High-Speed Magnetic Surveying for Unexploded Ordnance Using UAV Systems
2022
Mick Emil Kolster | Mark David Wigh | Eduardo Lima Simões da Silva | Tobias Bjerg Vilhelmsen | Arne Døssing
Using Uncrewed Aerial vehicles (UAVs) to rapidly scan areas for potential unexploded ordnance (UXO) can provide an efficiency increase while minimizing detonation risks. We present a complete overview of how such mappings can be performed using scalar magnetometers, including initial sensor testing, time stamping validation, data positioning, noise removal, and source model inversion. A test survey was performed across disarmed UXO targets, during which three scalar magnetometers were towed in an airframe (&ldquo:bird&rdquo:) 10 m below a small (<:25 kg) high speed (&sim:10 m/s) UAV to avoid magnetic disturbances from the UAV itself. Data were collected across &sim:58 min of flight, with each sensor traversing &sim:31.7 km to acquire dense data coverage across a 600 m ×: 100 m area. By using three individual magnetometers in the bird, UXO detection results across single-sensor data and several different multi-sensor configurations can be compared. The data obtained exhibited low apparent noise floors (on the order of tens of picoTesla) and retained a precision that enabled targeted modelling and removal of high-frequency noise with amplitudes of ±:5 picoTesla. All of the different gradiometer configurations tested enabled recovery of most targets (including all major targets), although the horizontal configuration performed significantly worse in comparison.
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