Geotech Geol Eng (2020) 38:71–78
https://doi.org/10.1007/s10706-019-00999-7 (0123456789().,-volV)
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ORIGINAL PAPER
Application of Double GPS Multi-rotor UAV
in the Investigation of High Slope Perilous Rock-Mass
in An Open Pit Iron Mine
Xinghui Wu . Qifeng Guo . Jie Zhang
Received: 3 March 2019 / Accepted: 6 May 2019 / Published online: 13 July 2019
Ó Springer Nature Switzerland AG 2019
Abstract In the survey of high slope perilous rock-
mass in open-pit iron mine, the traditional unmanned
aerial vehicle (UAV) can overcome the shortcomings
of high difficulty and high risk factor in artificial
geological exploration. However, it is very easy to be
disturbed by the magnetic field of iron ore due to its
orientation with magnetic compass, which makes the
work unable to carry out normally. In order to solve
the above problems, the UAV with dual-GPS
equipped with laser radar can resist the magnetic field
interference to a large extent and scan the high slope.
By means of field experiment and point cloud data
post-progressing, a set of application method of dual
GPS multi-rotor UAV laser measurement technology
was proposed for geological survey of high slope
perilous rock under the interference of magnetic field.
The preliminary conclusions are also obtained: the
dual GPS combined orientation method makes the
multi-rotor UAV not affected by the iron ore magnetic
field and can fly normally according to the flight route.
At the same time, the airborne LiDAR technology can
X. Wu  Q. Guo (&)  J. Zhang
Key Laboratory of Ministry of Education of China for
High Efficient Mining and Safety of Metal Mines,
University of Science and Technology Beijing,
Beijing 100083, China
e-mail: qifeng_024@163.com
X. Wu  Q. Guo  J. Zhang
Civil and Resource Engineering School, University of
Science and Technology Beijing, Beijing 100083, China
realize the long-distance and fast acquisition of the
valid terrain data of high-slope dangerous rock mass.
Through the fuzzy clustering method (FCM), the joint
system of outcrop rock-mass is automatically recog-
nized and categorized based on point cloud data
captured. The plane normal vector of fitting structural
surface and structural surface occurrence can then be
acquired. The normal vector of structural surface and
the occurrence of structural surface can be obtained by
substituting calculation. The occurrence of the slope
and the shape of the structural surface was further
drew into the stereographic projection map in order to
determine the dominant joint group which affects rock
slope stability.
Keywords Double GPS orientation  Unmanned
aerial vehicle (UAV)  Airborne LiDAR  High slope 
Occurrence of rock-mass
1 Introduction
In the last few years, with the continuous development
of advanced technology in the field of science and
technology, drone technology has also made break-
throughs in industries such as agriculture, energy,
public safety, construction and infrastructure. UAV
remote sensing technology is an indispensable part in
the topographic survey of water conservancy dams,
high-steep mine slopes and highways. Because in the
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steep mountains or high-pitched pits, complex terrain
and geological conditions limit the survey of survey-
ors, the normal mapping work has to rely on UAV
remote sensing technology. However, the flight of the
UAV is not unrestricted. The geomagnetic field in the
metal mine and the electromagnetic field in the power
line have a great influence on the flight of the UAV. In
addition, to complete the terrain scanning work, not
only the UAV, but also a set of advanced remote
sensing measurement equipment and a practical high-
slope dangerous rock mass investigation method is
needed.
The researches and applications on UAV anti-
magnetic interference technology in open-pit mines
have not started at home and abroad until recent years.
But most of them are researches on anti-electromag-
netic field or generalized geomagnetic field,
researches on magnetic field in open-pit metal mines
are still insufficient.
