayed in real-time through the host computer. Through the static experiment of a standard coil, we verified the consistency between the AFEM-3 system with the theory. The performance of the system was evaluated through field experiments. The experimental results show that the system can effectively detect multiple metal targets in shallow subsurface areas. For different metal targets, the AFEM-3 system can provide obvious frequency domain characteristics.