• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A tow assembly for an airborne electromagnetic surveying system, comprising: a transmitter structure which is circular or approximates a circle and is formed from a plurality of frame members that are releasably secured together end to end, the transmitter structure providing a transmitter for generating an earthbound primary magnetic field; a suspension rope assembly and a tow cable for suspending the transmitter structure from an aircraft, the suspension rope assembly suspending the transmitter structure about a circumference thereof and having an end connected to the tow cable; and a central hub from which a plurality of tension cables extend to engage the transmitter structure at respective locations about a circumference thereof.
    公开号:AU2013205468A1
    申请号:U2013205468
    申请日:2013-04-12
    公开日:2013-05-16
    发明作者:Petr Valentinovich Kuzmin；Edward Beverly Morrison；Pavel Tishin
    申请人:Geotech Airborne Ltd；
    IPC主号:G01V3-165
    专利说明:
    - 1 Airborne Electromagnetic Time Domain System, Computer Product and Method Field of the Invention This invention relates in general to the field of airborne geological mapping. This invention further relates to an apparatus for conduction geological surveying using an electromagnetic time domain method. Throughout the specification, unless the context requires otherwise, the word "comprise" or variations such as "comprises" or "comprising", will be understood to imply the inclusion of a stated integer or group of integers but not the exclusion of any other integer or group of integers. Furthermore, throughout the specification, unless the context requires otherwise, the word "include" or variations such as "includes" or "including", will be understood to imply the inclusion of a stated integer or group of integers but not the exclusion of any other integer or group of integers. Background of the Invention Each document, reference, patent application or patent cited in this text is expressly incorporated herein in their entirety by reference, which means that it should be read and considered by the reader as part of this text. That the document, reference, patent application, or patent cited in this text is not repeated in this text is merely for reasons of conciseness. The following discussion of the background to the invention is intended to facilitate an understanding of the present invention only. It should be appreciated that the discussion is not an acknowledgement or admission that any of the material referred to was published, known or part of the common general knowledge of the person skilled in the art in any jurisdiction as at the priority date of the invention.
    -2 Time Domain Electromagnetic (TDEM) surveying is a rapidly developing area of geophysical surveying. It encompasses ground based and airborne applications. TDEM geological mapping involves equations for calculating the value of electromagnetic fields that are time dependent. Geological data is then inferred from the electromagnetic field data based on resistivity factors. The TDEM method was originally designed for exploration of conductive ore bodies buried in resistive bedrock, but at the present time it is also used extensively in general geological mapping, in hydrogeology, in environmental investigations etc. The method involves generating periodic magnetic field pulses penetrating below the Earth surface. Turning off this magnetic field at the end of each pulse causes an appearance of eddy currents in geological space. These currents then gradually decay and change their disposition and direction depending on electrical resistivity and geometry of geological bodies. The electromagnetic fields of these eddy currents (also called transient or secondary fields) are then measured above the Earth surface and used for mapping and geological interpretation. The common technical means to generate magnetic field pulses is a transmitter generally consisting of a loop of wire or a multi-turn coil connected to the output of an electrical current pulse generator or transmitter driver. The typical size of a transmitter coil is a few meters in diameter for an airborne device and up to hundreds of meters for ground systems. Generally, the bigger the transmitter coil diameter the stronger its magnetic moment, which then results in deeper and more accurate investigations. An additional multi-turn coil or an x-y-z coil system usually serves as a receiver or sensor for the secondary electromagnetic field. Magnetometers are also applicable for this purpose. Received signals are digitized by an analog to digital converter (ADC) and processed and stored by computer.
    -3 The advantage of airborne TDEM systems is the speed with which ground that can be covered in geological surveying. However, there are a number of technical problems in designing airborne TDEM systems based on prior art. The transmitted electromagnetic fields generally generate eddy currents not only in the Earth but also in the proximate metallic parts including those of the system and the aircraft body. The secondary fields of these currents behave as a noise due to typical instability of the system geometry and thermal changes in conductors. This noise impacts the survey data by generally decreasing their reliability for extrapolating geological data therefrom. The most common way to minimize this noise is by keeping the receiver at an adequate distance from the transmitter driver. The result of this spaced apart relationship between the transmitter driver and the receiver is that the secondary fields of the eddy currents in the Earth are comparable with secondary fields of local metal parts and therefore noise level is negligible. This type of solution is used in the TDEM systems branded "GEOTEM" and "MEGATEM" of (FUGRO AIRBONE SURVEYS LTD) GEOTERREX PTY. LTD. This particular solution includes a bird towed behind a fixed-wing aircraft on a tow cable approximately 130 meters long. Another prior art TDEM system consists of a helicopter towed system manufactured by T.H.E.M Geophysics Inc. This system uses a helium balloon to keep its sensor suspended at a distance apart from the transmitter system. One of the disadvantages of these prior art solutions is that there is relatively poor horizontal resolution of the system due to the relatively long distance between transmitter coil and receiver sensor. Another disadvantage is difficulties of system mechanical management in start/landing and in flight maneuvers. Another prior art method currently used to minimize this kind of noise is to cancel the transmitter primary field localized in metal parts of the -4 system using special coils producing in this local area a magnetic field having opposite direction to the main field of the transmitter coils. The technology is used in the AEROTEMTM branded solution of Aeroquest Ltd. in order to minimize the secondary fields in the metal parts of the transmitter electronics, which instead they locate in the towed bird. This solution requires a high level of system mechanical rigidity. In turn, it leads to heavier frame construction. The heavier frame results in a number of disadvantages. In particular the heavier frame makes transportation of the bird difficult. The production costs and fuel costs associated with manufacturing and use of the AEROTEMTM solution are also relatively high. More importantly, because of the need for a rigid frame having a relatively significant weight, a frame with a generally smaller transmitter coil diameter is selected resulting in a lower transmitter dipole moment. This generally results in insufficient transmitter dipole moment to make deeper measurements. Another problem with the prior art solutions is that they do not easily permit exploiting optimal system geometry, that is the receiver in the centre of the transmitter coil. A relatively large voltage is induced in the receiver coil by each of the magnetic field pulses. But this relatively high voltage in turn renders the receiver preamp saturated and therefore inoperative during system measurement time for a short period