Radiation source positioning system and method

Abstract

A radiation source positioning system and related techniques are provided to improve the operation of a handheld or unmanned mobile sensor or survey platform. A radiation source positioning system includes a logic device configured to communicate with a communication module and a directional radiation detector, wherein the communication module is configured to establish a wireless communication link with a base station associated with the directional radiation detector and / or the mobile sensor platform, and the directional radiation detector includes a sensor assembly configured to provide directional radiation sensor data when the directional radiation detector is maneuvered within a survey area.

Description

Technical Field

[0001] The present invention relates generally to radiation source localization, and more particularly, to systems and methods for radiation source localization using a portable directional radiation detector that can be coupled to a mobile sensor platform. Background Art

[0002] Modern unmanned sensor platforms, such as unmanned aerial vehicles (UAVs), remotely operated underwater vehicles (ROVs), unmanned (surface) surface vehicles (USVs), and unmanned ground vehicles (UGVs), are capable of operating over long distances in all environments; rural, urban, and even underwater. The operation of such systems typically includes real-time wireless transmission between the unmanned platform and a remote base station, which typically includes a display to efficiently communicate telemetry, imagery, and other sensor data captured by the platform to the operator. The operator can typically steer or otherwise control the unmanned platform throughout the mission relying solely on the data received from the unmanned platform.

[0003] Directional radiation detectors, such as sensor systems configured to detect the relative orientation of radiation sources producing ionizing radiation in an environment, can benefit from being handheld or deployed on unmanned sensor platforms, such as to survey an area in order to locate detected radiation sources, but conventional directional radiation detectors are often too heavy or cumbersome to carry and / or too inaccurate to provide reliable rapid source directionality and location. Therefore, there is a need for portable directional radiation detector systems and techniques to provide directionality and / or location of ionizing radiation sources. Summary of the invention

[0004] Radiation source localization systems and related techniques are provided to improve the operation of handheld or unmanned mobile sensors or survey platforms. One or more embodiments of the described radiation source localization systems may advantageously include a directional radiation detector including a sensor assembly configured to provide radiation source localization data; a communication module configured to establish a wireless communication link with a base station associated with the directional radiation detector and / or a coupled sensor platform; an orientation and / or position sensor for measuring the orientation and / or position of the directional radiation detector and / or a coupled mobile platform; a controller for controlling the operation of the communication module, the orientation and / or position sensor, and / or the mobile platform; and one or more additional sensors for measuring and providing sensor data corresponding to manipulation and / or other operations of the mobile platform.

[0005] In various embodiments, such additional sensors may include a remote sensor system configured to capture sensor data of the survey area from which a two-dimensional and / or three-dimensional spatial map of the survey area may be generated. For example, the mapping system may include one or more visible spectrum and / or infrared cameras and / or other remote sensor systems coupled to a mobile platform. The mobile platform may typically be an aerial platform (e.g., a manned aircraft, a UAS, and / or other aerial platform), a land platform (e.g., a mobile vehicle), a water platform (e.g., a ship or submarine), or a handheld platform.

[0006] In one embodiment, a system includes a logic device configured to communicate with a communication module and a directional radiation detector coupled to a mobile platform, wherein the communication module is configured to establish a wireless communication link with a base station associated with the mobile platform, and the directional radiation detector includes a sensor assembly configured to provide directional radiation sensor data when the mobile platform is maneuvered within a survey area. The logic device can be configured to receive the directional radiation sensor data when the mobile platform is maneuvered within the survey area; receive orientation and / or position data corresponding to the directional radiation sensor data; and generate radiation source positioning survey information corresponding to the survey area based at least in part on a combination of the orientation and / or position data and the directional radiation sensor data.

[0007] In another embodiment, a method includes receiving directional radiation sensor data from a directional radiation detector connected to a mobile platform while the mobile platform is maneuvering within a survey area; receiving orientation and / or position data corresponding to the directional radiation sensor data; and generating radiation source positioning survey information corresponding to the survey area based at least in part on a combination of the orientation and / or position data and the directional radiation sensor data.

[0008] The scope of the present invention is defined by the claims, which are incorporated into this section by reference. By considering the following detailed description of one or more embodiments, those skilled in the art will more fully understand the embodiments of the present invention and realize additional advantages thereof. Reference will be made to the accompanying drawings which will first be briefly described. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 A schematic diagram of a radiation source positioning system according to an embodiment of the present disclosure is shown.

[0010] Figure 2 A schematic diagram of a mobile platform of a radiation source positioning system according to an embodiment of the present disclosure is shown.

[0011] Figure 3 A schematic diagram of a directional radiation detector for a radiation source positioning system according to an embodiment of the present disclosure is shown.

[0012] Figure 4-5 A flow chart illustrating various operations for providing radiation source positioning using a radiation source positioning system according to an embodiment of the present disclosure.

[0013] Figure 6-8 Simulation results corresponding to the operation of a radiation source localization system according to an embodiment of the present disclosure are shown.

[0014] Fig. 9 A schematic diagram of a radiation source positioning system according to an embodiment of the present disclosure is shown.

[0015] Fig.10 A schematic diagram of a directional radiation detector for a radiation source positioning system according to an embodiment of the present disclosure is shown.

[0016] Fig.11A -B and 12 show display views presented by a user interface of a radiation source localization system according to an embodiment of the present disclosure.

[0017] Figures 13A-13B 14A-14C illustrate display views presented by a user interface of a radiation source positioning system according to an embodiment of the present disclosure.

[0018] Embodiments of the present invention and their advantages are best understood by referring to the following detailed description.It should be appreciated that like reference numerals are used to identify like elements illustrated in one or more of the figures. DETAILED DESCRIPTION

[0019] A radiation source localization system and related techniques are provided to improve the operational flexibility and reliability of a sensor platform. For example, radiation measurement is an effective way to detect and locate nuclear threats. Since the detection count rate varies with the distance to the radiation source, simply moving the radiation detector during a spatial search can be used to estimate the direction to the source. The embodiments described herein improve the speed and efficiency of this method by simplified shielding. In the simplest embodiment, two radiation detectors are placed close to a metal plate that deflects, absorbs or otherwise blocks radiation, and the metal plate (e.g., also referred to as a "collimation plate" or "shield plate" herein) is disposed between the two radiation detectors. The resulting distribution of the detection event count and energy spectrum between the two radiation detectors is more sensitive to the source angle than alternative methods. As a result, and because the collimation plate does not significantly limit the sensitivity of the detector device, the embodiment can locate the radiation source faster than conventional methods. In addition, such an embodiment can be made relatively compact, thereby reducing size, weight and power requirements (relative to conventional systems), and is therefore suitable for deployment in various applications, such as backpacks / vests, handheld devices, unmanned ground vehicles, and unmanned aerial vehicle systems.

[0020] Modern unmanned sensor platforms, such as unmanned aerial vehicles (UAVs), remotely operated underwater vehicles (ROVs), unmanned (surface) surface vehicles (USVs), and unmanned ground vehicles (UGVs), are capable of operating over long distances in all environments. Such systems typically rely on portable power sources that can limit their range. Embodiments described herein provide a relatively light radiation source localization system that typically increases the achievable range of such unmanned sensor platforms, which can be particularly useful when attempting to relatively quickly locate multiple radiation sources within a survey area.

[0021] In various embodiments, according to the embodiments described herein, the radiation source positioning data generated by the directional radiation detector can be transmitted to a base station in real time or after the survey, and the base station can be configured to combine the radiation source positioning data with a map or a plan view of the survey area to present the radiation source positioning data in a radiation source map (e.g., a heat map), and the radiation source map specifies the radiation source data (e.g., spectrum, estimated concentration, estimated dose rate, and / or other characteristics) over the spatial range of the map or plan view. Such a map or plan view can be two-dimensional or three-dimensional. The radiation source map can be stored in the base station and, if the base station includes a display, presented to the operator / user in real time as a graphical overlay map. During operation, such a map can provide insights for positioning unmanned sensor platforms for, for example, stationary observations, or, if operations are to be performed in the same area in the future, such a map can provide information for route planning for future operations.

[0022] Figure 1A block diagram of a radiation source localization system 100 is shown in accordance with an embodiment of the present disclosure. In some embodiments, the system 100 can be configured to aim the imaging system / sensor payload 140 and / or the radiation sensor bracket 128 using the gimbal system 122 to aim the directional radiation detector 160 at a scene, structure, or target, or portion thereof, fly over the scene, through the structure, or approach the target and image or sense the scene, structure, or target, or portion thereof. The resulting images and / or other sensor data can be processed (e.g., by the sensor payload 140, the platform 110, and / or the base station 130) and displayed to a user using a user interface 132 (e.g., one or more displays, such as a multifunction display (MFD), a portable electronic device, such as a tablet, laptop, or smartphone, or other appropriate interface) and / or stored in a memory for later viewing and / or analysis. In some embodiments, system 100 may be configured to use such imagery and / or sensor data to control operation of platform 110, sensor payload 140, and / or directional radiation detector 160, as described herein, such as controlling gimbal system 122 to aim sensor payload 140 in a particular direction or controlling propulsion system 124 to move and / or orient platform 110 into a desired position / orientation within a scene or structure or relative to a target.

[0023] In additional embodiments, system 100 may be configured to position and / or orient directional radiation detector 160 at or relative to a scene, structure, or object, or portion thereof, using platform 110 and / or radiation sensor mount 128. Resulting directional radiation sensor data may be processed (e.g., by directional radiation detector 160, platform 110, and / or base station 130) and displayed to a user using user interface 132 (e.g., one or more displays, such as a multifunction display (MFD), a portable electronic device (e.g., a tablet, laptop, or smartphone), or other appropriate interface) and / or stored in memory for later review and / or analysis. In some embodiments, system 100 may be configured to use such image and / or sensor data to control operation of platform 110 and / or directional radiation detector 160, as described herein, such as controlling propulsion system 124 to move and / or orient platform 110 to a desired location in a scene or structure or relative to an object.

