A method for tracing odor of unmanned aerial vehicle based on 3D_Z_spiral upwind algorithm

Abstract

The invention discloses a method for tracing the odor of an unmanned aerial vehicle based on a 3D_Z_spiral upwind algorithm. The method comprises the following steps: adopting an anemometer to measurewind direction; and combining real-time gas concentration monitored by a multi-rotor unmanned aerial vehicle with algorithm logic upwind to search odor source. Specifically, an oblique motion (Z motion) biased to the upwind direction is performed for the unmanned aerial vehicle (UAV), and enough field source concentration across the entire odor source pollution area is obtained; after flying outof the foul-smelling contaminated area, the unmanned aerial vehicle (UAV) began to do a spiral motion (Spiral) and returned to the foul-smelling contaminated area; then move in a straight line (Surge)against the wind to find the source of the stench. Unmanned aerial vehicles (UAVs) continue to repeat the above three movements, gradually approaching the current plane odor pollution sources. The UAV descends to a certain altitude (3D) when it finds what is believed to be the current planar odor source. And the descending position as a new plane tracing the origin of the starting point, repeat the above three movements, to find the source of odor. Until the UAV descends to the lowest permissible altitude and finds the source of the odor at that altitude plane, it stops moving and assumes thelocation of the source of the odor is found.

Description

technical field [0001] The invention relates to an unmanned aerial vehicle-based odor traceability method, which belongs to the field of multi-rotor unmanned aerial vehicles and atmospheric environment monitoring. Background technique [0002] Odor pollution is a common environmental pollution and one of the seven major environmental hazards recognized in the world. Stench refers to a general term for various odors (odors) that make people feel unpleasant. When the concentration of malodorous substances in the environment reaches a certain level, it not only affects the quality of life of residents, but also directly endangers people's health in severe cases. Some foul-smelling substances can irritate the human respiratory tract and affect the physiological functions of the cardiovascular and cerebrovascular organs, resulting in reduced judgment and memory and reduced work efficiency. Some of these aromatic compounds may also cause human body deformation and canceration, an...

AI Technical Summary

Problems solved by technology

The Spiral Surge algorithm can find the odor source more accurately, but the traceability movement path is biased towards the odor source, and may fall into a local optimum, and cannot fully obtain the information of the odor source field.

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