after this pulse. This is an important and necessary time for making measurements of the Earth's response. As a result, the solution of existing systems is to place the system receiver at a distance away from the transmitter where the transmitted pulse is much lower since the strength of this field diminishes as the inverse cube of the distance. However, this then results in a departure from the optimal system geometry. In the case of the AEROTEM TM system, the method of dealing with this large voltage while maintaining optimal system geometry, i.e. receiver in centre of transmitter coil, is to place the receiver coil inside a bucking coil carrying the anti-phased transmitter current so as to cancel a large part of the -5 voltage pulse induced in the receiver coil during the transmitter "ON TIME" while not substantially affecting the reception of the secondary field from the Earth. This approach works well to solve the problem of this on-time voltage pulse problem, however, the process of accurately bucking this signal again mandates the rigid geometry of all parts including the receiver coil. This rigid mounting precludes the proper vibration isolation of the receiver coil thus unwanted mechanical vibration influences the receiver coil so as to induce electrical interference thereby reducing sensitivity. Another technical problem is how to produce maximum magnetic moment in the transmitter coil using minimum weight, size and electrical power. In the above-mentioned systems a significant part of the total weight is used for the structure and power sources. Another problem is the air drag of the bird during flight. Complicated support structures with large effective surface areas create excessive drag. This limits possible flight speed increasing survey cost. Another limitation of the previously mentioned systems is the limitation on the maximum transmitter diameter and therefore obtainable dipole moment. A maximum diameter for these systems is generally attained relatively quickly because the rigidity criterion mandates significant weight of the structure. This stiffness factor forces this type of design to reach the maximum allowable weight for helicopter use before a desirable diameter is attained. Summary of the Invention In accordance with a first aspect of the present invention, there is provided a tow assembly for an airborne electromagnetic surveying system, comprising: a transmitter structure which is circular or approximates a circle and is formed from a plurality of frame members that are releasably secured -6 together end to end, the transmitter structure providing a transmitter for generating an earthbound primary magnetic field; a suspension rope assembly and a tow cable for suspending the transmitter structure from an aircraft, the suspension rope assembly suspending the transmitter structure about a circumference thereof and having an end connected to the tow cable; and a central hub from which a plurality of tension cables extend to engage the transmitter structure at respective locations about a circumference thereof. Preferably, the frame members comprise a plurality of straight tubular sections and elbow tubular sections releasably connected together, the transmitter structure being polygonal in shape. Preferably, the transmitter structure includes a transmitter coil located inside the tubular sections. Preferably, the tow assembly comprises a receiver sensor supported by the tension ropes for sensing magnetic field signals. Preferably, the receiver sensor includes a receiver coil that is substantially co-axial with the transmitter coil. Preferably, the receiver coil is substantially concentric with the transmitter coil. Preferably, the frame members are interconnected by mating male female connections. Preferably, the transmitter structure is flexible. Preferably, the suspension rope assembly comprises connecting cables each having a first end suspending a respective circumferential portion of the transmitter structure and an opposite end connected to the tow cable. Preferably, the tension cables are ropes.
    -7 In accordance with a second aspect of the present invention, there is provided a tow assembly for an airborne electromagnetic surveying system, comprising: a flexible transmitter support frame comprising a plurality of tubular members connected together end to end forming a continuous loop; a transmitter coil for generating a primary magnetic field, the transmitter coil being supported by the transmitter support frame; and a plurality of connecting ropes and a tow cable for suspending the transmitter support frame from an aircraft, the connecting ropes each having a first end suspending a respective portion of the transmitter support frame and an opposite end connected to the tow cable. Preferably, the transmitter support frame is a polygonal shape approximating a circle, the tubular members including straight members and elbow members. Preferably, the connecting ropes each suspend a respective corner of the transmitter support frame. Preferably, the tow assembly comprises a central hub from which a plurality of tension ropes extend to engage the transmitter support frame at respective locations about a circumference thereof. In accordance with a third aspect of the present invention, there is provided a method for providing a tow assembly for an electromagnetic airborne survey system at an assembly location, comprising: providing a plurality of tubular sections; providing a transmitter coil for generating a primary magnetic field; providing suspension ropes and a tow rope; and assembling the tubular sections and the transmitter coil and the ropes to provide a tow assembly having a transmitter support frame that is circular or approximates a circle bearing the transmitter coil and formed -8 from serially connecting the tubular sections, with the suspension ropes each having a first end connected to a respective location on a circumference of the transmitter support frame and a second end connected to a first end of the tow rope. Preferably, the tubular sections include straight sections and elbow sections and assembling includes interconnecting the straight sections with the elbow sections. Preferably, the method comprises connecting a receiver sensor to cables secured to the transmitter support frame such that the receiver sensor is substantially concentric with the transmitter coil. Preferably, the support frame is a polygonal shape approximating a circle and assembling includes suspending the corners of the transmitter support frame from respective first ends of the suspension ropes. Preferably, the method comprises providing tension cables, and wherein the assembling includes connecting first ends of the tension cables to a central hub and second ends of each of the tension cables to a respective portion along a circumference of the transmitter support frame such that the tension cables provide rigidity to the transmitter support frame. In accordance with a fourth aspect of the present invention, there is provided a tow assembly apparatus for airborne time domain electromagnetic surveying comprising: (a) a flexible transmitter section consisting of a plurality of interconnectable transmitter section frame members, such that the transmitter section can be assembled and disassembled, the transmitter section frame members defining a polygonal profile; and (b) a receiver section disposed generally along a central axis of the transmitter section; wherein the transmitter section frame members house a transmitter coil and the receiver section houses an elastically suspended sensor loop; -9 wherein the transmitter section and the receiver section are connected by means of a plurality of connecting cables evenly distributed circumferentially along each of the transmitter section and the receiver section; wherein the tow assembly apparatus is connected to the aircraft by means of at least one cable means connected to the transmitter section at a plurality of points; and wherein the structure of the flexible support frame enables a relatively large effective surface area with generally reduced