[0024] exist Figure 1 In the illustrated embodiment, the radiation source localization system 100 includes a platform 110, an optional base station 130, and at least one directional radiation detector 160. The platform 110 may be a mobile platform configured to move or fly and position the directional radiation detector 160 (e.g., relative to a designated or detection target). Figure 1As shown in , the platform 110 may include a controller 112, an orientation sensor 114, a gyroscope / accelerometer 116, a global navigation satellite system (GNSS) 118, a communication module 120, a gimbal system 122, a propulsion system 124, a detector bracket 128, and other modules 126. The operation of the platform 110 may be substantially autonomous and / or partially or completely controlled by an optional base station 130, which may include one or more of a user interface 132, a communication module 134, and other modules 136. In other embodiments, the platform 110 may include one or more elements of the base station 130, such as various types of manned aircraft, land vehicles, and / or surface or underwater vehicles. In alternative embodiments, the platform 110 may be implemented by a mobile human operator carrying and / or manipulating the directional radiation detector 160 and / or various other elements or combinations of elements of the system 100 and / or platform 110, as shown.

[0025] Sensor payload 140 and / or directional radiation detector 160 may be physically coupled to platform 110 and configured to capture sensor data (e.g., visible spectrum images, infrared images, narrow aperture radar data, analyte sensor data, and / or other sensor data) of a target location, area, and / or object selected and / or framed by operation of platform 110 and / or base station 130. In some embodiments, one or more elements of system 100 may be implemented in a combined housing or structure that may be coupled to or within platform 110 and / or held or carried by a user of system 100.

[0026] Controller 112 may be implemented as any appropriate logic device (e.g., a processing device, a microcontroller, a processor, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a memory storage device, a memory reader, or other device or combination of devices) that may be adapted to execute, store, and / or receive appropriate instructions, such as software instructions implementing control loops for controlling various operations of platform 110 and / or other elements of system 100. Such software instructions may also implement methods for processing infrared images and / or other sensor signals, determining sensor information, providing user feedback (e.g., via user interface 132), querying a device for operating parameters, selecting operating parameters for a device, or performing any of the various operations described herein (e.g., operations performed by logic devices of various devices of system 100).

[0027] In addition, a non-transitory medium may be provided to store machine-readable instructions for loading into and executing by the controller 112. In these and other embodiments, the controller 112 may be implemented with other components, such as volatile memory, non-volatile memory, one or more interfaces, and / or various analog and / or digital components for interfacing with devices of the system 100, where appropriate. For example, the controller 112 may be adapted to store sensor signals, sensor information, parameters of coordinate system transformations, calibration parameters, calibration point sets, and / or other operating parameters, for example, over time, and to provide such stored data to a user using the user interface 132. In some embodiments, the controller 112 may be integrated with one or more other elements of the platform 110, or distributed as multiple logical devices within the platform 110, the base station 130, and / or the sensor payload 140, for example.

[0028] In some embodiments, controller 112 may be configured to substantially continuously monitor and / or store status and / or sensor data provided by one or more elements of platform 110, sensor payload 140, directional radiation detector 160, and / or base station 130, such as the position and / or orientation of platform 110, sensor payload 140, and / or base station 130, and, for example, the status of a communication link established between platform 110, sensor payload 140, directional radiation detector 160, and / or base station 130. Such a communication link may be configured to substantially continuously establish and then transmit data between elements of system 100 throughout operation of system 100, wherein such data includes various types of sensor data, control parameters, and / or other data.

[0029] Orientation sensor 114 may be implemented as one or more of a compass, a float, an accelerometer, and / or other devices that are capable of measuring the orientation (e.g., magnitude and direction of roll, pitch, and / or yaw, relative to one or more reference orientations, such as gravity and / or magnetic north) of platform 110, gimbal system 122, imaging system / sensor payload 140, and / or other elements of system 100, and providing such measurements as sensor signals and / or data that may be communicated to various devices of system 100. Gyroscope / accelerometer 116 may be implemented as one or more electronic sextants, semiconductor devices, integrated chips, accelerometer sensors, accelerometer sensor systems, or other devices that are capable of measuring angular velocity / acceleration and / or linear acceleration (e.g., direction and magnitude) of platform 110 and / or other elements of system 100, and providing such measurements as sensor signals and / or data that may be communicated to other devices of system 10 (e.g., user interface 132, controller 112).

[0030] GNSS 118 may be implemented in accordance with any global navigation satellite system, including GPS, GLONASS, and / or Galileo-based receivers and / or other devices that are capable of determining an absolute and / or relative position of platform 110 (e.g., or elements of platform 110), for example, based on wireless signals received from space and / or terrestrial sources (e.g., eLoran and / or other at least partially terrestrial systems), and can provide such measurements as sensor signals and / or data (e.g., coordinates) that can be communicated to various devices of system 100. In some embodiments, GNSS 118 may include, for example, an altimeter, or may be used to provide an absolute altitude.

[0031] The communication module 120 may be implemented as any wired and / or wireless communication module configured to transmit and receive analog and / or digital signals between elements of the system 100. For example, the communication module 120 may be configured to receive flight control signals and / or data from the base station 130 and provide them to the controller 112 and / or the propulsion system 124. In other embodiments, the communication module 120 may be configured to receive images and / or other sensor information (e.g., visible spectrum and / or infrared still images or video images) from the sensor payload 140 and relay the sensor data to the controller 112 and / or the base station 130. In further embodiments, the communication module 120 may be configured to receive radiation source location data and / or other sensor information from the directional radiation detector 160 and relay the sensor data to the controller 112 and / or the base station 130. In some embodiments, the communication module 120 may be configured to support, for example, spread spectrum transmissions and / or multiple simultaneous communication channels between elements of the system 100. As described herein, the wireless communication link may include one or more analog and / or digital radio communication links, such as WiFi, etc., and may be, for example, a direct communication link established between elements of the system 100, or may be relayed through one or more wireless relay stations configured to receive and retransmit wireless communications.

[0032] In some embodiments, communication module 120 may be configured to monitor the status of communication links established between platform 110, sensor payload 140, and / or base station 130. Such status information may be provided to, for example, controller 112, or transmitted to other elements of system 100 for monitoring, storage, or further processing, as described herein. The communication links established by communication module 120 may be configured to transmit data between elements of system 100 substantially continuously throughout operation of system 100, wherein such data may include various types of sensor data, control parameters, and / or other data, as described herein.

[0033] In some embodiments, the gimbal system 122 may be implemented as, for example, an actuated gimbal that may be controlled by the controller 112 to stabilize the sensor payload 140 relative to a target or aim the sensor payload 140 according to a desired orientation and / or relative position. Thus, the gimbal system 122 may be configured to provide the controller 112 and / or the communication module 120 with the relative orientation (e.g., orientation relative to the platform 110) of the sensor payload 140 (e.g., the gimbal system 122 may include its own orientation sensor 114). In other embodiments, the gimbal system 122 may be implemented as a gravity-driven mount (e.g., non-actuated). In various embodiments, the gimbal system 122 may be configured to provide power, support wired communications, and / or otherwise facilitate the operation of the articulated sensor / sensor payload 140. In further embodiments, the gimbal system 122 may be configured to couple to, for example, a laser pointer, a rangefinder, and / or other device to substantially simultaneously support, stabilize, power, and / or aim multiple devices (e.g., the sensor payload 140 and one or more other devices).

[0034] The propulsion system 124 may be implemented as one or more propellers, turbines, or other thrust-based propulsion systems, and / or other types of propulsion systems that may be used to provide power and / or lift to the platform 110 and / or to steer the platform 110. In some embodiments, the propulsion system 124 may include multiple propellers (e.g., a tri-propeller, a quad-propeller, a hexa-propeller, an octa-propeller, or other type of "helicopter") that may be controlled (e.g., by the controller 112) to provide lift and motion to the platform 110 and to provide orientation to the platform 110. In other embodiments, the propulsion system 110 may be configured to primarily provide thrust, while other structures of the platform 110 provide lift, such as in fixed-wing embodiments (e.g., where the wing provides lift) and / or in aircraft embodiments (e.g., balloons, airships, hybrid aircraft). In various embodiments, the propulsion system 124 may be implemented with a portable power source, such as a battery and / or an internal combustion engine / generator and a fuel supply.

[0035] Other modules 126 may include, for example, other and / or additional sensors, actuators, communication modules / nodes, and / or user interface devices, and may be used, for example, to provide additional environmental information related to the operation of platform 110. In some embodiments, other modules 126 may include humidity sensors, wind and / or water temperature sensors, barometers, altimeters, analyte detection systems, radar systems, proximity sensors, visible spectrum cameras or infrared cameras (with additional mountings), irradiance detectors, and / or other environmental sensors that provide measurements and / or other sensor signals that may be displayed to a user and / or used by other devices of system 100 (e.g., controller 112) to provide operational control of platform 110 and / or system 100.

[0036] In some embodiments, other modules 126 may include one or more actuation and / or articulation devices (e.g., multi-spectral active illuminators, visible light and / or IR cameras, radar, sonar, and / or other actuation devices) coupled to platform 110, wherein each actuation device includes one or more actuators adapted to adjust the orientation of the device relative to platform 110 in response to one or more control signals (e.g., provided by controller 112). In particular, other modules 126 may include a stereo vision system configured to provide image data that may be used to calculate or estimate, for example, the position of platform 110, or to calculate or estimate the relative position of navigation hazards proximate to platform 110. In various embodiments, controller 130 may be configured to use such proximity and / or position information to help safely navigate platform 110 and / or monitor communication link quality, as described herein.

[0037] In various embodiments, the detector bracket 128 may be implemented as a latch mechanism that may be permanently mounted to the platform 110 to provide a mounting position and / or orientation of the directional radiation detector 160 relative to the center of gravity of the platform 110, relative to the propulsion system 124, and / or relative to other elements of the platform 110. Additionally, the detector bracket 128 may be configured to provide power, support wired communications, and / or otherwise facilitate operation of the directional radiation detector 160, as described herein. Thus, the detector bracket 128 may be configured to provide power, telemetry, and / or other sensor data interfaces between the platform 110 and the directional radiation detector 160.

[0038] In some embodiments, the detector support 128 can be implemented as, for example, an actuated gimbal that can be controlled by the controller 112 to stabilize the directional radiation detector 160 relative to a target or aim the directional radiation detector 160 according to a desired direction and / or relative position. Thus, the detector support 128 can be configured to provide the relative orientation (e.g., relative to the platform 110) of the directional radiation detector 160 to the controller 112 and / or the communication module 120 (e.g., the detector support 128 can include its own orientation sensor 114). In other embodiments, the detector support 128 can be implemented as a gravity-driven support (e.g., non-actuated). In further embodiments, the detector support 128 can be configured to be coupled to, for example, a laser pointer, a rangefinder, and / or other devices to substantially simultaneously support, stabilize, power, and / or aim multiple devices (e.g., the directional radiation detector 160 and one or more other devices).

