Since the 1950s, Tolles-Lawson-based aeromagnetic compensation methods have been used to separate an aircraft's magnetic signal from signal associated with ground geologic and cultural features. This is done by performing a high-altitude figure-of-merit (FOM) flight and fitting the band-pass-filtered magnetic data to determine compensation parameters. This paper describes a supervised hybrid recurrent neural network (HRNN) algorithm trained on low-altitude survey data to perform aeromagnetic compensation. The proposed HRNN attitude compensation method can be employed for aeromagnetic surveys where traditional FOM and compensation are not possible. It has particular relevance for surveying via uninhabited aircraft systems (UAS). Firstly, the HRNN was tested on data from a fixed-wing airplane survey, and the results were compared to hardware-based compensation results. The standard deviation of the difference between the two methods for magnetic attitude correction (MAC) was 0.1 nT for the training region and 0.4 nT for the application region, respectively. Secondly, a UAS FOM flight at the highest permitted altitude in Canada, 120 m above ground level, showed similar improvement ratios for software-based least squares (LS) and the proposed HRNN algorithm of 3.5 and 2.6, respectively. The percent change and deviation in differences in MACs from LS to HRNN was 0.0% and 0.9 nT across small-box loops and –2.7% and 0.4 nT across large-box loops. Finally, LS and the proposed HRNN algorithm were applied to a 50 m altitude UAS data set for which no FOM flight was possible. LS did not successfully model aircraft noise, whereas the HRNN demonstrated effective removal of the magnetic signal due to aircraft attitude variations. The modeled HRNN MAC had a standard deviation of 2.4 nT.

This paper presents a direct platform-to-platform comparison of ground, helicopter, and unmanned aircraft system (UAS) magnetic data acquired over a 4.96 km2 prospective gold area in the Abitibi Greenstone Belt of the Canadian Precambrian Shield. Qualitative comparison focused on visual inspection of residual and gradient magnetic maps, focusing mainly on features associated with iron formations. Quantitative comparison employed maps of cell-by-cell absolute difference, percent difference, and coherence, as well as three global image similarity parameters: the structural similarity index, the mean squared error, and the peak signal-to-noise ratio. The qualitative comparison revealed that lateral continuity along the dominant E–W structural geological trend was better captured in the ground and UAS data than in the helicopter data. The UAS data had the additional advantage over the ground data of having undergone minimal processing. The quantitative comparison metrics were the same between all three datasets. This study showed that UAS technology is delivering the same data quality as traditional survey techniques in addition being an attractive economic and safety choice.

We present an analysis of 503 topographic profiles taken across 40 ENE‐WSW trending wrinkle ridges from Southern Eistla Regio, Venus, using stereo‐derived topography. We find that their average widths and heights are on the order of 10 km and 100 m, respectively. While the majority of the wrinkle ridges are asymmetric and display vergence to the southeast, some are quasi‐symmetric, possibly representing pop‐up structures, and possess multiple peaks along the backslope, potentially indicating the presence of secondary backthrust faults. Fault geometry modeling in which the average observed wrinkle ridge topographic profile is matched to the calculated surface deformation while varying various faulting parameters indicates that the wrinkle ridges studied have dips of 30°, penetrate to depths of 5 km or less, are blind and reach to within 2 km of the surface, have accommodated approximately 200 m of slip, and possess a planar geometry. These results imply that the wrinkle ridges formed through a thin‐skinned deformation style. The spacing and distribution of the wrinkle ridges at a regional scale displays a clear relationship between wrinkle ridge deformation and lithospheric properties. We therefore conclude that the distribution of wrinkle ridges in the study area is a direct reflection of the regional strain which, in turn, is a result of mantle dynamics coupled with lithospheric thickness. The accumulation of contractional deformation expressed as wrinkle ridges appears to be the result of mantle downwelling along the peripheries of Eistla Regio.

