Multi-unmanned aerial vehicle cooperative malodor source tracing method based on particle swarm optimization

Abstract

The invention discloses a multi-unmanned aerial vehicle cooperative malodor source tracing method based on particle swarm optimization. The method comprises: setting a suspected malodor pollution source area through an artificial olfactory method, dividing the suspected malodor pollution source area into multiple sub-areas according to the number of unmanned aerial vehicles, measuring a wind direction through a wind direction measuring instrument so that the unmanned aerial vehicle can conveniently search into the wind, the search efficiency is improved, the number of particle swarms is reduced and a cost is reduced, transmitting information to the ground center of the PC end through the unmanned aerial vehicles through wireless transmission modules to exchange information, continuously updating positions of the unmanned aerial vehicles through the ground center of the PC end based on particle swarm optimization, transmitting the novel position information to the unmanned aerial vehicles, continuously updating the position information through the unmanned aerial vehicles so that the unmanned aerial vehicle gradually approaches the pollution source, and when the unmanned aerial vehicle continuously hovers at a certain position, a circle with the radius of about 1 m is formed and the gas sensor concentration of each unmanned aerial vehicle is higher than a certain threshold, andjudging and researching a malodor pollution source.

Description

technical field [0001] The invention relates to a multi-unmanned aerial vehicle cooperative stench source tracing method, which belongs to the field of multi-rotor UAV and atmospheric environment monitoring. Background technique [0002] Odor refers to a particularly unpleasant odor. With the rapid development of industrialization in recent years, due to the large amount of waste gas and wastewater discharged by enterprises, the treatment of odor gas is rarely considered. Odor pollution will affect human health and environmental protection. cause serious harm. For example, in Kawasaki City, Japan, there were three consecutive stench pollution incidents in 1961, all of which were caused by a company discharging a waste oil containing mercaptans. The stench spread for more than 20 kilometers, causing most people to faint on the spot, nausea, vomiting, eye pain and so on. Therefore, the location of odor pollution sources is of great significance to human safety and environmen...

AI Technical Summary

Problems solved by technology

However, the mobile monitoring station positioning method is slow and expensive; the grid automatic detection method covers a small area and the positioning accuracy is not high

In recent years, many scholars have tried to use single or multiple ground robots to search for odor pollution sources. However, the robots are affected by the complex environment on the ground, with slow positioning speed and small coverage. Currently, they are limited to the experimental stage.

There are also scholars who install gas sensors in each direction of a single UAV, and use the concentration gradient algorithm to locate the pollution source. However, due to the air being stirred by the propeller of the rotor UAV, there are large errors in the sensor detection data in all directions, and it is easy to fall into a local optimum. Excellent, and a single drone takes a long time

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