A method for collaborative tracing of odor sources by multiple aircraft based on suppression psychological function

Abstract

The present invention provides a method for tracing the source of odors by cooperating with multiple aircraft based on the repressive psychological function, which uses an aircraft formation equipped with small gas sensors to trace the source of odors in three-dimensional space, solving the contradiction between the limited endurance of aircraft and the large search area. The value of the repressive psychological function is mainly determined by the state function of the members of the aircraft formation and the state function of the aircraft itself, wherein the elements of the state function of the formation members are the number of aircraft, the distance between aircraft and the level of aircraft; and the elements of the state function of the aircraft itself are the flight distance of the aircraft and the remaining power of the aircraft. The larger the value of the repressive psychological function, the larger the dynamic radius of the aircraft, the more monitoring concentration information of neighboring aircraft can be obtained, and the higher the probability of tracing back to the source of odor. By building a three-dimensional concentration field, it is verified that the present invention can successfully locate the geographical location of the odor source, and the aircraft formation can avoid falling into the local optimal value of the odor source.

Description

Technical Field

[0001] The invention relates to the field of odor source positioning, and in particular provides a method for collaboratively tracing odor sources of multiple aircraft based on a suppressed psychological function. Background Art

[0002] With the rapid development of my country's economy and science and technology, the air pollution problem caused by human production and operation has become more and more serious, and has brought harm to human health. Environmental air pollution accidents are characterized by suddenness and a large pollution range. The existing odor source pollution source positioning is generally based on fixed monitoring stations or wireless sensor networks. By combining its location and pollutant concentration information, a rough concentration distribution map is obtained, and then the location of the pollution source is estimated. However, due to the limitations of ground conditions, the monitoring stations are often unevenly distributed, and there may not be a monitoring station near the accident pollution source or it may be surrounded by a monitoring station. At the same time, the setting of fixed monitoring stations will bring greater economic expenses and high costs. For example: a blockchain-based environmental monitoring site operation and maintenance system and method described in Chinese Patent Announcement No. CN110796847A.

[0003] Aircraft have good maneuverability, real-time and flexibility, are not restricted by near-ground buildings, and are easier to control and operate than traditional tethered balloons and meteorological tower monitoring. For example, China Patent Publication No. CN111114741A is a cable, tethered balloon monitoring system and monitoring method. Aircraft monitoring of odor sources can not only effectively obtain the three-dimensional distribution of high-altitude odor sources, but also have advantages over traditional methods in monitoring and tracing odor sources. Existing odor source tracing algorithms include: Z-shaped traversal algorithm, plume upwind tracing algorithm, and cuckoo search algorithm. These tracing algorithms have the following shortcomings: most tracing algorithms mainly trace the source in two-dimensional space, and rarely study three-dimensional space tracing; there are more studies on tracing odor sources by ground robots, and less on tracing low-altitude odor sources, for example: China Patent Publication No. CN106918367A is a method for robots to actively search and locate odor sources, and China Patent Publication No. CN206649344U is an omnidirectional mobile robot that actively searches and locates odor sources; at the same time, there are few studies on applying the concept of repressive psychology to odor source tracing.

[0004] The present invention proposes a method for collaboratively tracing the source of odors by multiple aircraft based on a repressive psychology function, which introduces the concept of repressive psychology into the research on tracing the source of odors by aircraft in three-dimensional space, and proposes the concept of dynamic radius field, thereby improving the accuracy of tracing the source of odors by aircraft in three-dimensional space and preventing the aircraft from falling into local optimality during the tracing process of the source of odors. At the same time, multiple aircraft share information to collaboratively trace the source of odors, which significantly improves the efficiency of tracing the source of odors. Summary of the invention

[0005] The purpose of the present invention is to provide a method for tracing the source of odor by coordinating multiple aircraft based on a suppressed psychological function, so as to solve the problems existing in tracing the source of odor in the related art.

