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Radioactive source positioning and intensity estimation method in mobile robot's nuclear environment

A mobile robot and radioactive source technology, applied in radiation intensity measurement and other directions, can solve the problems of locating radioactive sources and mobile robot source seeking, achieving high-precision and high-efficiency positioning, accelerating prediction convergence speed, and strong robustness

Active Publication Date: 2019-04-16
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention is to solve the problem that the mobile robot can neither find the source based on the gradient information nor locate the radioactive source through the regression algorithm under the condition of sparse accumulation measurement, and proposes a radioactive source positioning and intensity estimation method in the nuclear environment of the mobile robot

Method used

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  • Radioactive source positioning and intensity estimation method in mobile robot's nuclear environment
  • Radioactive source positioning and intensity estimation method in mobile robot's nuclear environment
  • Radioactive source positioning and intensity estimation method in mobile robot's nuclear environment

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specific Embodiment approach 1

[0032] Specific implementation mode one: the following combination figure 1 Describe this embodiment, the radioactive source positioning and intensity estimation method under a kind of mobile robot nuclear environment described in this embodiment, the specific steps of this method are:

[0033] Step 1. Under the particle filter estimation framework, the active particles collected by the sensor at the current measurement point are marked by setting the active range of the observation value, and the effective particle set of the sensor at the current measurement point is obtained;

[0034] Step 2, calculating the observation weight of each effective particle in the effective particle set;

[0035] Step 3, correcting the observation weight of the effective particle; obtaining the corrected weight of each effective particle;

[0036] Step 4, resampling the effective particles after correcting the weight;

[0037] Step 5. Randomly sow the resampled particles of the effective part...

specific Embodiment approach 2

[0042] Specific embodiment two: The present embodiment will be described below in conjunction with FIG. 2. This embodiment will further explain the radioactive source positioning and intensity estimation method in the nuclear environment of a mobile robot described in the first embodiment. In this embodiment, step 1 The specific method to obtain the effective particle set in is:

[0043] The effective particle set P' is calculated by formula (1):

[0044]

[0045] In the formula, the distance between the effective particle set P' and the sensor measurement point is d i The set of all active state particles within the range, and there is no obstacle between the active state particles and the measurement point, S i is the position information of the i-th measurement point of the sensor, i is a positive integer, Represents the position information of the jth predicted particle, p j represents the three-dimensional information of the jth predicted particle, Represents obs...

specific Embodiment approach 3

[0046] Specific embodiment three: This embodiment further explains the radioactive source positioning and intensity estimation method in the nuclear environment of a mobile robot described in embodiment two. In this embodiment, in step two, calculate the The specific method of observing the weight is:

[0047] Calculate and obtain each particle p through the weight calculation formula (2) j The weight w(p j t );

[0048]

[0049] In the formula, Represents the use of particles for sensors Jointly predict state points with other clustered radioactive sources The radiation intensity information of the radiation source at the measurement point; the radiation sources of the other clusters are the radiation field and the removal state point A radioactive source other than the radioactive source in which it is located; The subscript k of is the particle The label of the cluster state point to which it belongs, m(S i ) indicates that the sensor is at the measuring p...

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Abstract

The invention, which relates to the field of the spatial location and intensity information estimation of radioactive sources, provides a radioactive source positioning and intensity estimation methodin a mobile robot's nuclear environment, thereby solving problems that the mobile robot not only can not searching for the source based on the gradient information but also locate the radioactive source based on a regression algorithm. According to the invention, the involved algorithm is based on the particle filter framework, concepts of a measurement active range and a weight correction factorare introduced and a particle swarm is driven to move towards a true state based on a Poisson observation model; the particle weight is corrected by using Gaussian process regression and a sigmoid function, so that the predictive convergence of the particle group is accelerated; clustering processing is carried out on the state space by introducing a mean-lifting algorithm technology and the location of an effective radioactive source is identified and calculated rapidly. Therefore, high-precision and high-efficiency positioning of the radioactive source are realized; the robustness to the environmental radiation drift is high. The method is suitable for the radioactive source localization.

Description

technical field [0001] The invention belongs to the field of estimation of spatial position and intensity information of radioactive sources, and in particular relates to an online parameter estimation method of a mobile robot. Background technique [0002] Like other electromagnetic waves and radiation sources, radioactive sources transmit intensities in space with the law of inverse square distance. However, radioactive sources are difficult to detect and dispose of dangerous environments due to their great harm to the human body, obvious cumulative effects, and environmental radiation drift. The use of unmanned automation equipment equipped with radiation sensors has undoubtedly become the first choice for radioactive source location and radiation field detection. best choice. Research on the location of radioactive sources is mainly divided into two stages. The former stage is to use sensor arrays with known positions to complete the location and monitoring of radioacti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01T1/18
CPCG01T1/18
Inventor 王伟东杜志江高文锐
Owner HARBIN INST OF TECH
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