On the basis of differential positioning using
DGPS, Lei et al. (2017) proposed a multi-rotor UAV
magnetic interference detection technology based on
track deviation. When the multi-rotor UAV is dis-
turbed by the magnetic field, its flight path will deviate
from the preset route; in order to improve the
reliability of Power Patrol Inspection and ensure the
safety of the UAV and the circuit, Tianru et al. (2018)
proposed to use Ansoft Maxwell geomagnetic field
simulation software to calculate the electromagnetic
field intensity around the transmission line, and took
the medium-sized electric patrol UAV as an example
to analyze its endurable electromagnetic field intensity
range, then put forward the equation of safe flight
distance of UAV and finally determined its safe flight
distance. Chen et al. (2018) analyzed the mechanism
of soft and hard magnetic interference and established
a magnetic interference model, added forgetting
factors to revise the conventional least square method
to restrain the effect of magnetic field change on the
estimation of magnetic compensation parameters and
then proposed a recursive least square online magnetic
compensation method combined with forgetting fil-
ters. Chenlin et al. (2018) proposed a compensation
method of magnetic field measurement error based on
particle swarm optimization to solve the problems of
magnetometer error and carrier magnetic interference
in the measurement process.
Xiujun (2015) studied the application of three-
dimensional spatial impact technology in topographic
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Geotech Geol Eng (2020) 38:71–78
survey, and processed massive point cloud data,
summarized the work flow of geological cataloguing
based on three-dimensional spatial image technology.
Jiang et al. (2013) proposed to optimize the traditional
geological survey method by using three-dimensional
laser scanning technology, and achieve quantitative
analysis of dangerous rock mass relying on mature
data processing software. Li et al. (2012) proposed to
use three-dimensional laser scanner to obtain high-
density point cloud coordinate data of high slope,
establish the surface model of high slope, and extract
the occurrence and geometric information data of rock
mass structure based on point cloud data. Jie et al.
(2013) proposed to identify rock mass structural
surfaces exposed by slope based on LiDAR scanning
technology and fuzzy clustering analysis to obtain
geometric information of structural surfaces.
Aiming at the problem that the traditional UAV
cannot measure dangerous rock mass of high slope in
open-pit iron mine and the low manual operation
efficiency, this paper proposes a method of combining
dual GPS combined orientation technology, airborne
LiDAR laser scanning technology and stereographic
projection analysis of structural surface. The technical
route of the method is mainly composed of three parts:
1. Based on the dual GPS combined orientation
technology, the UAV is loaded with LiDAR flight
operations without being affected by the magnetic
field;
2. Obtaining information on the structural surface of
the dangerous rock mass by scanning the high
slope with airborne LiDAR;
3. Determine the dominant structural surface of the
main slope stability by using the stereographic
projection analysis method.
2 Dual GPS Combined Orientation Technology
Conventional UAV typically use a magnetic compass
and a single GPS combination for orientation and
positioning. The magnetic compass module can be
used to distinguish the geographical orientation of the
nose (to the north, how much north by east, etc.), but
the magnetic compass is susceptible to interference of
geomagnetic field, electromagnetic field and metal;
GPS is used to determine the vertical height and
horizontal distance from the take-off point. However,
Geotech Geol Eng (2020) 38:71–78
according to the above analysis, such a UAV orien-
tation method will be affected by the magnetic field in
the open-pit iron mine, and the heading angle will
change irregularly. At the same time, the topographic
environment of the high-steep slope of the open-pit
iron mine is quite complicated, and the magnetic field
distribution is irregular, so it is impossible to plan a
route that can avoid the influence of the magnetic field.
Therefore, multi-rotor UAVs in open-pit iron mines
are suitable with dual GPS combination for directional
flight (Meiping et al. 2013).
2.1 The Principle of Dual GPS Combined
Orientation
In the three-dimensional space coordinate system, the
coordinates of the unknown point can be determined
by knowing the coordinates of the three points and the
distance from the three points to an unknown point.
Equivalent to three spheres, if the position and radius
of the center of the sphere are determined, then the
intersection points of the three spheres are determined.
GPS positioning is based on this principle, as shown in
Fig. 1.
In GPS positioning, three known points are equiv-
alent to three satellites, and the distance from the
unknown point to the three known points is equivalent
to the distance from the GPS receiver to the three
satellites. The GPS receiver receives the information
from satellite, and can obtain the position information
from the satellite, and uses the information to calculate
the spatial coordinates of the satellite. The distance
from the satellite to the GPS receiver can be multiplied
by the speed of the electromagnetic wave multiplied
by the time difference between the time the ranging
signal leaves the satellite and the time it takes to reach
the GPS receiver, that is, P = c * (t1 - t2). Because
Fig. 1 The Principle of GPS Positioning
73
electromagnetic waves are affected by the ionosphere,
the atmosphere and so on during the propagation
process (U-blox 2002), this distance is not the real
distance and is generally called pseudo-range
measurement.