[0039] The user interface 132 of the base station 130 may be implemented as one or more of a display, a touch screen, a keyboard, a mouse, a joystick, a knob, a steering wheel, a joystick, and / or any other device capable of receiving user input and / or providing feedback to a user. In various embodiments, the user interface 132 may be adapted to provide user input (e.g., as a signal and / or sensor information transmitted by a communication module 134 of the base station 130) to other devices of the system 100 (e.g., the controller 112). The user interface 132 may also be implemented with one or more logic devices (e.g., similar to the controller 112), which may be adapted to store and / or execute instructions, such as software instructions, that implement any of the various processes and / or methods described herein. For example, the user interface 132 may be adapted to form a communication link, transmit and / or receive, for example, communications (e.g., infrared images and / or other sensor signals, control signals, sensor information, user input, and / or other information) or perform various other processes and / or methods described herein.

[0040] In one embodiment, user interface 132 may be adapted to display time series of various sensor information and / or other parameters as part of or overlaid on a graph or map, which may reference the location and / or orientation of platform 110 and / or other elements of system 100. For example, user interface 132 may be adapted to display a time series of the location, heading, and / or orientation of platform 110 and / or other elements of system 100 overlaid on a geographic map, which may include one or more graphs indicating corresponding time series of actuator control signals, sensor information, and / or other sensor and / or control signals.

[0041] In some embodiments, user interface 132 may be adapted to receive user input, such as a user-defined target heading, waypoint, route, and / or orientation including elements of system 100, and generate control signals to move platform 110 according to the target heading, route, and / or orientation, or to correspondingly aim sensor payload 140 or directional radiation detector 160. In other embodiments, for example, user interface 132 may be adapted to receive user input that modifies control loop parameters of controller 112.

[0042] In further embodiments, user interface 132 may be adapted to receive user input, for example, including a user-defined target attitude, orientation, and / or position of an actuating or articulated device (e.g., sensor payload 140 or directional radiation detector 160) associated with platform 110, and generate a control signal for adjusting the orientation and / or position of the actuating device according to the target attitude, orientation, and / or position. Such control signals may be transmitted to controller 112 (e.g., using communication modules 134 and 120), which may then control platform 110 accordingly.

[0043] The communication module 134 may be implemented as any wired and / or wireless communication module configured to transmit and receive analog and / or digital signals between elements of the system 100. For example, the communication module 134 may be configured to transmit flight control signals from the user interface 132 to the communication module 120 or 144. In other embodiments, the communication module 134 may be configured to receive sensor data (e.g., visible spectrum and / or infrared still or video images, or other sensor data) from the sensor payload 140. In some embodiments, the communication module 134 may be configured to support, for example, spread spectrum transmission and / or multiple simultaneous communication channels between elements of the system 100. In various embodiments, the communication module 134 may be configured to monitor the status of the communication link established between the base station 130, the sensor payload 140, and / or the platform 110 (e.g., including packet loss of transmission and reception data between elements of the system 100, such as using a digital communication link), as described herein. Such status information may be provided to, for example, the user interface 132, or transmitted to other elements of the system 100 for monitoring, storage, or further processing, as described herein.

[0044] For example, other modules 136 of base station 130 may include other and / or additional sensors, actuators, communication modules / nodes, and / or user interface devices for providing additional environmental information associated with base station 130. In some embodiments, other modules 136 may include humidity sensors, wind and / or water temperature sensors, barometers, radar systems, visible spectrum cameras, infrared cameras, GNSS, and / or other environmental sensors that provide measurements and / or other sensor signals that may be displayed to a user and / or used by other devices of system 100 (e.g., controller 112) to provide operational control of platform 110 and / or system 100 or process sensor data to compensate for environmental conditions, such as water content in the atmosphere at approximately the same altitude and / or in the same area as platform 110 and / or base station 130. In some embodiments, other modules 136 may include one or more actuation and / or articulation devices (e.g., multi-spectral active illuminators, visible light and / or IR cameras, radar, sonar, and / or other actuation devices), wherein each actuation device includes one or more actuators adapted to adjust the orientation of the device in response to one or more control signals (e.g., provided by user interface 132).

[0045] In embodiments where the imaging system / sensor payload 140 is implemented as an imaging device, the imaging system / sensor payload 140 may include an imaging module 142, which may be implemented as a cooled and / or uncooled array of detector elements, such as visible spectrum and / or infrared sensitive detector elements, including quantum well infrared photodetector elements, bolometer or microbolometer based detector elements, type II superlattice based detector elements, and / or other infrared spectrum detector elements that may be arranged in a focal plane array. In various embodiments, the imaging module 142 may include one or more logic devices (e.g., similar to the controller 112) that may be configured to process images captured by the detector elements of the imaging module 142 before providing the images to the memory 146 or the communication module 144. More generally, the imaging module 142 may be configured to perform any of the operations or methods described herein, at least in part or in combination with the controller 112 and / or the user interface 132.

[0046] In some embodiments, for example, sensor payload 140 may be implemented with a second or additional imaging module similar to imaging module 142, which may include detector elements configured to detect other electromagnetic spectra, such as visible light, ultraviolet light, and / or other electromagnetic spectra or subsets of such spectra. In various embodiments, such additional imaging modules may be calibrated or registered to imaging module 142 such that images captured by each imaging module occupy a known and at least partially overlapping field of view of the other imaging module, thereby allowing different spectral images to be geometrically registered to each other (e.g., by scaling and / or positioning). In some embodiments, in addition to or in lieu of relying on known overlapping fields of view, pattern recognition processing may be used to register different spectral images to each other.

[0047] The communication module 144 of the sensor payload 140 may be implemented as any wired and / or wireless communication module configured to transmit and receive analog and / or digital signals between elements of the system 100. For example, the communication module 144 may be configured to transmit an infrared image from the imaging module 142 to the communication module 120 or 134. In other embodiments, the communication module 144 may be configured to receive control signals from the controller 112 and / or the user interface 132 (e.g., control signals directing acquisition, focusing, selective filtering, and / or other operations of the sensor payload 140). In some embodiments, the communication module 144 may be configured to support, for example, spread spectrum transmission and / or multiple simultaneous communication channels between elements of the system 100. In various embodiments, the communication module 144 may be configured to monitor the status of a communication link established between the sensor payload 140, the base station 130, and / or the platform 110 (e.g., packet loss including transmission and reception data between elements of the system 100, such as using a digital communication link), as described herein. Such status information may be provided to, for example, imaging module 142, or transmitted to other elements of system 100 for monitoring, storage, or further processing, as described herein.

[0048] Memory 146 may be implemented as one or more machine-readable media and / or logic devices configured to store, for example, software instructions, sensor signals, control signals, operating parameters, calibration parameters, infrared images, and / or other data that facilitates operation of system 100, and provide it to various elements of system 100. Memory 146 may also be implemented at least in part as a removable memory, such as a secure digital memory card, for example, including an interface for such a memory.

[0049] The orientation sensor 148 of the sensor payload 140 may be implemented similarly to the orientation sensor 114 or the gyroscope / accelerometer 116 and / or any other device capable of measuring the orientation (e.g., the magnitude and direction of roll, pitch, and / or yaw, relative to one or more reference orientations, such as gravity and / or magnetic north) of the sensor payload 140, the imaging module 142, and / or other elements of the sensor payload 140, and providing such measurements as sensor signals that may be transmitted to various devices of the system 100. The gyroscope / accelerometer (e.g., angular motion sensor) 150 of the sensor payload 140 may be implemented as one or more electronic sextants, semiconductor devices, integrated chips, accelerometer sensors, accelerometer sensor systems, or other devices capable of measuring the angular velocity / acceleration (e.g., angular motion) and / or linear acceleration (e.g., direction and magnitude) of the sensor payload 140 and / or various elements of the sensor payload 140, and providing such measurements as sensor signals that may be transmitted to various devices of the system 10.

[0050] For example, other modules 152 of sensor payload 140 may include other and / or additional sensors, actuators, communication modules / nodes, cooled or uncooled filters, and / or user interface devices for providing additional environmental information associated with sensor payload 140. In some embodiments, other modules 152 may include humidity sensors, wind and / or water temperature sensors, barometers, radar systems, visible spectrum cameras, infrared cameras, GNSS, and / or other environmental sensors that provide measurements and / or other sensor signals that may be displayed to a user and / or used by imaging module 142 or other devices of system 100 (e.g., controller 112) to provide operational control of platform 110 and / or system 100 or to process images to compensate for environmental conditions.

[0051] In various embodiments, directional radiation detector / sensor payload 160 may be implemented as a directional radiation detector configured to detect radiation sources in the environment surrounding platform 110. Figure 1 In the illustrated embodiment, directional radiation detector 160 includes a detector controller 162, a memory 163, a communication module 164, a directional radiation sensor assembly 166, an orientation and / or position sensor (OPS) 167, a power supply 168, and other modules 170. In various embodiments, directional radiation sensor assembly 166 may be implemented with sensor elements configured to detect ionizing radiation proximate to platform 110 and / or directional radiation detector 160.

[0052] The detector controller 162 may be implemented as one or more of any suitable logic devices (e.g., a processing device, a microcontroller, a processor, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a memory storage device, a memory reader, or other devices or combinations of devices) that may be adapted to execute, store, and / or receive appropriate instructions, such as software instructions that implement control loops for controlling various operations of the directional radiation detector 160 and / or other elements of the directional radiation detector 160. Such software instructions may also implement methods for processing sensor signals, determining sensor information, providing user feedback (e.g., via the user interface 132), querying the device for operating parameters, selecting operating parameters for the device, or performing any of the various operations described herein.

[0053] In addition, a non-transitory medium may be provided to store machine-readable instructions for loading into and executing by the detector controller 162. In these and other embodiments, the detector controller 162 may be implemented with other components, such as volatile memory, non-volatile memory, one or more interfaces, and / or various analog and / or digital components, as appropriate, for interfacing with modules of the directional radiation detector 160 and / or devices of the system 100. For example, the detector controller 162 may be adapted to store sensor signals, sensor information, parameters of coordinate system transformations, calibration parameters, calibration point sets, and / or other operating parameters, for example, over time, and to provide such stored data to a user using the user interface 132. In some embodiments, the detector controller 162 may be integrated with one or more other elements of the directional radiation detector 160, or distributed as multiple logical devices within the platform 110, the base station 130, and / or the directional radiation detector 160.

