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The exploration target at different depths through the ground-airborne frequency domain electromagnetic method (GAFDEM) is detected by transmitting waveforms at different frequencies. When taking these different depths into detail, arbitrarily distributed frequencies are needed. However, the current transmitting waveforms are mostly in a fixed frequency ratio or frequency difference, which fails to meet the requirements of exploration accuracy and efficiency at the same time. Therefore, as a solution to this problem, this paper proposes a transmitting waveform design method based on selective harmonic eliminated pulse width modulation (SHEPWM) technology. In the SHEPWM method, three transmitting waveforms with the desired spectrum are obtained by directly controlling the switching angles of a binary sequence with an artificial neural network algorithm. Firstly, our study puts forward the basic theories and principles of the full-periodic asymmetric SHEPWM waveform. Secondly, the study, through simulation, realizes the pseudorandom, depth-focused, and layer-identification waveform with different detection depths. Finally, the application of the proposed SHEPWM waveform to the geological survey in Kaili City, Guizhou Province, proves the correctness and feasibility of this proposed method. [ABSTRACT FROM AUTHOR]