drag during flight. In accordance with a fifth aspect of the present invention, there is provided a set of components for assembly to form a tow assembly for airborne electromagnetic geological surveying, comprising: a plurality of straight tube sections; a plurality of elbow sections; a transmitter loop; a plurality of suspension ropes; and a plurality of tension ropes; wherein the straight tube sections and elbow sections are adapted to interconnect to form a flexible polygonal support frame that approximates a circle and supports the transmitter loop internally within the support frame, and the tension ropes are adapted to each radially extend from a location central to the support frame to a respective portion of the support frame such that the support frame is engaged at spaced apart locations about a circumference thereof by the radially extending tension ropes, and the suspension ropes are each adapted to extend from a tow cable to a respective portion of the support frame such that the support frame can be suspended from the tow cable by the suspension ropes at spaced apart locations about the circumference of the support frame. Preferably, the set comprises a transmitter driver, a receiver sensor and a data collection system, wherein the transmitter driver is adapted to be electrically connected to the transmitter loop to provide electrical pulses thereto, and the data collection system is adapted to receive signals from the receiver sensor representative of changes in magnetic field sensed by the receiver sensor, the -10 receiver sensor being securable relative to the transmitter loop when the tow assembly is towed behind and aircraft. Preferably, the receiver sensor is adapted to be located approximately on a central axis of the transmitter loop when the tow assembly is towed behind and aircraft. Preferably, the set comprises an amplifier connected to amplify the signals from the receiver sensor that are received by the data collection system. Preferably, the suspension ropes are connected at at least eight locations about the circumference of the support frame and the tension ropes are connected at at least eight locations about the circumference of the support frame. Preferably, the suspension ropes are connected at at least twenty five locations about the circumference of the support frame and the tension ropes are connected at at least twenty five locations about the circumference of the support frame. Preferably, the set comprises a further set of straight tubular sections that are a different length than the set of straight tubular members, wherein the further straight tube sections adapted to interconnect with the elbow sections to form a further flexible polygonal support frame that approximates a circle having a different diameter than the flexible polygonal support frame. Preferably, the tension ropes and the suspension ropes are formed from non-magnetic material. Preferably, the straight tubular sections are formed from non-magnetic composite material. In accordance with a sixth aspect of the present invention, there is provided an airborne electromagnetic surveying system comprising: a flexible support frame comprising a plurality of tube sections interconnected to form a circular shape or a shape approximating a circle; - 11 a transmitter coil for generating an earthbound primary magnetic field, the transmitter coil being located within an internal passage defined within the flexible support frame; a set of ropes comprising a tow rope, suspension ropes and tension ropes, the suspension ropes each extending between the tow cable and a respective portion of the support frame for suspending the support frame from an aircraft, the tension ropes each extending radially from a region central to the support frame to a respective portion of the support frame; a receiver sensor secured by at least one of the ropes in the set of ropes; a transmitter driver connected to drive the transmitter coil to produce the earthbound primary magnetic field; and a signal processing computer connected to receive signals generated by the receiver sensor that represent changes in a magnetic field sensed by the receiver sensor. Preferably, the tube sections include straight tubular sections interconnected by elbow sections to form a polygonal shape that approximates a circular shape. Preferably, sides of the polygonal shape are all substantially identical in length and the transmitter support frame is flexible. Preferably, the tubular sections are releasably connected together to facilitate assembly and disassembly of the transmitter support frame. Preferably, the system comprises a central hub from which the plurality of tension ropes extend to engage the transmitter support frame at respective locations about a circumference thereof. Preferably, the receiver sensor is substantially co-axial with the transmitter coil. The present invention seeks to provide a TDEM system that provides improved sensor resolution to at least some extent. Brief Description of the Drawings - 12 The present invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Figure 1 illustrates the apparatus of an embodiment of the present invention in an airborne position, in this case towed from a helicopter. Figure 2 illustrates the tow assembly of the embodiment of the present invention in a perspective view. Figure 3 illustrates the tow assembly of the embodiment of the present invention in an elevation view. Figure 4 illustrates the tow assembly of the embodiment of the present invention in a top view thereof, and further showing a bottom view of the receiver section of the tow assembly. Figure 5 illustrates the structure of the transmitter section of the tow assembly in a partial cut-away view of a joint section thereof. Figure 5a illustrates the structure of the transmitter section of the tow assembly in a partial view thereof at a joint section. Figure 5b illustrates the structure of the receiver section in a cut-away view thereof. Figure 5c is a further cut-away view of the receiver section. Figure 6 is a view of the stabilizer section of the tow assembly, in accordance with one embodiment thereof. Figure 7 is a chart illustrating the survey data generated by the tow assembly of the embodiment of the present invention in operation.
    -13 Figure 8 is a system resource chart illustrating the resources of the system of the embodiment of the present invention. Figure 9 is a program resource chart that illustrates the resources of the computer product of the embodiment of the present invention. In the drawings, one embodiment of the invention is illustrated by way of example. It is to be expressly understood that the description and drawings are only for the purpose of illustration and as an aid to understanding, and are not intended as a definition of the limits of the invention. Best Mode(s) for Carrying Out the Invention Detailed Description of the Preferred Embodiment The embodiment of the present invention consists of an airborne TDEM survey system 10. The TDEM survey system 10 includes an aircraft 12 and a tow assembly 14. Fig. 1 illustrates an aircraft 12 that is a helicopter, however, other aircraft such as airplanes having desirable take-off and landing attributes from a geological survey perspective could also be used. It should be understood that in one aspect of the present invention the tow assembly 14 is separate from the aircraft 12 but then attached thereto by a suitable attachment means. Provided that the flexible frame discussed below is provided, the tow assembly 14 could be integrated with an aircraft 12 to produce a geological surveying aircraft including a tow assembly 14 in accordance with the present invention. The tow assembly 14 of the present invention generally includes a flexible frame 15, as illustrated in Fig 2. The flexible frame includes a transmitter section 16 and a receiver section 18. In accordance with the present invention, the receiver section 18 is in most implementations substantially disposed in the center of the transmitter section 16. This generally provides the optimal geometry referred to above.