[0054] In some embodiments, the detector controller 162 may be configured to substantially continuously monitor and / or store status and / or sensor data provided by one or more elements of the sensor assembly 166 of the directional radiation detector 160, such as the position and / or orientation of the platform 110, the directional radiation detector 160, and / or the base station 130, and, for example, the status of a communication link established between the platform 110, the directional radiation detector 160, and / or the base station 130. Such a communication link may be configured to establish and substantially continuously transmit data between elements of the system 100 throughout operation of the system 100, wherein such data includes various types of sensor data, control parameters, and / or other data.

[0055] The memory 163 may be implemented as one or more machine-readable media and / or logic devices configured to store, for example, software instructions, sensor signals, control signals, operating parameters, calibration parameters, directional radiation sensor data, and / or other data that facilitates the operation of the system 100, and provide it to various elements of the system 100. The memory 163 may also be implemented at least in part as a removable memory, such as a secure digital memory card, for example, including an interface for such a memory.

[0056] The communication module 164 of the directional radiation detector 160 may be implemented as any wired and / or wireless communication module configured to transmit and receive analog and / or digital signals between elements of the system 100. For example, the communication module 164 may be configured to transmit directional radiation sensor data from the directional radiation detector 160 and / or the directional radiation sensor assembly 166 to the communication module 120 of the platform 110 (e.g., for further transmission to the base station 130) or directly to the communication module 134 of the base station 130. In other embodiments, the communication module 164 may be configured to receive control signals (e.g., control signals directing the operation of the directional radiation detector 160) from the controller 112 and / or the user interface 132. In some embodiments, the communication module 164 may be configured to support, for example, spread spectrum transmissions and / or simultaneous communication channels between multiple elements of the system 100.

[0057] The directional radiation sensor assembly 166 can be implemented as one or more sensor element supports (e.g., a printed circuit board “PCB”), connectors, scintillators, photodetectors or photomultipliers (e.g., including silicon photomultipliers “SiPMs” and / or photomultiplier tubes “PMTs”), light guides, shutters, foils, panels, and / or other modules that are configured to facilitate directional detection of ionizing radiation in an environment near the platform 110 and / or the directional radiation detector 160 and / or otherwise associated therewith.

[0058] The orientation and / or position sensor (OPS) 167 of the directional radiation detector 160 can be implemented similarly to the orientation sensor 114, the gyroscope / accelerometer 116, the GNSS 118 and / or any other device capable of measuring the orientation and / or position (e.g., the magnitude and direction of roll, pitch and / or yaw, relative to one or more reference orientations, such as gravity and / or magnetic north, and absolute or relative position) of the directional radiation detector 160, the sensor assembly 166 and / or other elements of the directional radiation detector 160, and providing such measurements as sensor signals that can be transmitted to various devices of the system 100.

[0059] Power supply 168 may be implemented as any power storage device configured to provide sufficient power to each sensor element of sensor assembly 166 to keep all of the sensor elements active and capable of detecting ionizing radiation when directional radiation detector 160 is otherwise disconnected from external power (e.g., provided by platform 110 and / or base station 130). In various embodiments, power supply 168 may be implemented by a supercapacitor so as to be relatively lightweight and facilitate flight of platform 110 and / or relatively easy handheld operation of platform 110 (e.g., where platform 110 is implemented as a handheld sensor platform).

[0060] For example, other modules 170 of directional radiation detector 160 may include other and / or additional sensors, actuators, communication modules / nodes, and / or user interface devices for providing additional environmental information associated with directional radiation detector 160. In some embodiments, other modules 170 may include humidity sensors, wind and / or water temperature sensors, barometers, GNSS, and / or other environmental sensors that provide measurements and / or other sensor signals that may be displayed to a user and / or used by detector controller 162 or other devices of system 100 (e.g., controller 112) to provide operational control of platform 110 and / or system 100 or to process directional radiation sensor data to compensate for environmental conditions, as described herein.

[0061] Generally, each element of system 100 may be implemented with any appropriate logic device (e.g., a processing device, a microcontroller, a processor, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a memory storage device, a memory reader, or other device or combination of devices) that may be adapted to execute, store and / or receive appropriate instructions, such as software instructions implementing a method for providing sensor data and / or images, or, for example, for transmitting and / or receiving communications, such as sensor signals, sensor information and / or control signals, between one or more devices of system 100.

[0062] Additionally, one or more non-transitory media may be provided for storing machine-readable instructions for loading into and executing by any logic device implemented with one or more devices of system 100. In these and other embodiments, the logic device may be implemented with other components, such as volatile memory, non-volatile memory, and / or one or more interfaces (e.g., an Inter-Integrated Circuit (I2C) interface, a Mobile Industry Processor Interface (MIPI), a Joint Test Action Group (JTAG) interface (e.g., the IEEE 1149.1 Standard Test Access Port and Boundary Scan Architecture), and / or other interfaces, such as interfaces for one or more antennas, or interfaces for particular types of sensors), where appropriate.

[0063] Sensor signals, control signals, and other signals can be communicated between the elements of the system 100 using a variety of wired and / or wireless communication technologies, including, for example, voltage signaling, Ethernet, WiFi, Bluetooth, Zigbee, Xbee, Micronet, or other media and / or short-range wired and / or wireless network protocols and / or implementations. In such embodiments, each element of the system 100 can include one or more modules that support a combination of wired, wireless, and / or wired and wireless communication technologies. In some embodiments, the various elements or portions of the elements of the system 100 can be, for example, integrated with each other, or can be integrated onto a single printed circuit board (PCB) to reduce system complexity, manufacturing costs, power requirements, coordinate system errors, and / or timing errors between various sensor measurements.

[0064] For example, each element of system 100 may include one or more batteries, capacitors, or other power storage devices, and may include one or more solar cell modules or other power generation devices. In some embodiments, one or more devices may be powered by a power source of platform 110 using one or more power lines. Such power lines may also be used to support one or more communication technologies between elements of system 100.

[0065] Figure 2 Schematic diagrams of mobile platforms 110A and 110B of a radiation source positioning system 200 including an embodiment of a directional radiation detector 160 and an associated detector support 128 are shown in accordance with an embodiment of the present disclosure. Figure 2 In the illustrated embodiment, the radiation source positioning system 200 includes a base station 130; an optional co-pilot station 230; a mobile platform 110A having an articulated imaging system / sensor payload 140, a gimbal system 122, a directional radiation detector 160, and a detector bracket 128; and a mobile platform 110B having an articulated imaging system / sensor payload 140, a gimbal system 122, a directional radiation detector 160, and a detector bracket 128, wherein the base station 130 and / or the optional co-pilot station 230 can be configured to control the movement, position, orientation, and / or general operation of the platform 110A, the platform 110B, the sensor payload 140, and / or the directional radiation detector 160.

[0066] In various embodiments, the co-pilot station 230 may be implemented similarly with respect to the base station 130, e.g., including similar elements and / or being capable of similar functionality. In some embodiments, the co-pilot station 230 may include a plurality of displays (generally separate from the piloting mobile platform 110A-B) to facilitate operation of the directional radiation detector 160 and / or various imaging and / or sensor payloads of the mobile platforms 110A-B, and to facilitate substantial real-time analysis, visualization, and communication of sensor data and corresponding instructions, e.g., to first responders engaging with a co-pilot or user of the system 200. For example, the base station 130 and the co-pilot station 230 may each be configured to present any of the display views described herein. In additional embodiments, the radiation source localization system 200 may include a variety of other types of mobile platforms, including a person carrying an embodiment of the directional radiation detector 160 by hand, in a backpack, or other harness system.

[0067] As described herein, detecting and locating radioactive materials is critical to stopping nuclear threats. Since radiation intensity decreases with distance from the source, the count rate of conventional detectors can vary when the detector is not stationary. Such a process provides a simple way to locate a radioactive source with a single detector assembly. However, a detector operator using such a detector must follow a search pattern or move in a trial-and-error manner to establish a field gradient so that the instrument estimates the direction of the source. The radiation intensity decays as it passes through matter, which is useful for estimating the direction of the source.

[0068] The embodiments described herein reduce the size, weight, and power required to estimate the source direction by using a relatively simple detector arrangement that includes two separate detectors separated by an attenuating planar collimator or absorber. This arrangement can be extended or adapted to use more than two detectors, each of which is shielded from its neighboring detector by one or more such attenuating planar collimators. The embodiments introduce such planar collimators to increase the effect of detector-detector shielding (e.g., shielding that occurs naturally due to the materials used in each detector). In various embodiments, such planar collimators can be formed of a high-density metal plate made of a material such as tungsten, tantalum, lead, or stainless steel. In some embodiments, the weight of the planar collimator can be equal to or less than one-quarter of the weight of a single detector. However, particularly for more compact directional radiation detectors (e.g., smaller components overall) and / or where higher angular sensitivity is required, the weight ratio of the planar collimator to the single detector may be greater than 1:4, for example, about 1:1, or between 1:4 and 4:1 or 1:1 and 4:1. After the planar collimator is installed, the source direction of relatively small angles can be estimated.

[0069] Figure 3 FIG. 1 is a schematic diagram of a directional radiation detector 160 for use in a radiation source localization system 100 according to an embodiment of the present disclosure. Figure 3 , the directional radiation detector 160 includes first and second radiation detectors 340a-b, the first and second radiation detectors including respective scintillators 302a-b separated from each other by a planar collimation plate 342 and sensed by respective SiPMs 304a-b coupled to a common PCB 305. As described herein, by separating the two radiation detectors 340a-b using the planar collimation plate 342, the directionality of the ionizing radiation 322 generated by the radiation source 320 is enhanced without significantly reducing the detector sensitivity, which allows for relatively fast source localization (e.g., two-dimensional instantaneous source localization) using relatively inexpensive and reduced weight detectors and using simple detection event processing techniques, as described herein.

[0070] In various embodiments, first and second radiation detectors 340a-b may be aligned with a sensor axis 344 of directional radiation detector 160 and / or directional radiation sensor assembly 166 as shown (e.g., approximately in the direction of the center of the field of view of a photomultiplier element (e.g., a PMT or SiPM) of each radiation detector, as described herein). Figure 3 In the illustrated embodiment, the first and second radiation detectors 340a-b are implemented with respective first and second scintillators 302a-b, which are aligned along a direction perpendicular to the sensor axis 344 by a planar collimating plate 342 (e.g., at Figure 3 Typically, the planar collimating plate 342 can be disposed between the first and second radiation detectors 340a-b so as to be coplanar with the sensor axis 344, as shown. In some embodiments, the first and second scintillators 302a-b can be directly bonded to opposing surfaces of the planar collimating plate 342.