[0006] According to one aspect of the present invention, a method for tracing the source of odor by cooperating with multiple aircraft based on a suppression psychological function is provided, comprising: an aircraft searches for the odor source plume in a three-dimensional space, and an aircraft moves from a current position Station i (t) = (x i (t), y i (t), z i (t)) T Fly to the next station i (t+1)= (x i (t+1), y i (t+1), z i (t+1)) T The spatial position update can be expressed as follows:

[0007]

[0008] The above formula v i (t+1) represents the velocity vector of the i-th aircraft at time t+1; φ i It represents the projection angle of the aircraft's velocity vector on the xy plane; Represents the decomposition angle of the velocity vector projected onto the xy plane along the x-axis; (x i (t), y i (t), z i (t)) represents the three-dimensional spatial position of the i-th aircraft at time t; (x i (t+1), y i (t+1), z i (t+1)) represents the three-dimensional spatial position of the i-th aircraft at time t+1.

[0009] Further i (t+1) for analysis, v i (t+1) is mainly related to the following four factors: (I) The speed v of the aircraft at time t i (t); (II) The spatial position of the maximum historical odor source concentration monitored by the aircraft from the time of tracing the odor source to time t; (III) The spatial position of the global maximum odor source concentration monitored by the aircraft formation at time t; (IV) The spatial position of the maximum odor source concentration monitored by other aircraft within the dynamic radius of the aircraft. i (t+1) The update formula is as follows:

[0010]

[0011] The above formula k,k 1 ,k 2 ,k 3 represents a constant coefficient; k×(v ix (t), v iy (t), v iz (t)) T represents the velocity inertia of the aircraft at time t; (X 1 (t), Y 1 (t), Z 1 (t)) T Indicates the spatial location of the maximum historical odor source concentration monitored by the aircraft; (X 2 (t), Y 2 (t), Z 2 (t)) T represents the spatial position of the maximum odor source concentration monitored by the aircraft formation at time t; (X 3 (t), Y 3 (t), Z 3 (t)) T Indicates the spatial location of the maximum odor source concentration detected by the aircraft within the dynamic radius; r j (t) represents a random number between 0 and 1, and j=1, 2, 3.

[0012] According to another aspect of the present invention, a method for determining a dynamic radius based on a repressive psychological function is provided. The size of the dynamic radius is very important for determining the next flight position of an aircraft, and the size of the dynamic radius is closely related to the repressive psychology generated by the aircraft during flight. In the process of tracing the source of the odor, the aircraft is affected by the state functions of other aircraft in the group, such as: the level of the aircraft in the group, the distance between the aircraft, and the number of aircraft. At the same time, the aircraft is also affected by its own state function in the process of tracing the source of the odor, such as: the remaining power, the flight distance; therefore, the repressive psychological function of the aircraft mainly includes the state functions of other aircraft in the group and the aircraft's own state functions, which are respectively expressed as follows:

[0013] First, the status functions of other aircraft in the group:

[0014]

[0015] In the above formula represents the influence of the i-th aircraft in the k-th group on the j-th aircraft at time t, N represents the number of aircraft in the k-th group, represents the concentration of the odor source detected by the i-th aircraft at time t (mg / L), It represents the concentration of odor source detected by the leader of the aircraft in the group at time t (mg / L), FOI 1 and FOI2 Represent the social influence factors of the aircraft crew and the aircraft leader, represents the distance between the i-th aircraft and the j-th aircraft, and α is a constant coefficient; the total social influence of the i-th aircraft on other aircraft in the group is expressed as follows:

[0016] j=1,2,3,..N-1.

[0017] Above It represents the total social influence value of the i-th aircraft in the k-th group at time t;

[0018] Secondly, the aircraft's own state function:

[0019]

[0020] Formula G i (t) represents the state function of the i-th aircraft at time t, E i (t) represents the remaining power of the i-th aircraft, L i (t) represents the flight distance of the i-th aircraft at time t, and β represents a constant;

[0021] Finally, due to the dimensional difference between the state functions of other aircraft in the group and the aircraft itself, the range transformation method is used to remove the dimension, and the expression is as follows:

[0022]

[0023] In the above formula It represents the state function value of the i-th aircraft in the k region at time t affected by other aircraft in the group after de-dimensioning, It represents the value of the state function of the i-th aircraft in the k region after dimension removal; on this basis, the depressed psychological function of the aircraft is expressed as follows:

[0024]

[0025] in represents the value of the psychological function of depression experienced by the i-th aircraft at time t; w 1 and w 2 They represent weight coefficients respectively.