    - 14 One aspect of the present invention is the ease in which the tow assembly 14 can be assembled, disassembled and therefore transported from one location to another. Another aspect of the present invention is that the flexible frame 15 overall can be adjusted in terms of its size to suit for particular applications. To this end, the transmitter section 16, in a particular implementation of the present invention, as shown in Fig. 4, consists of a substantially octagonal support frame 20. The support frame 20 consists of a plurality of substantially tube sections 22. As best shown in Figure 5a, the various tube sections at the corners are interconnected by means of elbow sections 24. The tube sections 22 can consist of a single piece, or multiple pieces that can be interconnected. The tubing used in the present invention consists of composite material tubing such as fiberglass or Kevlar. Alternatively, the components (described below) of the support frame 20 can be made of carbon fiber for increased strength, preferably with non-conductive areas along the length of one or more of the components to avoid the anomaly that would be caused by a complete conductive loop. One embodiment of the support frame 20 of the present invention described consists of tube sections 22 and elbow sections 27 whereby adding additional tube sections 22 or multiple pieces together providing one of the tube sections 22, as well as additional elbow sections 24, provides a support frame 20 having a greater surface area. It should be understood that tube sections 22 and elbow sections 24 can be added or removed to increase or decrease the surface area. While the support frame 20 shown in the Figures has an octagonal shape, it should be understood that the present invention also contemplates support frames 15 having other polygonal shapes, although a polygonal shape approximating a circular shape is generally preferred. It should be understood that the modular pieces together providing the support frame 20 can be modified to provide a support frame 20 having a substantially circular profile. Also, in applications of the present invention where -15 transportation and adjustment of the size of the flexible frame 15 is not required, the support frame can be provided in a single unitary construction, as opposed to the modular construction described above. It should be understood that the construction of the support frame 20 described herein enables a relatively large surface area while the support frame 20 of the present invention is also relatively lightweight. By way of example only, it was found that the construction described herein easily permitted an increase of the transmitter loop diameter (or more than) up to 26 meters while permitting maneuvering of the aircraft 10 with the tow assembly 14 in tow. The support frame 20, as best shown in Fig. 3, is suspended using rope 26 from its corners (in the polygonal construction thereof). In a circular construction of the support frame 20, the support frame 20 would be suspended by rope at substantially equidistant points along the circumference thereof. The rope 26 is then attached to a central tow cable in a manner that is known. The support frame 20 bears a known multi-turn transmitter coil 28 so as to provide the transmitter function of the transmitter section 16. In the embodiment of the invention shown in Fig. 3, the transmitter coil 28 is strung along the bottom of the support frame 20 by attaching the transmitter coil from multiple points along the support frame 20 by a suitable from of attachment. Alternatively, the transmitter coil 28 can be disposed inside the support frame 20. In another aspect of the support frame construction of the present invention, the invention also provides flexibility in the ability to make changes in receiver loop turns and loop area, and also by adding receiver coils in other axes, without change to the disclosed tow assembly 14 configuration. In accordance with the embodiment of the present invention, a known electronic transmitter driver 32 that feeds the transmitter coil 28 is installed in the aircraft 12. The transmitter driver 32 is connected to the -16 transmitter coil 28 as illustrated in Figure 8. This connection is generally provided by wiring the transmitter coil 28 to the transmitter driver 32 along the central tow cable and at least one of the ropes 26 supporting the support frame 20. The flexible frame 20 also includes a stabilizer as shown in Fig. 1. The stabilizer 36, as best shown in Fig. 6, generally has a stabilizer frame 37 that supports an aerodynamically shaped stabilizer tube 38. The stabilizer 34 is generally made of plastic and is connected to the support frame 20 at a point by means of a suitable attachment. In an embodiment of the present invention, as best shown in Fig. 4, a series of tension ropes 40 are attached to the support frame 20 at various points and then connected to a central hub 42. In the particular embodiment of the support frame 20 shown in Fig. 4, having an octagonal shape, the tension ropes 40 are attached to the corners of the support frame 20. As best shown in Fig. 4, the receiver section 18 also consists of a plurality of interconnected receiver tube sections 44 together providing a receiver frame 45. These receiver tube sections 44 are also made of plastic and are similar in construction to the tube sections 22 and elbow sections 24 that provide the structure of the support frame 20 in the particular embodiment thereof described herein. The tube sections 44 generally provide, however, a receiver section 18 having a much smaller surface area than that of the receiver section 18 or support frame 20. As best shown in Figure 5a, the various receiver tube sections 44 are interconnected by means of receiver elbow sections 46. Much as in the case of the support frame 20, the receiver frame 45 has a modular construction whereby additional receiver tube sections 44 and receiver elbow sections 46 may be added to provide a receiver frame 45 having a greater or lesser surface area. Also similarly, the receiver frame 45 can in accordance with the present invention be provided in accordance with alternative polygonal structures or in fact a circular structure. In addition, a unitary construction as opposed to a modular construction may be desirable.
    - 17 In accordance with one embodiment of the present invention, the receiver frame 45 is mounted on the tension ropes 40 by leading the tension ropes 40 through a series of loops 48 disposed on the receiver frame 45 as best shown in Fig. 4. The receiver frame 45 is provided with a sensor coil 50. In accordance with an embodiment of the present invention, the sensor coil 50 is disposed inside a shell 52 disposed inside the receiver frame 45, as shown in Figs. 5b and 5c. The shell 52 consists of plastic tubing similar to the tubing of the receiver tube sections 44 and receiver elbow sections 46, but having a smaller circumference. In addition, the shell 52 is elastically suspended using a series of elastics 54 (one shown only) attached to points 54 along the inner wall of the receiver frame 45 tubing and elastically supporting the shell 52. The sensor coil 50, in turn, is elastically supported by a series of elastics 54 (one shown only) attached to points 56 along the inner wall of the shell 52. The elastic suspension of the sensor coil 50 inside the shell 52 minimizes the effect of vibration. In one particular embodiment of the present invention, the sensor coil 50 output is connected to a non linear preamplifier 63 mounted in a box on the shell 52 outer surface (not shown). This is illustrated in Figure 8. The result of the above is that metallic parts except wires and the preamplifier 63 are generally concentrated in the aircraft 12 far enough from field generating and the sensitive components of the flexible frame 12. This results in relatively small parasitic eddy currents whereby useful signals dominate. A further result of the tow assembly construction described above, is that the tow assembly consists generally of the tubular fiberglass parts described above whereby generally more than a half of the bird weight belongs to transmitter coil wires.