[0071] In some embodiments, the planar collimation plate 342 can be coupled to or through the PCB 305 and / or the housing 308 to completely shield the first radiation detector 340a from the second radiation detector 340b. In other embodiments, the planar collimation plate 342 can be sized to completely shield, for example, at least the first scintillator 302a of the first radiation detector 340a from the second scintillator 302b of the second radiation detector 340b, so as to minimize the weight and size of the planar collimation plate 342. The planar collimation plate 342 can be formed of tungsten, lead, stainless steel, and / or other metallic materials or alloys capable of at least sufficiently attenuating gamma radiation at a desired thickness, weight, and / or acceptable toxicity associated with the directional radiation detector 160 (e.g., lead shielding may be subject to various regulatory restrictions).

[0072] like Figure 3, directional radiation detector 160 may be implemented with SiPMs 304a-b supported by PCB 105 and various components adapted to detect ionizing radiation 322 generated by source 320 and report directional radiation sensor data to other elements of system 100, as described herein. In some embodiments, system 300 may report directional radiation sensor data by aggregating directional radiation sensor data to provide a cumulative dose, spectroscopic picture, or material identification of radiation detected by system 300, and then transmitting the directional radiation sensor data to other elements of system 100. In other embodiments, system 300 may report directional radiation sensor data by energizing an LED indicator and / or sending an alarm or notification signal to a component of a notification system (e.g., a siren or electrical switch or relay).

[0073] exist Figure 3 In the illustrated embodiment, the sensor assembly 166 of the directional radiation detector 160 includes first and second radiation detectors 340a-b implemented with respective scintillators 302a-b and SiPMs 304a-b coupled to the PCB 105. As described more fully herein, the scintillators 302a-b can be implemented with various structures and materials suitable for interacting with the ionizing radiation 322 to produce photons, which in turn can be detected (e.g., converted into electrical signals) by the respective SiPMs 304a-b. Alternatively, the scintillators 302a-b can be replaced with other detector materials capable of interacting with ionizing radiation, such as semiconductor detectors (e.g., HPGe and / or CZT), or other ionizing radiation detector material types, for example. Moreover, the scintillators 302a-b can be, for example, cubic, rectangular, or cylindrical, and can be directly bonded to the planar collimating plate 342.

[0074] In various embodiments, the SiPMs 304a-b may be implemented as any silicon-based pixelated semiconductor device suitable for converting photons entering a SiPM pixel (e.g., having a wavelength corresponding to those emitted by the scintillator 302a-b) into a per-pixel electrical signal, as described herein. In alternative embodiments, the SiPMs 304a-b may be implemented as non-pixelated photodetectors, such as PMT-based photodetectors or non-pixelated or reduced pixel count SiPMs, to reduce processing and / or electrical complexity and / or cost. For example, the PCB 305 may be a conventional printed circuit board and suitable for providing electrical access to the SiPMs 304a-b (e.g., through various metal traces and / or connectors 306) and physical support for the SiPMs 304a-b and / or or the scintillator 302a-b. In alternative embodiments, the SiPMs 304a-b may be replaced with photomultiplier tubes, and the PCB 305 may be suitable for providing electrical access to and physical support for such photomultiplier tubes. Connector 306 may be implemented as a relatively small (eg, relative to a connector used to access a photomultiplier tube “PMT”) electrical connector suitable for supporting analog and / or digital coupling to PCB 305 .

[0075] Optionally, the directional radiation detector 300 may include various components suitable for facilitating the operation and electrical access of the SiPMs 304a-b. For example, the directional radiation detector 160 may include light guides 303a-b and / or reflectors 307 to guide photons (e.g., scintillator photons) generated within the scintillator 302a-b to the interface surface of the SiPMs 304a-b. In various embodiments, the light guides 303a-b may be suitable for compensating for the surface mismatch between the scintillator 302a-b and the SiPMs 304a-b, and the reflector 307 may be suitable for reflecting the scintillator photons toward the SiPMs 304a-b. In some embodiments, the reflector 307 may be alternatively or additionally arranged, for example, on the source side surface of the scintillator 302a-b, and / or extend or otherwise be suitable for blocking external photons from entering the scintillator 302a-b and / or reaching the SiPMs 304a-b.

[0076] like Figure 3As shown in , the directional radiation detector 160 may optionally include shutters 309a-b and a variety of electrical and / or electronic components that are coupled to and / or supported by the PCB 305 and / or the housing 308. In some embodiments, the shutters 309a-b may be implemented as mechanical or removable radiation shields that are suitable for selectively blocking or significantly reducing one or more components of the ionizing radiation 322. For example, the shutters 309a-b may be implemented with high-Z materials that can significantly block alpha, beta, and relatively low-energy gamma radiation from entering the scintillator 302a-b but allow neutrons and / or high-energy gamma radiation. In various embodiments, for example, the shutters 309a-b may be electronically actuated (e.g., opened and / or closed) by the detector controller 162. For example, the shutters 309a-b may be coupled to / supported by the housing 308, and the housing 308 may be suitable for providing similar or different radiation shielding relative to the shutters 309a-b. In some embodiments, shutters 309a-b and / or housing 308 may be implemented at least in part using lead and / or tungsten plates, foils, and / or other structures, as described herein. In some embodiments, housing 308 may be adapted to protect system 300 from environmental conditions associated with space or atmospheric flight and / or other outdoor environmental conditions, such as fixed or hinged mounting on a ground structure. In other embodiments, housing 308 may be adapted for handheld use.

[0077] In some embodiments, the directional radiation detector 160 can be implemented with three radiation detectors 340 (e.g., a, b, c), one of which is orthogonal to the plane in which the radiation detectors 340a, b are disposed and separated by an additional planar collimation plate oriented to be orthogonal to the planar collimation plate 342, for example in an "L" shape, so as to provide three-dimensional instantaneous source localization and / or directionality characterization of the ionizing radiation 322 generated by the radiation source 320 using paired accumulation ratios (e.g., ab, bc and / or ac) and / or other techniques similar to those disclosed herein. In further embodiments, the directional radiation detector 160 may be implemented with four radiation detectors 340 (e.g., a, b, c, d) arranged in a 2×2 array and similarly configured to provide three-dimensional instantaneous source localization and / or directionality characterization of the ionizing radiation 322 generated by the radiation source 320 using paired accumulation ratios (e.g., ab, ac, ad, bc, bd, and / or cd) and / or other techniques similar to those disclosed herein.

[0078] Each of the detector controller 162, memory 163, user interface 332, communication module 164, display 333, and other modules 170, if optionally included in the directional radiation detector 160, can be connected to, for example, PCB 305 or housing 308, depending on the desired application and / or overall size of the scintillator 302a-b, SiPM 304a-b, PCB 305, and / or connector 306 (e.g., detector assembly). In other embodiments, any one or a group of such components can be implemented, for example, outside the directional radiation detector 160, and / or in a distributed or grouped manner (e.g., multiple detector controllers 162 operate the directional radiation detector 160, or multiple detectors 160 are operated by a single detector controller 162).

[0079] In some embodiments, the detector controller 162 can be implemented as any suitable processing device (e.g., a microcontroller, a processor, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other logic device) that can be used by the system 300 to execute appropriate instructions, such as software instructions and / or signal processing operations for detecting radiation using the scintillators 302a-b and SiPMs 304a-b. In addition, the detector controller 162 can be implemented with various signal processing devices, such as analog-to-digital converters (ADCs), trigger inputs, timing circuits, and other signal processing devices, as described herein.

[0080] In various embodiments, at least some portions or some functions of detector controller 162 may be part of or implemented with other existing controllers or logic devices of separate systems, such as servers, personal electronic devices (e.g., mobile phones, smart phones, tablet devices, laptop computers, desktop computers), and / or any other device that may be used to process, report, or act on radiation detected by system 300. In other embodiments, detector controller 162 may be adapted to interface and communicate with various external controllers or logic devices and related components and / or perform various operations in a distributed manner.

[0081] In general, the detector controller 162 may be adapted to interface and communicate with other components of the system 300 to perform the methods and processes described herein. For example, the detector controller 162 may be adapted to perform total count operations, spectrometry, or stabilization / calibration methods described herein. In one embodiment, the detector controller 162 may be adapted to use the communication module 164 to report radiation detection to the display 333 and, for example, present and / or display a dose or alarm notification, or present and / or display an image of a spectrogram. In another embodiment, the detector controller 162 may be adapted to use the communication module 164 to establish a wired or wireless communication link with, for example, a remote reporting system, and report counts, energies, transient characteristics, and / or other characteristics of the detected radiation.

[0082] The memory 163 is typically in communication with at least the detector controller 162 and may include one or more memory devices (e.g., memory components) to store information including radiation detection data, calibration data, other types of sensor data, and / or software instructions. Such memory devices may include various types of volatile and non-volatile information storage devices, such as RAM (random access memory), ROM (read only memory), EEPROM (electrically erasable read only memory), flash memory, disk drives, and / or other types of memory. In one embodiment, the memory 163 may include a portable memory device that can be removed from the system 300 and used to transfer stored data to other systems for further processing and inspection.

[0083] The communication module 164 can be configured to facilitate communication and interfaces between various components of the system 300 (e.g., between the detector controller 162 and the memory 163 and / or the display 333) and / or various external devices (e.g., wireless access points, personal electronic devices, servers, and / or other detectors). For example, components such as the user interface 332 and the display 333 can transmit data to and receive data from the detector controller 162 via the communication module 164, which can be adapted to manage wired and / or wireless communication links between the various components. Thus, the communication module 164 can support various interfaces, protocols, and standards for local system networks, such as a controller area network (CAN) bus, a local interconnect network (LIN) bus, a media oriented systems transport (MOST) network, or the ISO 11738 (or ISO bus) standard.