A hexacopter unmanned aircraft system instrumented with a caesium vapour magnetometer recorded total magnetic intensity over a 5.0 km2 prospective gold area in the Abitibi Subprovince of the Canadian Precambrian Shield. The survey also included a N–S repeatability line which showed that the unmanned aircraft system was very stable in flight with average standard deviations from nominal altitude and easting being 1.8 m and 0.7 m, respectively. The total magnetic intensity map revealed the structural framework of the banded iron formations present in the survey area and showed that the gold ore zones are not directly associated with magnetic highs but rather with steeply dipping faults. The total magnetic intensity data was inverted in 3-D using unconstrained and constrained approaches with 12.5 m (northing) × 12.5 m (easting) × 5 m (depth) cells and a maximum of 20 iterations. The processed (after diurnal corrections, heading correction, and tie-line levelling) total magnetic intensity data was input directly in the unconstrained inversion algorithm. Initial model building for the constrained inversion was a much more laborious process involving the inclusion of 15 synthetic structures based on borehole magnetic susceptibility measurements and knowledge of the local geology. The results of both inversion approaches were very similar. They revealed the presence of near-vertical thin sheets, individually resolvable down to approximately 400 m. In this particular case, the straightforward unconstrained inversion yielded a realistic and detailed model of the subsurface in approximately 1 h of runtime. Unmanned aircraft system total magnetic intensity data could therefore be processed and inverted almost immediately after acquisition and have an impact on decisions made in the field while a survey is still in progress.

Magnetic interference source identification is a critical preparation step for magnetometer-mounted unmanned aircraft systems (UAS) used for high-sensitivity geomagnetic surveying. A magnetic field scanner was built for mapping the low-frequency interference that is produced by a UAS. It was used to compare four types of electric-powered UAS capable of carrying an alkali-vapour magnetometer: (1) a single-motor fixed-wing, (2) a single-rotor helicopter, (3) a quad-rotor helicopter, and (4) a hexa-rotor helicopter. The scanner's error was estimated by calculating the root-mean-square deviation of the background total magnetic intensity over the mapping duration; averaged values ranged between 3.1 and 7.4 nT. Each mapping was performed above the UAS with the motor(s) engaged and with the UAS facing in two orthogonal directions; peak interference intensities ranged between 21.4 and 574.2 nT. For each system, the interference is a combination of both ferromagnetic and electrical current sources. Major sources of interference were identified such as servo(s) and the cables carrying direct current between the motor battery and the electronic speed controller. Magnetic intensity profiles were measured at various motor current draws for each UAS, and a change in intensity was observed for currents as low as 1 A.

Natural Resources Canada (NRCan) is responsible for the provision of aerial radiometric surveys in the event of a radiological or nuclear emergency in Canada. Manned aerial surveys are an essential element of the planned consequence management operation, as demonstrated by the recovery work following the 2011 Tohoku earthquake and tsunami, and their effects in Fukushima, Japan. Flying lower and slower than manned aircraft, an unmanned aerial vehicle (UAV) can provide improved spatial resolution. In particular, hot spot activity can be underestimated in manned survey results as the higher flight altitude and wider line spacing effectively average the hot spot over a larger area. Moreover, a UAV can enter an area which is hazardous for humans. NRCan has been investigating the inclusion of UAV-borne radiation survey spectrometers into its aerial survey response procedures. The Advanced Radiation Detector for UAV Operations (ARDUO) was developed to exploit the flight and lift capabilities available in the under 25kg class of UAVs. The detector features eight 2.8cm x 2.8cm x 5.6cm CsI(Tl) crystals in a self-shielding configuration, read out with silicon photomultipliers and digitized using miniaturized custom electronics. The ARDUO is flown on a main- and tail-rotor UAV called Responder which has a 6kg lift capacity and up to 40min. endurance. The performance of the ARDUO-Responder UAV system was characterized in both lab and outdoor trials. Outdoor trials consisted of aerial surveys over sealed point sources and over a distributed source. Results show how the directional response of the ARDUO can provide an indication in real time of source location for in-flight guidance. As well, the results show how use of the directional information in post-acquisition processing can result in improved spatial resolution of radiation features for both point and distributed sources.

Fluvial erosion is usually assumed to be absent on Venus, precluded by a high surface temperature of ~450 °C and supported by extensive uneroded volcanic flows. However, recent global circulation models suggest the possibility of Earth-like climatic conditions on Venus for much of its earlier history, prior to catastrophic runaway greenhouse warming. We observe that the stratigraphically oldest, geologically most complex units, tesserae, exhibit valley patterns morphologically similar to the patterns resulting from fluvial erosion on Earth. Given poor topographic resolution, we use an indirect technique to recognize valleys, based on the pattern of lava flooding of tesserae margins by adjacent plains volcanism. These observed valley patterns are attributed to primary geology, tectonic deformation, followed by fluvial erosion (and lesser wind erosion). This proposed fluvial erosion in tesserae provides support for climate models for a cool, wet climate on early Venus and could be an attractive research theme for future Venus missions.