    -18 Generally a transmitter coil 30 having relatively thick wires with low resistance that can reach higher intensity of the transmitting magnetic field is used. Of course, the overall weight must not exceed values that would otherwise unduly burden the aircraft 12 or negatively affect maneuverability. In addition to the fiberglass or carbon fiber tubing, the tow assembly 14 uses the ropes as discussed above. This reduces the need for additional plastic or metal spokes. The ropes reduce air drag and allows for higher flight speed. As best illustrated in Figure 8, the system of the present invention also includes a signal-processing computer 58. The computer 58 includes a known analog to digital converter device (ADC) 60. The output of the preamplifier is connected in sequence to a known amplifier 62, low pass filter 64 and then the ADC 60, in a manner that is known. The ADC converts the analog data produced by the sensor coil 50 and preamplifier in combination to produce digital data for digital conversion as described below. The signal from the sensor coil 50, which is proportional to dB/dt, goes through the amplifier 62 and low pass filter 62. The ADC 60 continuously converts the signal to digits. The computer 58 includes a microprocessor (not shown) and is linked to a memory. A computer program 66 is installed on the computer 58 for analyzing the digital data to produce the survey data illustrated in Fig. 7. The computer program can produce arbitrary output waveforms including square, trapezoidal and triangular waveforms in order to meet the particular survey requirements. The computer program 66 also permits pulse repetition rate to be dynamically altered to lower repetition rates being more suitable for very conductive targets or higher for less conductive targets. Figure 9 illustrates the resources of this computer program. The sensor coil 50 parameters define the necessary sensitivity so that the signal does not exceed the input range of the non linear preamplifier. The preamplifier 63 is a differential amplifier with a specially designed, fast recovery, non-linear gain. In relation to the TDEM process, the - 19 differential amplifier has a higher linear gain of the signal within a set range equal to the expected measurement signal level with the pulse off and turns the amplified signal to unity gain when the signal exceeds this limit during the "on" pulse. In that way the preamplifier limits output voltage during "ON TIME" pulse and provides low distortion and has fast recovery and high gain during off time. This in turn allows the sensor coil 50 to be placed in the optimal position in the center of the transmitting section 16 without the need for any bucking of the primary transmitted pulse. This then allows the use merely of vibration isolation of the sensor coil 50 (as described above) thus increasing our signal to noise ratio. By using the non-linear preamplifier method over the bucking method, a transmitter loop diameter and corresponding size of the support frame, as well as the number of loop turns can be selected to suit particular geological targets simply and on site. Alteration of these parameters in the context of a bucking system is generally discouraged because the bucking system would lose effectiveness in the advent of such alteration. Thus the bucking method is generally less flexible than embodiments of the present invention. In another aspect of the invention, the support frame 20 is also adapted to measure the signal during the on-time so as to provide in- phase information. This has been found to improve survey data, for example, in the case of ore bodies of relatively high conductance, for example, nickel. This is achieved by taking signal off of the transmitter coil 28, or alternatively a separate receiver coil is looped tightly to the transmitter coil for this purpose. In another aspect of the invention a current measuring unit (not shown) is added to the system of the present invention. The current measuring unit measures the residual currents circulating in the transmitter coil 28 during the "OFF" interval thereby enabling the system to minimize distortions caused by these residual currents to the earth response to the electromagnetic field pulse. This is especially important in the time -20 immediately after the transmit pulse when current leakage and current oscillations may exist for a short time. These currents cause errors in the received signals. One implementation of the current measuring unit consists of an air-core transformer and preamplifier which is then connected to an AD converter. The transformer is preferably designed like a Rogowski coil which includes wide dynamic and frequency ranges, high stability and linearity of its characteristics and easy calibration. The primary winding of the transformer is connected in serial with the transmitter coil so that the current flowing through the coil generates emf=M *dl/dt at the secondary winding of the transformer. The signal-processing computer 58 is connected to the transformer and therefore samples signal therefrom much as the receiver signal and uses this data for further correction of the receiver signal. In one particular implementation thereof the current measuring unit is housed in a box (not shown) and is mounted on the tow cable. Other modifications are possible. For example, additional receiver coils oriented in the X - axis and/or the Y - axis can be added. The use of a mechanically flexible relationship between the transmitter coil and the receiver coil. This simplifies and greatly reduces the necessary weight of the support structure as well as allowing the user to use a much larger loop diameter thus giving the system higher dipole moment. The ability to rotate the entire structure 90 degrees so that the transmitter file in the X-axis direction thus allowing for better detection of vertical conductive bodies. Modifications and variations such as would be apparent to a skilled addressee are deemed to be within the scope of the present invention.
    权利要求:
    Claims (34)
    [1] 1. A tow assembly for an airborne electromagnetic surveying system, comprising: a transmitter structure which is circular or approximates a circle and is formed from a plurality of frame members that are releasably secured together end to end, the transmitter structure providing a transmitter for generating an earthbound primary magnetic field; a suspension rope assembly and a tow cable for suspending the transmitter structure from an aircraft, the suspension rope assembly suspending the transmitter structure about a circumference thereof and having an end connected to the tow cable; and a central hub from which a plurality of tension cables extend to engage the transmitter structure at respective locations about a circumference thereof.
    [2] 2. The tow assembly of claim 1, wherein the frame members comprise a plurality of straight tubular sections and elbow tubular sections releasably connected together, the transmitter structure being polygonal in shape.
    [3] 3. The tow assembly of claim 1 or 2, wherein the transmitter structure includes a transmitter coil located inside the tubular sections.
    [4] 4. The tow assembly of any one of claims 1 to 3, comprising a receiver sensor supported by the tension ropes for sensing magnetic field signals.
    [5] 5. The tow assembly of any one of claims 1 to 4, wherein the receiver sensor includes a receiver coil that is substantially co-axial with the transmitter coil.
    [6] 6. The tow assembly of claim 5, wherein the receiver coil is substantially concentric with the transmitter coil.
    [7] 7. The tow assembly of any one of claims 1 to 6, wherein the frame members are interconnected by mating male-female connections.
    [8] 8. The tow assembly of any one of claims 1 to 7, wherein the transmitter structure is flexible. - 22
    [9] 9. The tow assembly of any one of claims 1 to 8, wherein the suspension rope assembly comprises connecting cables each having a first end suspending a respective circumferential portion of the transmitter structure and an opposite end connected to the tow cable.
    [10] 10. The tow assembly of any one of claims 1 to 9, wherein the tension cables are ropes.
    [11] 11. A method for providing a tow assembly for an electromagnetic airborne survey system at an assembly location, comprising: providing a plurality tubular sections; providing a transmitter coil for generating a primary magnetic field; providing suspension ropes and a tow rope; and assembling the tubular sections and the transmitter coil and the ropes to provide a tow assembly having a transmitter support frame that is circular or approximates a circle bearing the transmitter coil and formed from serially connecting the tubular sections, with the suspension ropes each having a first end connected to a respective location on a circumference of the transmitter support frame and a second end connected to a first end of the tow rope.
    [12] 12. The method of claim 11, wherein the tubular sections include straight sections and elbow sections and assembling includes interconnecting the straight sections with the elbow sections.