[0026] Further analysis of the relationship between the psychological suppression function and the dynamic suppression radius. The numerical expressions of the psychological suppression function and the dynamic radius of the aircraft at time t are as follows:

[0027]

[0028] Above represents the depressed psychological function of the i-th aircraft at time t; γ represents a constant coefficient; ρ represents the forgetting factor of the aircraft; rand represents a random number (rand∈[0,1]).

[0029] The method for tracing odor sources in three-dimensional space based on the suppression psychological function provided by the present invention solves the problem of tracing odor sources in related technologies. At the same time, the present invention builds a three-dimensional multi-odor source concentration field for simulation, verifying that the present invention can successfully trace the odor source and avoid falling into the local optimum. The present invention provides a novel and efficient three-dimensional space odor source tracing method, which reduces the cost of odor source detection and tracing. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 Flowchart of an algorithm for tracing odor sources in collaboration among multiple aircraft based on the suppression psychological function

[0031] Figure 2 It is a diagram of aircraft components;

[0032] Figure 3 This is the component diagram of the ground control station;

[0033] Figure 4 It is a flow chart of aircraft formation communication;

[0034] Figure 5 Update the graph for the aircraft's position;

[0035] Figure 6 Update schematic for vehicle speed;

[0036] Figure 7 is the concentration field of multiple odor sources;

[0037] Figure 8 Tracing odor source path map for aircraft. DETAILED DESCRIPTION

[0038] The following is a complete description of the specific implementation of the present invention in conjunction with the drawings in the examples of the present invention. The examples are only part of the example diagrams of the present invention, not all examples. Based on the examples of the present invention, other examples obtained by technicians in this field without novelty and creative labor are all within the scope of protection of the present invention. The specific embodiments will be described in detail in conjunction with the drawings.

[0039] The present invention proposes a method for tracing the source of odor by cooperating with multiple aircraft based on the suppression psychological function. The key steps of tracing the source of odor are as follows: Since the aircraft traces the time-varying odor source in a large three-dimensional space, the endurance of the aircraft is limited, and the communication distance between the aircraft is also limited. Figure 1Therefore, the present invention forms a formation to search for the geographical location of the odor source for each aircraft, and each aircraft is equipped with a gas sensor, a wireless communication module, a data transmission module, a traceability control module and a battery, see attached Figure 2 Each aircraft is equipped with a gas sensor that can monitor the concentration of the odor source in real time, and transmit the odor source concentration value to the ground control station through the data transmission module. The components of the ground control station are shown in the attached Figure 3 Since the ground control station is also equipped with a data transmission module, it can not only receive the monitoring data of the aircraft, but also integrate the monitoring information and transmit it to each aircraft formation through the data transmission module for information sharing, and collaboratively and efficiently trace the geographical location of the odor source. The specific communication process is shown in the attached Figure 4 .

[0040] The tracing of the odor source by the aircraft formation can be divided into three processes: discovering the odor source plume, tracing the odor source plume, and locating the odor source. The formula for the change of the three-dimensional spatial geographical location of the aircraft in the present invention is as follows:

[0041]

[0042] The above formula v i (t+1) represents the velocity vector of the i-th aircraft at time t+1; φ i It represents the projection angle of the aircraft's velocity vector on the xy plane; represents the decomposition angle of the velocity vector projected onto the xy plane along the x-axis; (x i (t), y i (t), z i (t)) represents the three-dimensional spatial position of the i-th aircraft at time t; (x i (t+1), y i (t+1), z i (t+1)) represents the three-dimensional spatial position of the i-th aircraft at time t+1. The schematic diagram of aircraft position update is attached. Figure 5 .

[0043] v i The confirmation of (t+1) is mainly related to the following four factors: (I) The speed v of the aircraft at time t i (t); (II) The spatial position of the maximum historical odor source concentration monitored by the aircraft from the time of tracing the odor source to time t; (III) The spatial position of the global maximum odor source concentration monitored by the aircraft formation at time t; (IV) The spatial position of the maximum odor source concentration monitored by other aircraft within the dynamic radius of the aircraft. i (t+1) The update formula is as follows:

[0044]