In theory, the position of the GPS receiver can be
determined by knowing the position of the three
satellites and the distance from the GPS receiver to the
three satellites. In fact, there are errors in the timing of
the GPS receiver and the satellite. When determining
the position of the GPS receiver, it is necessary to
introduce a time difference parameter as a reference.
Generally, four satellites are used to solve the
coordinates of the GPS receiver. This is why there
are no fewer than four satellites flying UAVs in GPS
mode (Lu et al. 1993).
The observation of Dual GPS receivers can be
divided into two categories: one for pseudo-range
observation and carrier phase observation, which can
be directly used for heading angle measurement. The
baseline vector consisting of two GPS antennas on the
arm of the Rotor UAV is mainly used to measure the
heading angle. The two antennas conFig.d on the UAV
body are used to determine in real time the heading
angle of the baseline vector composed of the antennas
relative to the reference coordinate system. If the
installation angle of the baseline vector in the carrier
coordinate system is known, the heading angle
parameter of the carrier coordinate system relative to
the reference coordinate system can be obtained
(Tianru et al. 2018; Chen et al. 2018)
2.2 The Influence of Dual GPS Signals
in the Magnetic Field of Open-Pit Iron Ore
In general, GPS signals may be affected by the
following conditions: 1, sunspots; 2, weather factors
(severe weather may reduce the signal strength, but
generally does not affect the positioning); 3, electro-
magnetic interference (radio and strong magnetic
fields will produce different degrees of interference);
4, shelter (buildings, vehicles, sheathing paper). For
topographic survey operations in open pit mines, the
strength of GPS signals directly affects the directional
positioning and measurement data accuracy of UAV
flight operations.
The interference of the magnetic field on the UAV
can be divided into three cases. According to the
interference situation of the aircraft, the magnetic field
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interference can be divided into mild magnetic field
interference area, moderate magnetic field interfer-
ence area and severe magnetic field interference area.
The mild magnetic field interference area only inter-
feres with the magnetic compass, and other indicators
are normal; the moderate magnetic field interference
area not only interferes with the magnetic compass,
but also affects the signal between the UAV and the
remote controller or the GPS signal connection
between the UAV and the satellite; the severe
magnetic field interference area not only interferes
with the magnetic compass, but also affects the signal
between the UAV and the remote controller and the
GPS signal connection between the aircraft and the
satellite.
Through the above classification of the interference
magnetic field, the dual GPS orientation technology
can realize the high-precision flight of the UAV in the
mild magnetic field interference area. The iron ore of
open-pit iron ore is a kind of raw ore with a certain
grade. According to statistics, the grade of raw ore in
China is less than 50%, which means that most of the
iron ore is rock. Only a small part of the iron
concentrate in the whole open-pit iron ore mine will
form a disturbing magnetic field. At the same time, the
distribution of iron concentrate in the iron ore deposit
is relatively uniform, so the open-pit iron ore can be
classified as a mild magnetic field interference area,
and the UAVs equipped with dual GPS can fly in open-
pit iron ore.
3 Application Research of Airborne LiDAR
Technology in Dangerous Rock Mass
Investigation
This field test is the Sijiaying Iron Mine in Luanxian
County, Tangshan City, Hebei Province. The iron ore
in the mining area is produced in the pre-Sinian
granulite, which belongs to the Anshan-type sedimen-
tary metamorphic iron ore deposit and is part of the
Jidong vein. The ore deposit is mainly composed of
oxidized ore and magnetite, and the grade of the
original ore is about 30%. The total reserves of ore
resources are large, which is one of the three major
iron ore mines in China and has a certain representa-
tiveness in China’s open-pit iron ore.
At present, the minimum production elevation of
the No.2 stope of Sijiaying Iron Mine is - 172 m, and
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Geotech Geol Eng (2020) 38:71–78
the maximum slope height has reached 240 m; the
minimum elevation of No.1 stope is - 157 m, and the
maximum height of the slope is 200 m, which belongs
to high slope. The identification and measurement of
the dangerous rock mass structural surface of the high
slope by using the UAV with the laser radar system is
helpful to select reasonable treatment methods for the
dangerous rock mass.