    [13] 13. The method of claim 11 or 12, comprising connecting a receiver sensor to cables secured to the transmitter support frame such that the receiver sensor is substantially concentric with the transmitter coil.
    [14] 14. The method of any one of claims 11 to 13, wherein the support frame is a polygonal shape approximating a circle and assembling includes suspending the corners of the transmitter support frame from respective first ends of the suspension ropes.
    [15] 15. The method of any one of claims 11 to 14, comprising providing tension cables, and wherein the assembling includes connecting first ends of the tension -23 cables to a central hub and second ends of each of the tension cables to a respective portion along a circumference of the transmitter support frame such that the tension cables provide rigidity to the transmitter support frame.
    [16] 16. A set of components for assembly to form a tow assembly for airborne electromagnetic geological surveying, comprising: a plurality of straight tube sections; a plurality of elbow sections; a transmitter loop; a plurality of suspension ropes; and a plurality of tension ropes; wherein the straight tube sections and elbow sections are adapted to interconnect to form a flexible polygonal support frame that approximates a circle and supports the transmitter loop internally within the support frame, and the tension ropes are adapted to each radially extend from a location central to the support frame to a respective portion of the support frame such that the support frame is engaged at spaced apart locations about a circumference thereof by the radially extending tension ropes, and the suspension ropes are each adapted to extend from a tow cable to a respective portion of the support frame such that the support frame can be suspended from the tow cable by the suspension ropes at spaced apart locations about the circumference of the support frame.
    [17] 17. The set of claim 16, comprising a transmitter driver, a receiver sensor and a data collection system, wherein the transmitter driver is adapted to be electrically connected to the transmitter loop to provide electrical pulses thereto, and the data collection system is adapted to receive signals from the receiver sensor representative of changes in magnetic field sensed by the receiver sensor, the receiver sensor being securable relative to the transmitter loop when the tow assembly is towed behind and aircraft.
    [18] 18. The set of claim 17, wherein the receiver sensor is adapted to be located approximately on a central axis of the transmitter loop when the tow assembly is towed behind and aircraft. - 24
    [19] 19. The set of claim 16 or 17, comprising an amplifier connected to amplify the signals from the receiver sensor that are received by the data collection system.
    [20] 20. The set of any one of claims 16 to 19, wherein the suspension ropes are connected at at least eight locations about the circumference of the support frame and the tension ropes are connected at at least eight locations about the circumference of the support frame.
    [21] 21. The set of any one of claims 16 to 20, wherein the suspension ropes are connected at at least twenty five locations about the circumference of the support frame and the tension ropes are connected at at least twenty five locations about the circumference of the support frame.
    [22] 22. The set of any one of claims 16 to 21, comprising a further set of straight tubular sections that are a different length than the set of straight tubular members, wherein the further straight tube sections adapted to interconnect with the elbow sections to form a further flexible polygonal support frame that approximates a circle having a different diameter than the flexible polygonal support frame.
    [23] 23. The set of any one of claims 16 to 22, wherein the tension ropes and the suspension ropes are formed from non-magnetic material.
    [24] 24. The set of any one of claims 16 to 23, wherein the straight tubular sections are formed from non-magnetic composite material.
    [25] 25. An airborne electromagnetic surveying system comprising: a flexible support frame comprising a plurality of tube sections interconnected to form a circular shape or a shape approximating a circle; a transmitter coil for generating an earthbound primary magnetic field, the transmitter coil being located within an internal passage defined within the flexible support frame; a set of ropes comprising a tow rope, suspension ropes and tension ropes, the suspension ropes each extending between the tow cable and a respective portion of the support frame for suspending the support frame from an aircraft, the tension ropes each extending radially from a region central to the support frame to a respective portion of the support frame; -25 a receiver sensor secured by at least one of the ropes in the set of ropes; a transmitter driver connected to drive the transmitter coil to produce the earthbound primary magnetic field; and a signal processing computer connected to receive signals generated by the receiver sensor that represent changes in a magnetic field sensed by the receiver sensor.
    [26] 26. The electromagnetic surveying system of claim 25, wherein the tube sections include straight tubular sections interconnected by elbow sections to form a polygonal shape that approximates a circular shape.
    [27] 27. The electromagnetic surveying system of claim 26, wherein sides of the polygonal shape are all substantially identical in length and the transmitter support frame is flexible.
    [28] 28. The electromagnetic surveying system of any one of claims 25 to 27, wherein the tubular sections are releasably connected together to facilitate assembly and disassembly of the transmitter support frame.
    [29] 29. The electromagnetic surveying system of any one of claims 25 to 28, comprising a central hub from which the plurality of tension ropes extend to engage the transmitter support frame at respective locations about a circumference thereof.
    [30] 30. The electromagnetic surveying system of any one of claims 25 to 29, wherein the receiver sensor is substantially co-axial with the transmitter coil.
    [31] 31. A tow assembly for an airborne electromagnetic surveying system substantially as hereinbefore described with reference to the accompanying drawings.
    [32] 32. A method for providing a tow assembly for an electromagnetic airborne survey system at an assembly location substantially as hereinbefore described with reference to the accompanying drawings.
    [33] 33. A set of components for assembly to form a tow assembly for airborne electromagnetic geological surveying substantially as hereinbefore described with reference to the accompanying drawings. - 26
    [34] 34. An airborne electromagnetic surveying system substantially as hereinbefore described with reference to the accompanying drawings.