Byrne and R.C. Ghail Department of Earth Sciences, Carleton University, Ottawa, Canada, Faculty of Geology and Geography, Tomsk State University, Tomsk, Russia, Department of Construction Engineering, École de Technologie Supérieure, Montréal, Canada, Department of Marine, Earth, and Atmospheric Sciences, North Carolina State University, Raleigh, USA, Department of Earth Sciences, Royal Holloway University of London, Egham, United Kingdom

Large areas of bedrock in Canada, such as in the interior plateau of British Columbia, are covered by a thick glacial overburden. Lateral variations in overburden thickness can create spurious anomalies in gravity data. These anomalies can be of a size and amplitude similar to those associated with mineral bodies and can be mistaken for them. A methodology is introduced that corrects gravity data for changes in overburden thickness through the use of a bedrock topography map created by integrating information from a helicopter transient electromagnetic survey with geological survey data, well water data, and gravel pit locations. The approach is tested for a 68 km × 38 km area in the prospective Nechako interior plateau of British Columbia, Canada. The methodology extends the traditional Bouguer corrections by taking into account the gravitational contribution of the overburden. Results show that the capability of an airborne survey to detect a change in overburden thickness depends primarily on survey line spacing and to a lesser extent on the level of random noise in the gravity data. The bedrock topography correction has the capability of removing the gravitational attraction of overburden for the purpose of revealing, through interpretation, geological structures in the gravity data that originate from the bedrock and are otherwise concealed.

Structural mapping of rock walls to determine fracture orientation provides critical geological information in support of mining operations. A helicopter-style UAS (rotor diameter 2 m; take-off mass 35 kg; payload mass 11 kg) instrumented with a high-resolution LiDAR imaged a 75 m long and 10–15 m high series of four adjacent rock walls at the Canadian Wollastonite mine. A point cloud with a density of 484 point/m2 acquired at an angle of incidence of ∼41.7° from a flight altitude of 41.7 m above ground level was selected for structural mapping. The point cloud was first meshed using the Poisson surface reconstruction method and then remeshed to achieve an even element size distribution. Visualization of the remeshed Poisson mesh using a 360° hue–saturation–lightness colour wheel highlighted areas of higher fracture density, whereas visualization using a 180° colour wheel accentuated sliver-like geological features. Two joint sets were identified at 156/82 and 241/86 (strike/dip in degrees). A total of 18 virtual strike measurements and 13 virtual dip measurements were within 10% of manual compass measurements. This study demonstrated that the task of structural mapping of large rock walls can be automated by processing 3D images acquired with a LiDAR mounted on a UAS.

TUBE AT LAVA BEDS NATIONAL MONUMENT, CALIFORNIA. S. Mallozzi, C. Samson, F.A. Monteiro Santos, M. Cunningham, S. Holladay, R. Léveillé, R. Ernst, Carleton University, Department of Earth Sciences, Ottawa, ON, Canada K1S 5B6; skyler.mallozzi@carleton.ca, École de Technologie Supérieure, Département de Génie de la Construction, Montreal, QC, Canada H3C 1K3, IDL-University of Lisbon, Department of Earth Sciences, Lisbon, Portugal, Gensensors Inc., Toronto, ON, Canada, M4S 2Y3, McGill University, Department of Earth and Planetary Sciences, Montreal, QC, Canada H3A 2A7, Tomsk State University, Faculty of Geology and Geography, Tomsk, Russia.

Bethell, R. E. Ernst, and C. Samson. Department of Earth Sciences, Carleton University, 1125 Colonel By Dr, Ottawa, ON, Canada, K1S 5B6; erinbethell@cmail.carleton.ca, Faculty of Geology and Geography, Tomsk State University, Lenin Ave, 36, Tomsk, Tomskaya Oblast’, Russia, 634050 Department of Construction Engineering, École de Technologie Supérieure, 1100 Notre-Dame St W, Montréal, QC, Canada, H3C 1K3.