3.1 Airborne LiDAR System and Application
The airborne LiDAR is the AS-100 UAV laser radar
scanning system in this project. The system mainly
includes: Velodyne laser scanner, inertial navigation
system, GNSS antenna and Polyworks, Copre, Copro-
cess processing software, etc. The UAV used this time
is a modified dual GPS combined directional multi-
rotor UAV.
The airborne LiDAR system has a range of
3-100 m, a measurement speed of 300,000/s and a
measurement accuracy of 3 cm. The general operation
flow for 3D point cloud using UAV-airborne LiDAR
are: on-site exploration, area determination, route
planning, take-off preparation, take-off operations,
data acqisition, and point cloud data post processing.
The flight operation area is determined as the lower
part of the ore body on the east side of the No. 1 stope
of the mine, mainly located on the slope of the area
between N18 and N28, and the slope height is over
200 m. The rock layers are distributed from top to
bottom as Quaternary, quartz sandstone and muscovite
schist. The thickness distribution of Quaternary rock
formations ranges from ten meters to twenty meters.
The quartz sandstone is mainly distributed on the slope
of the area above N18 (6 m) line of the east side of the
stope, and the upper part is severely weathered. When
the biotite granulite is weakened by water, the
development intensity of jointed fissures in most areas
is reduced. After long-term weathering, the fracture is
severe, and it is easy to produce shallow landslides in
shallow layers. The east side is closer to the east new
river. In 2014, the diaphragm wall project was carried
out on the east side of the stope, and the water plugging
effect was obvious after the implementation of the
project. Most of the areas in this area do not rely on the
slope, only the slope above N26-N28 line-42 m is
basically near the boundary. At present, the N26 line
flood control pipeline is 80 m wide and the 50 m high
slope is completed with anchor cable and lattice
Geotech Geol Eng (2020) 38:71–78
reinforcement. The slope rock mass area is the key
investigation object.
3.2 Point Cloud Data Processing
The UAV flies along the route shown in Fig. 2 through
the dual GPS combined orientation. During the flight,
the magnetic compass does not have any effect on the
orientation due to the influence of the magnetic field.
The conversion of the heading angle relies entirely on
the dual GPS combined orientation technology. In
addition, the Inertial Navigation System of Lidar has
positioning function for the laser radar itself. The point
cloud scanned can be calculated by using the coordi-
nates recorded by the inertial navigation system and
the ground control points, and the coordinates of the
topographic point cloud can be obtained.
3.2.1 3D Point Cloud Coordinates and Geodetic
Coordinates
In the field exploration, 6 target points are measured in
the scanning area by total station or GPS, and the
geodetic coordinates of the target point are recorded.
The point cloud data scanned by the airborne LiDAR
are grouped into rock mass discontinuities by the
fuzzy K-means clustering algorithm through the
Fig. 2 The Planning of Route
75
Polyworks software (Jie et al. 2013). The correspond-
ing target points are found in the process and the
geodetic coordinates are imported. In the scanning
point cloud coordinate system, the X axis corresponds
to the E direction, the Y axis corresponds to the N
direction, and the Z axis corresponds to the vertical H
direction. The software can obtain the transformation
matrix between point cloud coordinates and geodetic
coordinates by coordinate transformation fitting. The
picture of topographic point cloud in scanning area
and coordinate fitting table are shown in Fig. 3 and
Table 1. By fitting the coordinate deviation, the
average fitting deviation can be 23 cm, and the
accuracy is centimeter. Generally, it is in accordance
with the engineering requirements when the dimen-
sion of dangerous rock is meter, so it can be proved
that the fitting accuracy meets the requirements of high
slope dangerous rock investigation. It also reflects that
the dual-UAV GPS combined orientation technology
can be used for directional flight without being
affected by the open-pit iron ore magnetic field.