[0045] The above formula k,k 1 ,k 2 ,k 3 represents a constant coefficient; k×(v ix (t), v iy (t), v iz (t)) T represents the velocity inertia of the aircraft at time t; (X 1 (t), Y 1 (t), Z 1 (t)) T Indicates the spatial location of the maximum historical odor source concentration monitored by the aircraft; (X 2 (t), Y 2 (t), Z 2 (t)) T represents the spatial position of the maximum odor source concentration monitored by the aircraft formation at time t; (X 3 (t), Y 3 (t), Z 3 (t)) T Indicates the spatial location of the maximum odor source concentration detected by the aircraft within the dynamic radius; r j (t) represents a random number between 0 and 1, and j = 1, 2, 3. See the attached diagram for the aircraft speed update. Figure 6 Attached Figure 6 R in (a) max Indicates the maximum communication distance between an aircraft and its neighboring aircraft; R min represents the shortest avoidance distance between aircrafts; R(t) represents the dynamic radius, and the size of the dynamic radius is related to the suppression psychological function. Figure 6 In (b), the aircraft (RO) represents the research object; the aircraft (GOP) position represents the spatial position where the aircraft formation monitors the global maximum concentration value; the aircraft (HOP) position represents the historical optimal concentration position monitored by the aircraft from the beginning of monitoring to time t; the aircraft position (DOP) represents the spatial position where the maximum concentration is monitored within the dynamic radius R(t); Figure 6 The arrow (a) in (b) represents the velocity inertia vector of the vehicle (RO) at time t. Figure 6 (c) and Figure 6(d) show the historical best spatial position of the aircraft monitoring concentration, the best spatial position of the aircraft monitoring concentration within the dynamic radius R(t), the global best spatial position of the aircraft monitoring concentration within the aircraft formation search area, and the vector sum of the aircraft's own flight speed inertia. It is particularly important to point out that Figure 6 In (d), the arrow (b) points to the next flight position (NRO) of the aircraft.

[0046] The size of the dynamic radius is related to the aircraft's psychological suppression function, and the value of the psychological suppression function is mainly determined by the state functions of the aircraft formation members and the aircraft's own state function. In the process of tracing the source of the odor, the aircraft is affected by the state functions of other aircraft in the group, such as: the level of the aircraft in the group, the distance between aircraft and the number of aircraft. At the same time, the aircraft is also affected by its own state function in the process of tracing the source of the odor, such as: the remaining power, the flight distance; therefore, the aircraft's psychological suppression function mainly includes the state functions of other aircraft in the group and the aircraft's own state functions, which are expressed as follows:

[0047] First, the status functions of other aircraft in the group:

[0048]

[0049] In the above formula represents the influence of the i-th aircraft in the k-th group on the j-th aircraft at time t, N represents the number of aircraft in the k-th group, represents the concentration of the odor source detected by the i-th aircraft at time t (mg / L), It represents the concentration of odor source detected by the leader of the aircraft in the group at time t (mg / L), FOI 1 and FOI 2 Represent the social influence factors of the aircraft crew and the aircraft leader, represents the distance between the i-th aircraft and the j-th aircraft, and α is a constant coefficient; the total social influence of the i-th aircraft on other aircraft in the group is expressed as follows:

[0050] j=1,2,3,..N-1.

[0051] Above It represents the total social influence value of the i-th aircraft in the k-th group at time t;

[0052] Secondly, the aircraft's own state function:

[0053]

[0054] Formula G i (t) represents the state function of the i-th aircraft at time t, E i (t) represents the remaining power of the i-th aircraft, L i (t) represents the flight distance of the i-th aircraft at time t, and β represents a constant;

[0055] Finally, due to the dimensional difference between the state functions of other aircraft in the group and the aircraft itself, the range transformation method is used to remove the dimension, and the expression is as follows:

[0056]

[0057] In the above formula It represents the state function value of the i-th aircraft in the k region at time t affected by other aircraft in the group after de-dimensioning, It represents the value of the state function of the i-th aircraft in the k region after dimension removal; on this basis, the depressed psychological function of the aircraft is expressed as follows:

[0058]

[0059] in represents the value of the psychological function of depression experienced by the i-th aircraft at time t; w 1 and w 2 They represent weight coefficients respectively.

[0060] Further analysis of the relationship between the psychological suppression function and the dynamic suppression radius. The numerical expressions of the psychological suppression function and the dynamic radius of the aircraft at time t are as follows:

[0061]

[0062] Above represents the depression psychological function of the i-th aircraft at time t; γ represents a constant coefficient; ρ represents the forgetting factor of the aircraft; rand represents a random number (rand∈[0,1]), R i (t) represents the dynamic radius of the i-th aircraft at time t.