    类似技术:
    公开号 | 公开日 | 专利标题
    AU2013205468B2|2016-06-16|Airborne Electromagnetic Time Domain System, Computer Product and Method
    RU2557370C2|2015-07-20|Compensating coil and system for measurements of b-field and device for time-interval electromagnetic measurements
    US8030933B2|2011-10-04|Double-suspension receiver coil system and apparatus
    AU2008201557B2|2012-12-13|Airborne electromagnetic | survey system
    US9645274B2|2017-05-09|Airborne electromagnetic system with rigid loop structure comprised of lightweight modular non-rotational frames
    AU2007202492B2|2010-03-25|Airborne Electromagnetic Time Domain System, Computer Product and Method
    US5467019A|1995-11-14|Method and apparatus for balancing the electrical output of the receiver coils of an induction logging tool by use of a slidable magnetic rod for eliminating direct coupling
    AU2012200671A1|2012-03-01|Airborne Electromagnetic Time Domain System, Computer Product and Method
    AU2012204041B2|2013-06-20|Airborne electromagnetic | survey system
    同族专利:
    公开号 | 公开日
    CN101067660A|2007-11-07|
    RU2007123135A|2008-12-27|
    CA2794179C|2016-03-22|
    AU2009243419C1|2016-09-01|
    RU2383905C2|2010-03-10|
    AU2013205468B2|2016-06-16|
    AU2003286017B2|2009-12-17|
    CA2794179A1|2004-05-20|
    CN1714303A|2005-12-28|
    US20050001622A1|2005-01-06|
    CA2450155C|2012-12-18|
    RU2454684C2|2012-06-27|
    CA2450155A1|2004-05-20|
    AU2009243419B2|2012-02-23|
    CN1327247C|2007-07-18|
    WO2004046761A1|2004-06-03|
    AU2009243419A1|2009-12-24|
    US7157914B2|2007-01-02|
    BR0316408A|2005-10-11|
    USRE42217E1|2011-03-15|
    AU2003286017A1|2004-06-15|
    RU2005119284A|2006-05-27|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US2027438A|1933-09-19|1936-01-14|Karl Heinrich|Sanitary preserving can|
    GB899606A|1957-10-24|1962-06-27|Int Nickel Canada|Electromagnetic prospecting apparatus|
    US3105934A|1960-01-05|1963-10-01|Selco Exploration Company Ltd|Method and apparatus for the remote detection of ore bodies utilizing pulses of short duration to induce transient polarization in the ore bodies|
    US3169045A|1960-05-20|1965-02-09|Du Pont|Dodecahydrododecaborate compounds|
    US3325778A|1965-08-13|1967-06-13|Sanders Associates Inc|Seismic sonobuoy|
    GB1140950A|1966-08-02|1969-01-22|Barringer Research Ltd|Instrument supporting system|
    US3978396A|1968-11-06|1976-08-31|Trw Inc.|Method and apparatus for measuring electromagnetic conductivity of a medium and for detecting anomalies therein|
    SE419269B|1979-11-29|1981-07-20|Boliden Ab|PROCEDURE AND DEVICE FOR DETERMINATION OF THE ELECTRICAL POWER FORM OF THE MARK|
    PL133163B1|1981-06-10|1985-05-31|Instytut Gornictwa Naftowego Gaz|Method of and airborne system for directly exploring deposits of hydrocarbons|
    SU1347065A1|1985-03-27|1987-10-23|Сыктывкарский Государственный Университет Им.50-Летия Ссср|Device for airborne electric prospecting|
    US5119028A|1990-04-26|1992-06-02|Grumman Aerospace Corporation|Method and system for determining the depth of an electrically conductive body in a medium having a known conductivity and a known permeability by measuring phase difference between a primary and secondary magnetic field|
    CA2109118C|1991-05-06|2001-12-18|Peter John Elliott|Airborne transient electromagnetic method with ground loops|
    CA2187952A1|1996-10-16|1998-04-16|Richard Stephen Taylor|Apparatus for airborne electromagnetic surveying|
    ZA9811489B|1997-12-19|1999-06-18|Anglo Amer Corp South Africa|Airborne electromagnetic system|
    CA2232105C|1998-03-13|2008-08-26|Bernard Kremer|Helicopter towed electromagnetic surveying system|
    US6529007B2|1999-08-04|2003-03-04|Ellen Ott|Temperature compensation for ground piercing metal detector|
    CA2420806A1|2002-03-06|2003-09-06|Raymond Macklin Whitton|Method and apparatus for a rigidly joined together and floating bucking and receiver coil assembly for use in airborne electromagnetic survey systems|
    RU2201603C1|2002-05-27|2003-03-27|Государственное федеральное унитарное предприятие Сибирский научно-исследовательский институт геологии, геофизики и минерального сырья|Facility for aerogeophysical survey |MXPA06012363A|2004-04-28|2007-03-26|Anglo Operations Ltd|Helicopter electromagnetic prospecting system.|
    ZA200803410B|2005-10-17|2009-07-29|Anglo Operations Ltd|Method and apparatus for conducting electromagnetic exploration|
    US7681831B2|2006-12-14|2010-03-23|Geotech Airborne Limited|Suspension net for airborne surveying|
    CA2584037A1|2007-04-05|2008-10-05|Fugro Airborne Surveys Corp.|Airborne electromagneticsurvey system|
    US7948237B2|2008-02-25|2011-05-24|Geotech Airborne Limited|Large airborne time-domain electromagnetic transmitter coil system and apparatus|
    US8674701B2|2008-02-25|2014-03-18|Geotech Airborne Limited|Airborne electromagnetic transmitter coil system|
    US8030933B2|2008-05-09|2011-10-04|Geotech Airborne Limited|Double-suspension receiver coil system and apparatus|
    US20090284258A1|2008-05-14|2009-11-19|Geotech Airborne Limited|Airborne geophysical survey using airship|
    US8400157B2|2008-08-29|2013-03-19|Geotech Airborne Limited|Bucking coil and B-field measurement system and apparatus for time domain electromagnetic measurements|
    WO2010071990A1|2008-12-23|2010-07-01|Geo Equipment Manufacturing Ltd.|Multiple receiver coil system for geophysical prospecting|
    BRPI0918198A2|2008-12-23|2015-12-08|Geotech Airborne Ltd|'' geophysical scanning system and method ''|
    US10024995B2|2009-01-29|2018-07-17|Schlumberger Technology Corporation|System and method for elevated source to borehole electromagnetic survey|
    WO2010105337A1|2009-03-17|2010-09-23|Geo Equipment Manufacturing Limited|Geophysical prospecting using electric and magnetic components of natural electromagnetic fields|
    CN102770784B|2009-10-23|2016-06-08|吉欧泰科航空物探有限公司|The towing assembly of geophysical exploration is carried out for Fixed Wing AirVehicle|