3.2.2 Size Measurement of Dangerous Rock Mass
The high-slope dangerous rock mass is generally in a
high-steep and steep position, and it is difficult to carry
out on-the-spot measurement by artificial, and thus it
is impossible to accurately grasp the geometrical
dimensions of the dangerous rock mass. The terrain of
the mine slope is complex and the pit is deep, which
makes it impossible for some dangerous rock mass to
be scanned even with a non-contact laser three-
dimensional scanner. The UAV can scan the danger-
ous rock mass with airborne LiDAR without restric-
tion of terrain. The dangerous rock mass size,
Fig. 3 The Point Cloud Map of High Slope Terrain
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Table 1 Result of Point of target Coordinate X/m Y/m Z/m

Coordinates Fitting
Point 1 P1 649,630.663 4,395,295.360 8.285
D1 649,630.263 4,395,295.360 8.185
D1 0.40 0 0.10
Point 2 P2 649,634.663 4,395,286.481 8.203
D2 649,634.652 4,395,286.351 8.183
D2 0.01 0.13 0.20
Point 3 P3 649,663.502 4,395,335.186 - 14.181
D3 649,663.261 4,395,335.006 - 14.581
D3 0.241 0.180 0.40
Point 4 P4 649,666.436 4,395,328.609 - 15.113
D4 649,666.026 4,395,328.409 - 15.303
D4 0.41 0.20 0.19
Point 5 P5 649,651.428 4,395,312.176 - 2.330
D5 649,651.118 4,395,311.876 - 2.570
D5 0.31 0.30 0.24
Pi is the point cloud Point 6 P6 649,645.685 4,395,341.519 - 4.356
coordinate; Di is the D6 649,645.355 4,395,341.209 - 4.596
geodetic coordinate; Di is D6 0.33 0.31 0.24
the fitting deviation

coordinate information, fitting structural surface, etc. Next, the coordinate information xi, yi, and zi
can be accurately obtained by analyzing the point derived from the fitting of each structural surface are
cloud data. The coordinates of J1, J2 and J3 structural substituted into the Eq. (1) to construct a system of
surface of dangerous rock mass in Fig. 3 are derived equations:
after fitting.
Axi þ Byi þ Czi þ D ¼ 0 ð2Þ
3.3 Digital High Slope Structural Surface where i C 4. The A, B, C, and D can be solved by four
Occurrence equations, so that the normal vector n of the structural
surface can be obtained. After the normal vector n is
The point cloud data and the rock mass structural obtained, the Eqs. (3), (4) and Eq. (5) for calculating
surface were preprocessed by Polyworks software. the occurrence of structural surface can be derived by
The fitted point cloud data is consistent with the actual using the definition of the rock mass structural surface.
slope spatial position, and the structural surface
produced by the point cloud data can be obtained by The angle between the trend line of the rock mass
 
mathematical methods. In the fitting structural surface 180  tan1 BA
and the normal line ¼
of Fig. 3, the obvious structural surface can be directly p
identified, and the calculation is performed by select- ð3Þ
ing three sets of dominant fractured structural pffiffiffiffiffiffiffiffiffiffi
surfaces. A2 þB2
180  tan1 jC j
To fit the plane of the selected structural surface, the Rock face structure dip ¼
p
fitted general Eq. (5) is:
ð4Þ
Ax þ By þ Cz þ D ¼ 0 ð1Þ
In the equation, A B C and D are plane equation
parameters and any three parameters cannot be zero at
the same time. Normal vector of the plane:n = [A B C]

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Table 2 Calculation Structural surface Fit plane equation parameters Structural surface
Results of Structural surface
Occurrence A B C Trend Tendency Inclination

J1 0.41 - 0.39 - 0.12 NE43.8° NW313.8° 78°

J2 - 0.82 - 0.80 0.30 SE135.5° NE45.5° 75°
J3 - 0.35 0.06 - 0.30 NE10° NW290° 50°

2
NE A [ 0; B [ 0; C [ 0
6 SW A [ 0; B [ 0; C\0
6
6 SE A [ 0; B\0; C [ 0
6
6 NW A [ 0; B\0; C\0
Structural tendency ¼ 6
6 NW
6 A\0; B [ 0; C [ 0
6 SE A\0; B [ 0; C\0
6
4 SW A\0; B\0; C [ 0
NE A\0; B\0; C\0
ð5Þ
In Eq. (5), E, S, W, and N are geographical
orientations of east, south, west, and north, respec-
tively. Generally, the slope structural surface is not
fully horizontally or vertically developed, so the plane Fig. 4 The Analysis of Stereographic Projection
equation parameters A, B, and C cannot be 1 or 0 under
actual conditions. the inclination angle is greater than that of slope, the
The parameter values of the A, B, and C plane slope is relatively stable, otherwise, it is more
equations obtained by the Eq. (2) are substituted into vulnerable to instability (QiZhu and Liwei 2013).