[0084] In some embodiments, the detector controller 162 may be adapted to communicate with a remote user interface, notification system, or other detection system via the communication module 164, for example, to aggregate reports from multiple systems or sensors and / or implement specific detection and / or notification methods. Thus, the communication module 164 may include a wireless communication component (e.g., based on the IEEE 802.11 WiFi standard, Bluetooth TM Standard, ZigBee TM Standard or other suitable short-range wireless communication standards), wireless broadband components (e.g., based on WiMax technology), mobile cellular components, wireless satellite components, or other suitable wireless communication components. The communication module 164 can also be configured to interface with a wired network and / or device via a wired communication component such as an Ethernet interface.

[0085] If present, the user interface 332 provides user interaction with the directional radiation detector 160 and may include one or more buttons, indicators (e.g., LEDs), keyboards, trackballs, knobs, joysticks, displays (e.g., liquid crystal displays, touch screen displays), and / or other types of user interfaces suitable for receiving user input and / or providing user feedback. In one embodiment, the user interface 332 may include a power button, a vibration motor, an LED that indicates a radiation detection event (e.g., a count), and / or a speaker that provides an audible indication of a detection event (e.g., a visible, tactile, and / or sound indicator). In various embodiments, the user interface 332 may be used to enter various system configuration settings, such as stability / calibration parameters, as described herein. In some embodiments, the user interface 332 may be used to view one or more reports, graphs, and / or other radiation detection data captured by the system 300 and / or processed according to the various operations described herein.

[0086] If present, display 333 may be configured to present, indicate, or otherwise communicate radiation detection alarms, notifications, counts, dose rates, and / or other reports (e.g., generated by detector controller 162). Display 333 may be implemented with an electronic display screen, such as a liquid crystal display (LCD), a cathode ray tube (CRT), or various other types of commonly known video displays and monitors (including touch-sensitive displays). Display 333 may be suitable for presenting radiation detection data, graphs, images, reports, or other information, as described herein.

[0087] Other modules 170 may include various stabilization / calibration devices, such as temperature sensors / probes (e.g., thermocouples, infrared thermometers), LEDs or laser diodes (e.g., to provide a known source of photons), ambient light sensors, voltage regulators and / or filters, variable voltage sources, and / or other types of devices that can be used to facilitate stabilization or calibration, as described herein. Detector controller 162 may utilize sensor data from such sensors to detect stabilization / calibration parameters associated with directional radiation detector 160, thereby generating more reliable reports of detected radiation. In some embodiments, other modules 170 may include GPS, accelerometers, compasses, OPS 167, and / or other orientation and / or position sensors that are capable of sensing the position and / or orientation of PCB 305 and / or directional radiation detector 160, such as when similar orientation and / or position sensor data is not available through platform 110. Other modules 170 may additionally include power modules implemented as batteries, power adapters, charging circuits, power interfaces, power monitors, and / or other types of power supplies that provide fixed or mobile power. In some embodiments, the power module may be adapted to provide uninterruptible power and / or power conditioning to protect continued operation of directional radiation detector 160 .

[0088] According to the embodiments described herein, emitter localization systems can benefit from a variety of visualization and emitter localization techniques configured to improve the operational flexibility, reliability, and accuracy of such systems. In particular, embodiments can be configured to provide various display views, such as to allow users to access and selectively enable such features and capabilities, and can be implemented according to various processes and / or control loops configured to reduce pilot burden, protect the operation of mobile platforms of such systems, and qualitatively and quantitatively assess potential exposure events more quickly and reliably than conventional systems.

[0089] In various embodiments, the system 100 can be configured to visualize and characterize distributed ionizing radiation threats by using a mobile platform 110 and sensors mounted to the mobile platform 110. Typically, the mobile platform 110 can relay directional radiation sensor data back to an operator at the base station 130 and / or the co-pilot station 230, where it will be presented on or within a geospatial map to help visualize and characterize the threat. For example, first responders often need to assess dangerous situations and determine the scope of related contamination or threats. The elements of the system 100 can autonomously map the scope of contamination of dangerous radiation sources and overlay the resulting sensor data onto a geospatial map, so that operators can visualize the full scope of the danger and proceed safely. The elements of the system 100 can also use a visual system to identify and relay information about warning signs and related information, and report specific threats and locations in a visual manner. In an embodiment where the system 100 includes a handheld mobile platform, the elements of the system 100 can aggregate various data to provide critical and timely warnings and / or safety instructions to the user of the handheld platform.

[0090] An embodiment may overlay 2D or 3D directional radiation sensor data onto a geospatial map as icons or colored highlights or spots so that a user can visualize the extent of hazardous contamination. An embodiment may optionally include a second screen / additional base station so that users other than the UAV / UGV pilot can view / manipulate the sensor data. An embodiment may use image recognition technology to read NFPA diamonds and DOT chemical placards using an online or built-in database and relay relevant hazard information and / or safety instructions to users of the system 100.

[0091] In addition to the directional radiation sensor data provided by embodiments of directional radiation detector 160, mobile platform 110 may include embodiments of imaging module 142 that are configured to provide remote sensor data, such as through gas imaging. For example, imaging module 142 may be implemented as a visible spectrum, infrared, and / or multi-spectral (e.g., visible and infrared, visible and thermal, or visible, infrared, and ultraviolet) imaging module that is configured to, for example, detect the presence of gas analytes and / or estimate the concentration of specific gas analytes based on their emission and / or absorption spectra, and / or detect the presence of significant radioactive source contamination based on thermal emissions in the survey area. Moreover, mobile platform 110 may be implemented with multiple imaging modules, each of which is configured to image a scene according to a different spectrum (e.g., which may partially overlap), and system 100 may be configured to combine or blend such images to generate a multi-spectral image that may be used to help guide mobile platform 110 around a hazardous survey area and / or aim gimbal system 122 and / or radiation sensor bracket 128. Thus, system 100 may be configured to perform radiation source localization according to a variety of different detection protocols associated with individual types of directional radiation sensor data and / or combinations of different types of directional radiation sensor data.

[0092] In some embodiments, a display view (e.g., presented by user interface 132) includes a geospatial map surrounded by a set of selectors and / or indicators configured to visualize and / or quantify radiation source locations and operating mobile platform 110 and / or elements of mobile platform 110. For example, a header may include one or more selectors and / or indicators configured to receive user selection of a particular selector to enable, disable, or select an active sensor payload (e.g., imaging module 142, directional radiation detector 160) for displaying corresponding geo-referenced sensor data within a geospatial map, for example, or to indicate operational status of mobile platform 110 and / or various elements of mobile platform 110.

[0093] In a related embodiment, the geospatial map includes a mobile platform indicator and a dose rate or source location and / or concentration overlay presented on a base map or map. In various embodiments, the system 100 can be configured to determine the shape, extent, and / or other characteristics of the radiation source location overlay within the geospatial map based at least in part on directional radiation sensor data provided by directional radiation detector 160 and orientation and / or location data provided by OPS 167 and / or other orientation and / or position or motion sensors or elements of mobile platform 110 as mobile platform 110 maneuvers within an area shown in the geospatial map. For example, the system 100 can be configured to determine a dose rate or concentration distribution associated with radiation source contamination based on directional radiation sensor data provided by mobile platform 110 and / or environmental conditions, and present the dose rate or concentration overlay according to a color plot indicating relative concentrations, such as hot colors (e.g., red) indicating relatively high dose rates or radioactive contaminant concentrations and cold colors (e.g., blue) indicating relatively low dose rates or radioactive contaminant concentrations. Such color mapping may be based on, for example, relative toxicity (eg, high toxicity being red at relatively low absolute concentrations / ppm), and / or based on relative hazards to organisms, structures, and / or machinery.

[0094] In some embodiments, system 100 may be configured to determine various characteristics of the dose rate or concentration coverage based on environmental conditions associated with the survey area, such as displayed within a geospatial map. For example, system 100 may be configured to determine the locations of potential sources corresponding to the dose rate or concentration coverage based on the measured radiation source locations within the geospatial map (e.g., by imaging module 142 and / or directional radiation detector 160), determined wind speeds (e.g., measured according to an automatic drift detection mode), ambient temperature, ambient humidity, and / or other environmental conditions that affect the spatial evolution of the detection of radiation contamination by directional radiation detector 160 and / or mobile platform 110.

[0095] In another embodiment, the system 100 can be configured to, for example, determine multiple types of ionizing radiation or radiation sources present within a particular survey area and present each type of ionizing radiation or radiation source according to different overlays presented in a display, each of which can be selectively enabled and / or disabled by a user.

[0096] In various embodiments, the mobile platform 110 can be configured to adjust its route based on, for example, directional radiation sensor data provided by the imaging module 142 and / or the directional radiation detector 160 and / or based on various environmental conditions measured by sensors mounted to the mobile platform 110 or measured by an external system and transmitted to the system 100 (e.g., regional weather data provided by an online database via a wireless network linked to the base station 130 or the co-pilot station 230). Thus, the mobile platform 110 can be configured to autonomously avoid entering hazardous areas (e.g., radiation sources with hazardous dose rates or concentrations within a specific radiation source location) or environments (e.g., significant downdrafts or other undesirable environmental conditions and / or hazardous radioactive areas under such adverse environmental conditions). For example, sending a UAV / UGV into a hazardous environment can put the mobile platform 110 at risk of damage or contamination that requires replacement or decontamination. By adding intelligent hazard avoidance based on onboard radiation and environmental sensors, the mobile platform 110 and its associated sensor suite can be protected by limiting hazardous exposure through automatic route adjustments.

[0097] Embodiments described herein may provide for autonomous responses to directional radiation and / or environmental sensor data. For example, the controller 112 and / or the controller of the base station 130 or the co-pilot station 230 may be configured to receive directional radiation and / or environmental sensor data from the mobile platform 110 and / or from sensors mounted to the mobile platform 110, and determine a route adjustment to avoid detected hazardous radiation locations and / or environmental conditions. Examples of route adjustments may include stopping, climbing, and / or reversing routes to retreat from a hazardous environment. For example, such route adjustments may be relayed to a user of the base station 130, or may be implemented directly / autonomously by the mobile platform 110. Such an autonomous response is intended to maintain the integrity of the mobile platform 110 and avoid bringing contamination into other non-contaminated areas.

[0098] In some embodiments, the display view may include a dose rate and / or source concentration contour plot selector configured to cause mobile platform 110 to enter a dose rate or source concentration contour plot mode, wherein mobile platform 110 determines one or more dose rate or source concentration boundaries and / or corresponding contour lines within a survey area represented in a geospatial map using directional radiation sensor data provided by imaging module 142 and / or directional radiation detector 160. For example, mobile platform 110 may be configured to move mobile platform 110 within the survey area and around radioactive contaminants corresponding to radioactive contaminant coverage to generate sufficient directional radiation sensor data to determine a dose rate or source concentration contour plot.

