Method for detecting direction of source of three dimensional odor loaded on unmanned rotorcraft

Abstract

The invention relates to a method for detecting the direction of the source of three dimensional odor loaded on unmanned rotorcraft. An inertia measuring unit and a magnetometer are installed on the center of an unmanned rotorcraft, odor sensors are evenly arranged on a circumference, the center of the unmanned rotorcraft is also the center of the circumference, a particle filter frame is adopted, each particle is taken as a virtual odor source and continuously releases virtual odor packs; by comparing the odor sensor signal time delay and volatility variance caused by the odor packs with the actually measured signal time delay and volatility variance, the likelihood of each particle can be obtained; in each calculation period, the weights of particles are updated according to the likelihood, the weight of a particle is larger, if the likelihood of the particle is higher; in odor to trace the direction of the source of odor in real time, in each calculation period, the sampling is carried out for another time, the particles with too small weights are eliminated, the particles with too large weights are cracked, and the direction of the odor source is the weighted vector sum of position vectors of each particles.

Description

technical field [0001] The invention relates to an odor detection device, in particular capable of sensing the direction of a three-dimensional odor source. Background technique [0002] With the development of industrialization, vicious accidents caused by sudden toxic gas leakage occur frequently, causing heavy casualties and property losses, severely damaging the ecological environment, and even causing social panic and other problems. Therefore, the detection of toxic and harmful odor leakage sources is of great significance. [0003] Detection devices for odor sources can be classified into passive and active. Passive detection equipment means that the detection equipment does not have the ability to move independently, and the detection process requires manual participation; active detection equipment can move independently to find the source of the smell. At present, the commercial hand-held combustible / toxic gas detector {patent CN200810059559.6}, which is mainly r...

AI Technical Summary

Problems solved by technology

But the weak point of this invention is that it can only detect the direction of the smell source on the two-dimensional plane, and cannot obtain the height information of the smell source, and must be used in a windy environment. In addition, because it is a handheld device, When a toxic and harmful gas leakage event occurs, the operator needs to hold the device to go deep into the contaminated area, which is a potential hazard to the health of the operator

However, the results in this direction are still in the stage of two-dimensional (ground) odor source search {patent CN200810054299.3}, the mobile robot used is a ground wheeled robot, and the search environment is generally limited to a structured environment, which is not suitable for three-dimensional Environment and complex terrain

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