the Eqs. (3), (4), and (5) to obtain the specific In Fig. 4, the direction of the projection arc of the
occurrence of the structural surface. The calculation surface line of J2 structure surface is opposite to that of
results of the structural surface are shown in Table 2. the slope surface line (corresponding to the inverse
slope). From the perspective of geotechnical engi-
neering, the inverse slope is a stable slope. The
4 Judging the Dangerous Rock Mass Joint Group projection arc of the J3 structure is the same as that of
Based on Stereographic Projection Method the slope line (corresponding to the bedding slope), but
the projection arc of the structural surface is located
The calculated three sets of structural surface occur- within the curved concave shape of the slope line,
rences and slope occurrences are plotted in the which is the basically stable slope. The projection arc
stereographic projection, as shown in Fig. 4. The of the surface line of the J2 structural surface is the
spatial positional relationship between each group of same as that of the slope line (corresponding to the
structural surfaces and slopes can be determined by the bedding slope) (Yuren 2017), and the arc of the
stereographic projection map. It is assumed that the projected contour of the structure is located outside the
strain between the interior of the rock mass is not taken curved concave of the slope line. Because the incli-
into consideration, while the effects of other condi- nation angle is greater than the slope inclination of
tional forces are ignored, and only the effects of the nearly 45°, there is a possibility of slope toppling, so it
slip resistance and the sliding force of the rock mass is an unstable slope.
are considered. In geotechnical engineering, when the It can be seen from the above analysis that the
inclination of structural surfaces is opposite to that of structural surface J1 is the first dominant structural
slope, the slope is relatively stable; when the inclina- surface group of the high slope, and the structural
tion of structural surfaces is the same as that of slope, if surface is the dangerous rock mass which affects the
stability of the slope. Through the point cloud scanned

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by airborne LiDAR, the geometry and size of the
unstable dangerous rock mass can be mastered. In the
later stage of construction, treatment measures such as
slope cutting are taken to prevent the dangerous rock
from falling and collapse.
5 Conclusion
Starting from the principle of dual GPS combined
orientation technology, this paper proposes a method
of using a dual-GPS combined directional multi-rotor
UAV to carry out point cloud scanning on the open-pit
iron ore high slope with airborne LiDAR, and finally
obtain the occurrence of dangerous rock mass struc-
tural surface. After field trials and data distribution, the
following conclusions are drawn:
1. The dual-GPS combined directional light multi-
rotor UAV has flexible terrain adaptability, and
can perform high-efficiency high-slope topogra-
phy measurement on the iron ore magnetic field
that cannot be reached by traditional UAVs.
2. Based on the high-slope point cloud data obtained
by airborne LiDAR laser scanning technology, the
fuzzy clustering method is used to automatically
identify the structural surface of the dangerous
rock mass through PolyWorks software. Com-
pared with traditional 3D laser scanners or manual
measurements, it can be remotely controlled
without being affected by the terrain and the
height of dangerous rock mass, and no need for
personnel to go to the scene.
3. The calculated three sets of structural surfaces and
slope occurrences are plotted in the plan of
stereographic projection. Through the analysis,
the spatial position relationship between the
structural surface and the slope is obtained, and
the dominant structural surface J1 which plays a
leading role in the slope stability is judged, which
plays a reference role for the later engineering
construction.
The innovations of this article are: (1) In order to
solve the influence of the iron ore magnetic field on the
magnetic compass of the UAV, the multi-rotor UAV
was modified to change the magnetic compass orien-
tation to dual GPS orientation. (2) In order to solve the
problem that land-based lidar is not applicable to any
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Geotech Geol Eng (2020) 38:71–78
complex terrain, the airborne lidar is used to obtain the
structural surface appearance and the stability of the
dangerous rock mass is calculated.
Acknowledgements This work was supported by
Fundamental Research Funds for the Central
Universities(No.FRF-TP-18-015A3).
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