Abstract
The Sikorsky Cypher unmanned aerial vehicle (UAV) was selected as the initial aircraft to be tested as a platform for the geophysical sensors that will be used to detect underground structures as part of the U.S. Department of Energy's Underground Facilities Program. Site inspections will require rapid coverage of areas that may be several square kilometers in size and may be hazardous or difficult to traverse in ground vehicles. The Cypher is a small donut‐shaped helicopter that can transport an 11‐kg sensor payload at hover or at speeds up to 80 km/hr. Several modifications and upgrades have been made in the avionics and flight‐control software of the aircraft, including high‐accuracy differential GPS and software for autonomous surveys. To date, the aircraft has been tested as a platform for cesium total‐field magnetometers and an electromagnetic induction sensor. In several field tests, including surveys of two underground structures at the Nevada test Site, magnetometer arrays have been effective in ...
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