Two methods for low-altitude calibration of a single-rotor unmanned aircraft system using a real-time compensator are tested: (1) a stationary calibration where the unmanned aircraft system executes manoeuvres while hovering in order to minimize ambient field changes due to the local geology; and (2) an adapted box calibration flown in four orthogonal directions. Both methods use two compensator-specific limits derived from established methods for manned airborne calibration: the lowest frequency used by the compensator for the calibration algorithm and the maximum variation of the ambient magnetic intensity experienced by the unmanned aircraft system during calibration. Prior to flying, the unmanned aircraft system was magnetically characterized using the heading error and fourth difference. Magnetic interference was mitigated by extending the magnetometer-unmanned aircraft system separation distance to 1.7 m, shielding, and demagnetization. The stationary calibration yielded an improvement ratio of 8.595 and a standard deviation of the compensated total magnetic intensity of 0.075 nT (estimated Figure-of-Merit of 3.8 nT). The box calibration also yielded an improvement ratio of 3.989 and a standard deviation of the compensated total magnetic intensity of 0.083 nT (estimated Figure-of-Merit of 4.2 nT). The stationary and box calibration solutions were robust with low cross-correlation indexes (1.090 and 1.048, respectively) when applied to a non-native data set.

Abstract. We propose a methodology for the systematic preparation and processing of interferometric synthetic aperture radar (InSAR) data for monitoring linear transportation infrastructure subject to geohazards. The methodology is applied to two RADARSAT-2 Spotlight synthetic aperture radar datasets, and three case studies in Cornwall, Eastern Ontario, Canada, are examined. An InSAR processing sequence was established and 19 SLA24 and 15 SLA74 images were used to create time-series deformation maps spanning from March 2015 to September 2016. The noise floors were ±1.5 and ±1.0  cm, for the SLA24 and SLA74 datasets, respectively. Phase unwrapping errors, atmospheric path delay, and the limited number of images were identified as the largest contributors to measurement uncertainty, which was of the same order as the ground deformation field. To improve coherence and utility of the radar images for monitoring the effects of geohazards on infrastructure, it is recommended that imagery acquisitions consider the use of small incidence angles with moderate image resolution and 6- to 12-day revisit periods.

We present a 1:2,500,000 geological map of the Alpha Regio (V-32) quadrangle, Venus. The V-32 quadrangle extends from 0 degrees to 25 S, 0 degrees to 30 degrees E with an area of approximately 7,600,000 km(2). Geological mapping was conducted using full resolution (maximum 75 m/pixel) SAR, altimetry and stereo-derived topography data from NASA's Magellan mission in ArcGIS 10.5. Nearly 40,000 lineaments were mapped. The oldest unit, tessera terrain, is present in two major regions: Alpha Regio and Minu-Anni Tessera. Two major fracture belts, both oriented approximately NNW-SSE, and four minor fracture belts have been identified and characterized. Two previously unrecognized wrinkle ridge trends of radiating and circumferential orientation have also been identified in the northeastern corner of the quadrangle. A total of 77 geological units were mapped. Plains material, previously mapped as global regional plains units, was divided into 27 units. Earlier estimates of the diameters of several coronae have been extended by hundreds of kilometres.

This study tested the feasibility of using 3-D laser imaging to measure the bulk density of iron meteorites. 3-D laser imaging is a technique in which a 3-D model of an object is built after aligning and merging individual detailed images of its surface. Assuming that the mass of the object is known, the volume of the model is calculated by software and an estimate of bulk density can be obtained by dividing mass by volume. The 3-D laser imaging technique was used to determine the density of 46 fragments from 11 different iron meteorites. The technique proved to be robust and was applied successfully to study samples ranging close to four orders of magnitude in mass (8g to 156kg) and exhibiting a variety of surface textures (e.g., cracks, regmaglypts), reflectivities (e.g., polished surfaces, fusion crust, rust), and morphologies (e.g., sharp angular edges, shrapnel tendrils). Three metrics were considered to estimate the error associated with density measurements: the range accuracy of the laser camera, image alignment error, and inter-operator variability during model building. Inter-operator variability was the largest source of error and was highest when assembling models of samples which either lacked distinctive features or were very complex in shape. Excluding two anomalous Zagora samples where silicate inclusions might have lowered density, the densities measured using 3-D laser imaging ranged from 6.98 to 7.93gcm(-3), consistent with previous studies. There is overlap between bulk density and iron meteorite class, and therefore bulk density cannot be used in isolation as a classification criterion. It is a good indicator, however, of weathering effects and of the potential presence of low-density inclusions.