The Joint UAV-Borne Magnetic Detection System and Cart-Mounted Time Domain Electromagnetic System for UXO Detection

For unexploded O=ordnance (UXO) detection, individual technology cannot achieve the best detection performance. The new detection mode of joint magnetic and electromagnetic method has attracted more and more attention. In this paper, a newly developed joint detection system is introduced, a multi-rotor UAV-based magnetic system (UAVMAG) and a cart-based time-domain electromagnetic detection system (TDEM-Cart) are combined, and the cooperative processing of magnetic field and electromagnetic data is proposed. The result of the joint inversion fuses the feature vector retrieved from the magnetic field data and the feature vector inverted from the electromagnetic data, providing more accurate positioning results and richer information, which is favorable to locate and distinguish the UXO. Two field experiments are conducted, and the results show that when the joint system works in the full-coverage survey mode, both ferromagnetic and non-ferromagnetic metal targets can be detected, avoiding missed detections. In addition, when the joint system works in the cued survey mode, the detection efficiency is improved, the positioning accuracy of joint interpretation is less than 10 cm, and it shows satisfactory performance in the recognition of targets.