[0099] Figure 4-5Flowcharts 400, 500 show various operations for providing radiation source positioning using the radiation source positioning system 100 according to embodiments of the present disclosure. In some embodiments, Figure 4-5 The operation can be realized by Figure 1-3 More generally, Figure 4-5 The operations of may be implemented with any combination of software instructions, mechanical elements, and / or electronic hardware (eg, inductors, capacitors, amplifiers, actuators, or other analog and / or digital components).

[0100] It should also be appreciated that any step, sub-step, sub-process or process block 400, 500 may be performed in different Figure 4-5 The embodiments shown in the drawings may be performed in the order or arrangement of the embodiments shown. For example, in other embodiments, one or more blocks may be omitted or added from each individual process. In addition, block inputs, block outputs, various sensor signals, sensor information, calibration parameters, and / or other operating parameters may be stored in one or more memories before moving to subsequent portions of the corresponding processes. Although processes 400, 500 refer to Figure 1-3 Although described with reference to the systems described in , processes 400 , 500 may be performed by other systems that differ from those systems and include different electronic devices, sensors, components, mechanisms, platforms, and / or platform attribute selections.

[0101] Figure 4 Process 400 may generally correspond to a method of surveying a survey area using radiation source positioning system 100 .

[0102] At block 402, radiation sensor data is received from a mobile platform in a survey area. For example, controller 112 and / or 162, communication module 164, user interface 132, communication module 132, and / or other elements of system 100 may be configured to receive directional radiation sensor data from directional radiation detector 160 and / or image data from imaging module 142 as mobile platform 110 maneuvers within the survey area.

[0103] In block 404, orientation and position data corresponding to the radiation sensor data is received. For example, system 100 may be configured to receive orientation and / or position data corresponding to the directional radiation sensor data received in block 402, such as from orientation sensor 114 and GNSS 118 of platform 110, or from OPS 167.

[0104] In block 406, radiation source positioning survey information is generated. For example, system 100 may be configured to generate radiation source positioning survey information corresponding to the survey area based at least in part on a combination of the orientation and / or position data and directional radiation sensor data received in blocks 402 and 404. In some embodiments, system 100 may be configured to direct mobile platform 110 to adjust the position and / or orientation of directional radiation detector 160 in order to generate radiation source positioning survey information and / or facilitate source positioning using one or more of the techniques described herein.

[0105] In block 408, a display view including the radiation source localization survey information is presented. For example, the system 100 may be configured to present a display view including the radiation source localization survey information generated in block 406 in a display of the user interface 132. In some embodiments, such radiation source localization survey information may include geo-located and / or orientation-differentiated dose rate measurements, ionizing radiation intensity measurements, estimated source concentrations and / or localization probabilities, and / or other radiation source localization survey information, as described herein.

[0106] In block 410 , entry into a hazardous portion of the survey area is detected. For example, the system 100 may be configured to detect entry of the mobile platform 110 into a hazardous portion of the survey area based at least in part on the radiation source positioning survey information generated in block 406 .

[0107] In block 412 , the route of the mobile platform is adjusted. For example, the system 100 may be configured to adjust the route of the mobile platform 110 to avoid the hazardous portion of the survey area detected in block 410 .

[0108] Figure 5 Process 500 may generally correspond to a method of determining dose rate and / or radiation source concentration contour maps associated with a survey area using radiation source positioning system 100 .

[0109] At block 502 , the mobile platform 110 enters a dose rate and / or radiation source concentration contour plotting mode. For example, the system 100 may be configured to detect a user selection of a dose rate and / or radiation source concentration contour plotting mode and communicate the selection to the mobile platform 110 .

[0110] In block 504, the mobile platform 110 is maneuvered to sample the survey area. For example, the system 100 may be configured to control the propulsion system 124 of the mobile platform 110 to maneuver the mobile platform 110 within the survey area to generate radiation source location survey information, similar to Figure 4 of process 400.

[0111] In block 506 , one or more dose rate and / or radiation source concentration boundaries are determined. For example, the system 100 may be configured to determine one or more dose rate and / or radiation source concentration boundaries based at least in part on the radiation source positioning survey information generated in block 504 .

[0112] In block 508 , a display view including the dose rate and / or source concentration boundaries is presented. For example, the system 100 may be configured to present a display view including the dose rate and / or source concentration boundaries determined in block 506 in a display of the user interface 132 .

[0113] By providing such systems and techniques for locating radiation sources, embodiments of the present disclosure significantly improve the operational flexibility and reliability of unmanned sensor platforms. Moreover, such systems and techniques can be used to improve the operational safety of users of radiation source locating systems, including unmanned mobile sensor platforms that exceed what conventional systems can achieve. Thus, embodiments provide radiation source locating systems with significantly increased survey convenience and performance.

[0114] The embodiments described herein have been tested using two NaI-based detectors and a planar collimator to estimate the direction of the radiation source. Simulations were performed to obtain the counts and deposited energy distributed in the two detectors as a function of the source angle. Comparisons were made between embodiments with and without a planar collimator. Using a planar collimator sandwiched between the two detectors, the distribution of detection events and energy spectra changes faster (more abruptly and / or with a higher apparent conversion rate) as a function of the source angle. In addition, tungsten has a higher gamma attenuation than stainless steel, so tungsten is more effective as a planar collimator than stainless steel of the same mass. Embodiments are suitable for deployment in various applications, such as backpacks / vests, unmanned ground vehicles, and unmanned aerial vehicle systems, as described herein.

[0115] As described in this paper, a simulation of two types of NaI detectors, 50x50mm 3 Straight cylinder and 50×50×50mm 3 cube (i.e., the shape and volume of the scintillator). The simulation produces a histogram of the energy deposited in the detector by striking 122, 662, and 1332 keV gammas located one meter away. The gamma sources are placed at 10° intervals from 0° to 180°, where 0° means that the two detectors are directly facing the source. In a 50x50mm 2 Comparisons were made between a tungsten plate (2 mm thick) or a stainless steel plate (5 mm thick) and no flat collimation plate. The corresponding tungsten plate and stainless steel plate were both about 100 g, which is about a quarter of the weight of the NaI detector.

[0116] The simulated count ratio of the two detectors (distal / near) as a function of the source angle is Figure 6 . At 0°, both detectors are uniformly exposed to the source without any obstructions. As expected, the count ratio is 1. As the source moves toward 90°, shielding of the far detector by the near detector increases and the count ratio decreases. The count ratio reaches a minimum for the source located at 90° where shielding is maximized. Once the source is located above 90°, the gamma in the model is scattered so that the count ratio does not rise rapidly until the source angle is greater than 130°.

[0117] exist Figure 6 In the graph, the solid symbols represent detector cubes, while the open symbols represent detector cylinders. For all three gamma energies, the occlusion effect is greater for the cube detector than for the cylinder detector. However, the count ratio does not deviate significantly from 1 until the source angle is greater than 40°. Therefore, the directionality estimate is relatively poor for sources located between 0 and 40°. The only exception is the cube detector with 122keV gamma, where an estimate of the source direction can be achieved at angles as small as 20°. Since gamma attenuation decreases with increasing energy, estimating the source direction by occlusion works better for lower energy gammas. This can be seen from the faster drop in the count ratio for lower energy gammas.

[0118] To increase the occlusion effect, a 50x50x2mm 3 A flat collimator plate of tungsten was used to modify the simulation. Figure 7 The results of such a simulation are shown in Figure 1. It can be seen that for angles starting at 20°, the source direction can be inferred. For the cubic detector, for 122keV gamma, the source direction can be inferred even at 10°.

[0119] Figure 8 Results are shown for simulating 662keV gamma with a 5 or 10mm thick stainless steel plate instead of a 2mm thick tungsten plate. As described in the text, the weights of the 2mm and 5mm plates are very similar. Since stainless steel has less gamma attenuation than tungsten, the obstruction effect of stainless steel is smaller. Nevertheless, for angles greater than 20°, the source direction can be estimated by the count ratio. In order for stainless steel to work as effectively as tungsten, it would be necessary to double the thickness to 10mm, as shown by the open circles. Therefore, such a detector system would weigh approximately 100g more than a detector system using a 2mm tungsten insert.

[0120] As described herein, in some embodiments, directional radiation sensor data may be represented by a ratio of counts accumulated in radiation detectors separated from each other by, for example, a planar collimator plate, which may be used to generate a source location display view indicating a relative direction toward a source (e.g., source 320). For example, with respect to directional radiation detector 160 (e.g., two radiation detectors separated from each other by planar collimator plate 342, as Figure 3), such a count ratio may be the number of detected ionization events occurring within scintillator 302a (right or top, from the perspective of sensor axis 344) within a selected integration time period (e.g., 1, 5, 10, 30, or 60 seconds, or longer as desired depending on directional sensitivity) divided by the number of detected ionization events occurring within scintillator 302b (left or bottom) within the same integration time period. In such an embodiment, the relative source direction indicator may point or indicate a direction along sensor axis 344 for an integration ratio equal to 1, to the right or above sensor axis 344 for an integration ratio less than 1, and to the left or below sensor axis 344 for an integration ratio greater than 1. Thus, a handheld embodiment of directional radiation detector 160 (e.g., having display 333) may be configured to indicate a relative direction toward source 320 as a user sweeps directional radiation detector 160 through a range of orientations. Furthermore, the user may rotate the directional radiation detector 160 90 degrees about the sensor axis 344 to switch from a left / right indication to a top / bottom indication (eg, in an embodiment having only two radiation detectors 340a, b).

[0121] In a related embodiment, the directional radiation sensor data may be represented by a time series of accumulation ratios and corresponding orientation and / or position (OPS) data, which may be used together to generate a display view including a geographic map of the survey area indicating possible locations of the source 320 and / or directional radiation detector 160 within the survey area. For example, such directional radiation sensor data may be used to generate a heat map indicating possible locations of the source 320 within the survey area. The heat map may overlay a geographic map of the survey area and display increasing intensity or heat (e.g., color and / or opacity of the underlying geographic map obscured), where conical strips of the survey area corresponding to sampled accumulation ratios (and their corresponding OPS data) overlap each other when the directional radiation detector 160 is manipulated within the survey area. Such a geographic map and / or heat map overlay and the resulting display view may be two-dimensional or three-dimensional, depending on the type and range of directional radiation sensor data provided by the directional radiation detector 160.