[0063] The present invention establishes a three-dimensional odor source distribution map based on the Gaussian diffusion model, see the attached Figure 7 The odor source is traced by using a multi-aircraft collaborative odor source tracing method based on the suppression psychological function. The tracing path diagram is attached. Figure 8 , in the attached Figure 8 It can be observed that this method can successfully trace the location of the odor source and avoid falling into the local optimum of the odor source.

Claims

1. A method for tracing odor sources by multiple aircrafts in collaboration based on the suppression psychological function, characterized in that: include: Multiple aircraft search for the odor source plume in a three-dimensional space. The velocity vector of the i-th aircraft at time t+1 is obtained based on the velocity inertia of the aircraft at time t, the spatial position of the maximum historical odor source concentration detected by the aircraft, the spatial position of the global maximum odor source concentration detected by the aircraft formation, and the spatial position of the maximum odor source concentration monitored by other aircraft within the dynamic suppression radius. The dynamic suppression radius is affected by the suppression psychological function, and the suppression psychological function value of the aircraft is determined by the state function of the aircraft in the group and the state function of the aircraft itself. The flight position of the aircraft at time t+1 is obtained based on the velocity vector of the aircraft at time t+1. This iteration is repeated. When the aircraft hovers near a certain position for a long time, it indicates that the odor source has been located. Among them, the aircraft is affected by the state functions of other aircraft in the group during the process of tracing the odor source, including the level of the aircraft in the group, the distance between the aircraft, and the number of aircraft. At the same time, the aircraft is also affected by its own state function during the process of tracing the odor source, including the remaining power and the flight distance. Therefore, the aircraft's repressive psychological function includes the state functions of other aircraft in the group and the aircraft's own state functions, which are expressed as follows: First, the status functions of other aircraft in the group: In the above formula represents the influence of the i-th aircraft in the k-th group on the j-th aircraft at time t, N represents the number of aircraft in the k-th group, represents the concentration of the odor source detected by the i-th aircraft at time t (mg / L), represents the concentration of the odor source detected by the aircraft leader at time t (mg / L), FOI1 and FOI2 represent the social influence factors of the aircraft members and the aircraft leader, respectively. represents the distance between the i-th aircraft and the j-th aircraft, and α is a constant coefficient; the total social influence of the i-th aircraft on other aircraft in the group is expressed as follows: Above It represents the total social influence value of the i-th aircraft in the k-th group at time t; Secondly, the aircraft's own state function: Formula G i (t) represents the state function of the i-th aircraft at time t, E i (t) represents the remaining power of the i-th aircraft, L i (t) represents the flight distance of the i-th aircraft at time t, and β represents a constant; Finally, due to the dimensional difference between the state functions of other aircraft in the group and the aircraft itself, the range transformation method is used to remove the dimension, and the expression is as follows: In the above formula It represents the state function value of the i-th aircraft in the k region at time t affected by other aircraft in the group after de-dimensioning, It represents the value of the state function of the i-th aircraft in the k region after dimension removal; on this basis, the depressed psychological function of the aircraft is expressed as follows: in represents the value of the psychological function of depression suffered by the i-th aircraft at time t; w1 and w2 represent the weight coefficients respectively; Among them, the range of the dynamic suppression radius is closely related to the suppression psychological function. The size of the dynamic radius directly determines the optimal concentration position of aircraft detection within the dynamic suppression radius. The numerical expression of the dynamic radius is as follows: Above represents the depressed psychological function of the i-th aircraft at time t, γ represents a constant, ρ represents the forgetting factor of the aircraft, and rand represents a random number, rand∈[0,1].

2. A method for tracing the source of odor by multiple aircrafts in collaboration based on the suppression psychological function according to claim 1, characterized in that Multiple aircraft share the traced odor source information and collaboratively trace the odor source, effectively improving the success rate and accuracy of odor source tracing and preventing the aircraft formation from falling into the local optimum of the odor source field.

3. A method for tracing the source of odor by multiple aircrafts in collaboration based on the suppression psychological function according to claim 1, characterized in that Introduce the social influence theory in psychology to trace the source of odors by multiple aircraft.

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