One of the steps to provide fundamental data for planning a mining effort is the magnetic surveying of a target area, which is typically carried out by conventional aircraft campaigns. However, besides the high cost, fixed‐wing aerial vehicles present shortcomings especially for drape flights on mountainous regions, where steep slopes are often present. Traditional human‐crewed flights have to perform tedious and dangerous trajectories, under strict velocity and attitude constraints. In this paper, we deal with the problem of accomplishing digital magnetic‐elevation maps using autonomous and cooperative aerial robots. The proposed approach for autonomous mapping utilizes a custom‐built fluxgate sensor and off the shelf cameras adapted for small airborne platforms. We also propose an innovative approach for generating a digital magnetic‐elevation model from the gathered data. Our method was evaluated and validated in field tests in an industrial scenario to detect scrap metals in ore piles. Results show that the proposed method could reliably detect magnetic anomalies while generating accurate three‐dimensional magnetic maps.

中文翻译：

---

小型自动航空机器人的协作式数字磁高图

提供用于计划采矿工作的基础数据的步骤之一是对目标区域的磁性勘测，这通常是通过常规的飞机战役进行的。但是，除了成本高外，固定翼飞机还存在一些缺点，特别是对于经常出现陡坡的山区悬垂飞行。传统的人工飞行必须在严格的速度和姿态约束下执行繁琐而危险的航迹。在本文中，我们处理使用自主和协作的空中机器人来完成数字磁高图的问题。拟议的自主制图方法利用定制的磁通门传感器和适用于小型机载平台的现成相机。我们还提出了一种创新的方法，可以根据收集的数据生成数字磁高模型。我们的方法在工业场景下的现场测试中进行了评估和验证，以检测矿石堆中的废金属。结果表明，该方法能够可靠地检测出磁异常，同时生成精确的三维磁图。