    US9372275B2|2009-11-27|2016-06-21|Geotech Airborne Limited|Receiver coil assembly with air and ferromagnetic cored sensors for geophysical surveying|
    WO2011063510A1|2009-11-27|2011-06-03|Geo Equipment Manufacturing Ltd.|Receiver coil assembly for airborne geophysical surveying with noise mitigation|
    US8456159B2|2010-01-15|2013-06-04|Vale S.A.|Stabilization system for sensors on moving platforms|
    WO2012119254A1|2011-03-07|2012-09-13|Geotech Airborne Limited|Monitoring the dipole moment vector of an airborne electromagnetic survey system|
    CA2739630A1|2011-05-06|2012-11-06|Novatem Inc.|Vehicular system for pulse type electromagnetic geophysical prospecting, method for manufacturing the system and corresponding detection methods|
    US10191175B2|2011-06-24|2019-01-29|Skytem Survey Aps|Method and system for mapping a geological structure of a formation on one side of a surface using magnetic moments of different values|
    DK177341B1|2011-06-24|2013-01-28|Bubioil Aps|Method and system for mapping a geological structure of a formation on one side of a surface using magnetic moments of different values|
    AR087347A1|2011-07-26|2014-03-19|Vale Sa|PNEUMATIC DEVICE FOR VIBRATION AMORTIGUATION|
    CA2854871C|2011-11-08|2020-04-14|Fugro Canada Corp.|Airborne electromagnetic system with rigid loop structure comprised of lightweight modular non-rotational frames|
    US9817147B2|2012-08-17|2017-11-14|Cgg Data Services Ag|Airborne electromagnetic system with large suspension coil assembly|
    CN102854536B|2012-09-27|2015-09-30|南京丹海电子科技有限公司|Five bar type length of side adjustable type sea cable exploring antenna battle array and detection methods thereof|
    AU2013323090A1|2012-09-28|2015-04-30|Cgg Data Services Ag|Multiple receivers for airborne electromagnetic surveying|
    US9297922B2|2013-03-21|2016-03-29|Vale S.A.|Bucking circuit for annulling a magnetic field|
    AU2014253658B2|2013-04-15|2017-02-02|Nrg Exploration Cc|Transmitter coil system for airborne surveys|
    US10018745B2|2013-12-11|2018-07-10|Geotech Ltd.|Monitoring the dipole moment vector of an airborne electromagnetic survey system|
    RU2646963C1|2014-02-28|2018-03-12|Экшн Коммьюникейшн|Towed through the air platform for the aircraft, containing the means of correction of the situation, and the corresponding node of the coupling device|
    DK178046B1|2014-02-28|2015-04-13|Selskabet Af 6 April 2010 Aps|Airborne Electromagnetic Survey System with Aerodynamic Frame Segments; and Methods of Surveying using Such|
    DK178049B1|2014-03-17|2015-04-13|Selskabet Af 6 April 2010 Aps|Airborne Electromagnetic Survey System with Multiple Transmitter Arrangements|
    AU2015201655B2|2014-04-07|2020-01-02|Cgg Services Sa|Electromagnetic receiver tracking and real-time calibration system and method|
    RU2557354C1|2014-04-17|2015-07-20|Федеральное Государственное Унитарное Предприятие "Сибирский Научно-Исследовательский Институт Геологии, Геофизики И Минерального Сырья"|Apparatus and method for aerophysical survey|
    US10042075B2|2014-05-12|2018-08-07|Cgg Services Sas|Low-frequency receiver coil suspension system|
    CA2911807A1|2014-11-05|2016-05-05|Alan Vowles|Airborne geophysical survey system|
    CN104443415B|2014-11-27|2017-11-28|湖南航天远望科技有限公司|A kind of aviation transient electromagnetic coil carrying structure|
    US20180267193A1|2014-12-16|2018-09-20|Geotech Ltd.|Electromagnetic survey system bucking system enhancement|
    AU2015268581B2|2015-02-11|2021-09-02|Cgg Services Sa|Apparatus for airborne geophysical prospecting using both natural and controlled source fields and method|
    CA2937199A1|2015-07-23|2017-01-23|Jose Manuel Martinez Ortega|Apparatus for airborne and ground electromagnetic prospecting and method thereof|
    US10252800B1|2015-10-23|2019-04-09|ScanTech Industries, Inc.|Aerial drone deployed non-destructive evaluation scanner|
    CN105824049A|2016-03-21|2016-08-03|哈尔滨飞机工业集团有限责任公司|Hanging-type helicopter time domain aeromagnetic detection pod|
    RU2629705C1|2016-04-19|2017-08-31|Закрытое акционерное общество "Аэрогеофизическая разведка"|Method of high-precise electromagnetic sensings and device for its implementation|
    CN106199741B|2016-07-04|2017-12-08|哈尔滨工业大学|A kind of pod propulsion time domain aviation transient electromagnetic exploration system based on lightweight gas tube supporting construction|
    CN106199739A|2016-07-05|2016-12-07|吉林大学|A kind of nuclear magnetic resonance, NMR water detector discharger and detection method|
    CN107102367B|2017-04-24|2018-01-05|吉林大学|A kind of helicopter prepolarizing field magnetic resonance hydrocarbon exploration device and detection method|
    US10920585B2|2017-12-26|2021-02-16|Saudi Arabian Oil Company|Determining sand-dune velocity variations|
    RU184730U1|2018-08-29|2018-11-07|Федеральное государственное автономное образовательное учреждение высшего образования "Национальный исследовательский Томский государственный университет" |SOURCE OF A LOCALIZED MAGNETIC FIELD|
    US10845498B2|2018-11-06|2020-11-24|Saudi Arabian Oil Company|Drone-based electromagnetics for early detection of shallow drilling hazards|
    CN110333538B|2019-07-25|2020-07-31|成都理工大学|Indoor semi-aviation transient electromagnetic investigation technology physical simulation test device|
    RU203234U1|2020-05-12|2021-03-29|Общество с ограниченной ответственностью "ПЛАЗ"|AEROMAGNETOMETER|
    法律状态:
    2016-10-13| FGA| Letters patent sealed or granted (standard patent)|
    2017-08-03| PC| Assignment registered|Owner name: GEOTECH LTD. Free format text: FORMER OWNER(S): GEOTECH AIRBORNE LIMITED |
    优先权:
    申请号 | 申请日 | 专利标题
    US42757702P| true| 2002-11-20|2002-11-20||
    US60/427,577||2002-11-20||
    AU2009243419A|AU2009243419C1|2002-11-20|2009-11-30|Airborne Electromagnetic Time Domain System, Computer Product and Method|
    AU2013205468A|AU2013205468B2|2002-11-20|2013-04-12|Airborne Electromagnetic Time Domain System, Computer Product and Method|AU2013205468A| AU2013205468B2|2002-11-20|2013-04-12|Airborne Electromagnetic Time Domain System, Computer Product and Method|
    [返回顶部]