[0122] In some embodiments, the directional radiation sensor data may include a timestamp for each or both of the accumulation ratio and the corresponding OPS data. In certain embodiments, the OPS data may be collected or sampled or averaged, for example, over the same accumulation period for each accumulation ratio, or may be collected or sampled over a corresponding accumulation period (e.g., at the beginning, middle, or end of the accumulation period). In various embodiments, for example, the directional radiation sensor data may include additional sensor and / or state data, such as ambient temperature or image data (e.g., provided by imaging system 140), or state data corresponding to the maneuvering state of platform 110 or the relative position of base station 130.

[0123] In additional embodiments, each accumulation ratio may be distinguished by a spectral signature that is specific to a selected isotope, rather than simply the total event count attributed to one or the other radiation detector 340a, b. For example, the memory 163 of the directional radiation detector 160 may include a selection or library of isotope identification spectra, and the detector controller 162 may be configured to accumulate the number of detected ionization events and their energies (for each radiation detector 340a, b) over a selected accumulation time period; distinguish the detected ionization events by isotope (e.g., source type) by comparing the isotope identification spectra provided by the memory 163 to the accumulated detected ionization events; and determine the isotope-specific accumulation ratio for each different source within the survey area with respect to the directional radiation detector 160.

[0124] Each isotope-identifying spectrum may include various characteristics of the spectrum attributable to a particular isotope, such as the energy of all peaks in the spectrum, the relative intensity of each peak in the spectrum (e.g., relative to each other), the relative width of each peak in the spectrum (e.g., relative to each other and / or relative to the intensity of the peak), and / or other isotope-specific spectral characteristics or identifiable features that may be detected by the directional radiation detector 160. Additionally, the various display views described herein may be configured, for example, to indicate relative directions toward spatially and isotopically distinguished sources as a user sweeps the directional radiation detector 160 through a range of orientations, or to generate a heat map or other two-dimensional or three-dimensional geospatial map of a survey area configured to indicate locations of spatially and isotopically distinguished sources within the survey area.

[0125] Although each of the above embodiments is described with respect to an embodiment of a directional radiation detector 160 that includes multiple individual radiation detectors 340, such that the accumulation ratio is generated relative to simultaneous counts differentiated between the individual radiation detectors 340, similar techniques may be used with embodiments of a directional radiation detector 160 that includes only a single radiation detector 340 and an OPS 167, but where the accumulation ratio is generated relative to time-differentiated counts from the same radiation detector 340. Thus, the techniques described herein may be performed with embodiments of a directional radiation detector 160 that includes an OPS 167 and only a single radiation detector 340a and lacks a planar collimating plate (e.g., as described with respect to Fig.10 more fully described).

[0126] For example, particularly for embodiments in which each accumulation ratio can be distinguished by a spectral signature unique to a selected isotope, a first set of detected ionization events (corresponding to a single radiation detector 340a) can be accumulated over a selected accumulation time period and at a first time (e.g., corresponding to a first set of OPS data), and a second set of detected ionization events (corresponding to the same single radiation detector 340) can be accumulated over the same selected accumulation time period but at a second time (e.g., corresponding to a second set of OPS data). In some embodiments, the detector controller 162 can be configured to determine a direction toward one or more isotopes and / or spatially distinguished sources based at least in part on the isotope identification spectra provided by the memory 163, the corresponding time accumulation ratios, and / or the OPS data (e.g., common directional radiation sensor data) provided by the OPS 167, as described herein.

[0127] For example, the isotope-specific time accumulation ratio can be the number of detected ionization events associated with the first isotope that occur within the scintillator 302a and within a selected accumulation time period at a first time divided by the number of detected ionization events associated with the first isotope that occur within the scintillator 302a within the same accumulation time period but at a second time. In such an embodiment, the relative source direction indicator can point to or indicate an unknown relative direction for an accumulation ratio equal to 1; for an isotope-specific time accumulation ratio less than 1 (e.g., as measured by OPS 167), be substantially parallel to a position change vector corresponding to a position change of the directional radiation detector 160 between the first and second times; and for an isotope-specific time accumulation ratio greater than 1, be substantially antiparallel to the position change vector.

[0128] Accordingly, a hand-held embodiment of the directional radiation detector 160 (e.g., having a display 333) can be configured to indicate a relative direction towards the source 320 as the directional radiation detector 160 is maneuvered past the source 320. Additional refinements can be used to increase the accuracy of such a relative source direction indicator, such as correcting the relative direction based on an inverse-square distance intensity field map or other algorithms and / or physical radiation measurement characteristics, as described herein. Further, in related embodiments, such directional radiation sensor data can be represented by a time series of cumulative ratios and corresponding orientation and / or position (OPS) data, which can be used together to generate a display view including a geographical map of the surveyed area, which indicates the possible locations of the source 320 and / or the directional radiation detector 160 within the surveyed area, as described herein. In some embodiments, the system 100 can be configured to guide a mobile platform 110 (e.g., an unmanned vehicle, or a human operator) to move in the surveyed area in a manner that facilitates source localization by a time series of cumulative ratios, such as including manipulation of a first position change vector and a second position change vector orthogonal to the first position change vector (e.g., in two or three dimensions, depending on the relative position of the source, the terrain of the surveyed area, and / or the corresponding desired source localization pattern).

[0129] In various embodiments, each cumulative ratio (e.g., a paired detector cumulative ratio, a time cumulative ratio, an isotope-specific cumulative ratio, or any combination thereof) can be based, for example, on the total event count (e.g., total cumulative energy) within a cumulative time period, or can be based on various subsets of the total event count. In one embodiment, the cumulative ratio can be based on the event count attributable to one or more specific light peaks within a cumulative spectrum, such as light peaks and / or light peak characteristics identified in association with a specific radioactive isotope and / or selected from a library of isotope identification spectra within the memory 163. In another embodiment, the cumulative ratio can be based, for example, on the average energy associated with the total event count accumulated during the cumulative time period or those counts attributable to one or more specific light peaks within the cumulative spectrum, as described herein. In another embodiment, the cumulative ratio can be based on the total event count within a specific energy window, which can include multiple light peaks, such as when the detected radiation source produces a relatively complex and / or dense spectrum (e.g., as with TH-232, Ra-226, uranium, plutonium, etc. and / or combinations thereof). Examples of such energy window ranges (lower and upper limits) include: 25 < E < 300 keV; 300 < E < 740 keV; 740 keV < E < [detector upper limit, typically > 1332 keV]. In such embodiments, for example, the cumulative ratio for each energy window can be presented to the operator individually, or can be combined together to increase the overall accuracy of the resulting source localization.

[0130] In additional embodiments, the raw event count data may be preprocessed prior to determining any accumulation ratio described herein to provide more sensitive and / or more accurate source localization. For example, in some embodiments, the detector controller 162 may be configured to, for example, acquire and / or determine a natural background count contribution associated with a particular accumulation time period (e.g., prior to entering a particular survey area), and remove the natural background count contribution from the raw event count data prior to determining a particular accumulation ratio or as part of determining a particular accumulation ratio. In other embodiments, the detector controller 162 may be configured to identify a Compton scatter component associated with a particular isotope spectrum based on the raw event count data and / or a selection or library of isotope identification spectra within the memory 163, and remove the Compton scatter component from the raw event count data prior to determining a particular accumulation ratio or as part of determining a particular accumulation ratio.

[0131] In some embodiments, the accumulation ratio can be used to help identify shielded or absorbing objects within the survey area, which in turn can be used to help improve and / or accelerate source localization techniques, as described herein. For example, when a source is shielded from a directional radiation detector by an ionizing radiation absorbing object, the total event count rate and the ratio of the photopeak count rate to the total event count rate change. For example, the system 100 can be configured to detect such absorption-based changes in the raw and processed event count data associated with a time series of accumulation time periods, identify and locate candidate absorbing objects within the survey area (e.g., using image data provided by the imaging system 140), and then combine the OPS data associated with the absorption-based changes and the relative positions of the candidate absorbing objects to identify the actual absorbing object and refine the relative position of the source within the survey area by associating the absorption-based changes with the necessary relative positions of the actual absorbing object and the source to produce an identified absorption-based change.

[0132] The use of portable and / or handheld radiation detectors for automatically locating sources is highly desirable for defense, safety, and security operations. The integration of at least position data from an inertial measurement unit (IMU) or OPS with radiation data allows the mapping of radiation fields and source positioning. Advanced spectral techniques (e.g., 2D peak search and other techniques described herein) allow detection devices to simultaneously track the radiation fields of multiple different isotopes by identifying spectral features unique to each isotope and combining radiation data corresponding to such spectral features with OPS data. The inverse square law, energy efficiency, and counting statistics associated with radiation detection allow embodiments to make Bayesian inferences about where the source is located based on relatively sparse data sets. This allows relatively efficient and automatic positioning, which is very different from the current non-directional "hot or cold" total raw count surveys that require careful operator observation and experienced intuition, both of which may not be available in a crisis.

[0133] For example, locating radioactive sources using conventional non-directional radiation detectors currently relies on a "hot or cold" search. When the operator uses the instrument to get closer to the source, the instrument will record a higher dose rate. Although this method is effective in a variety of situations, it also has several disadvantages. When multiple sources are present, isotope differentiation may require 5 minutes or more of accumulation even for an experienced operator to identify even one isotope; relying on intuition in a crisis is undesirable given the possible threat scenarios. Using spectral data in conjunction with OPS data allows for a more automated approach, eliminating much of the guesswork and waiting for identification confirmation. If an object is located between the detector and the source, conventional systems cannot automatically detect and report this scenario. By examining the spectral signature in conjunction with OPS data, it can be determined whether there is an object that is only partially shielded at a specific relative position. This is useful for facilities where leaks may be a problem or when looking for sources that are not well hidden in collaborative scenarios. For radiation field mapping within a facility, especially in hazardous areas, the spectral data may change over time even if the position data does not change. An embodiment provides a time-correlated map of the radiation field within a facility, which may change due to air circulation or suspected relocation of a source. The IMU or OPS reduces the risk of motion and position uncertainty due to operator movement and provides relatively accurate tracking of moving sources.

[0134] Embodiments may include one or more scintillators or scintillator types (e.g., NaI, CsI, LaBr, CeBr, etc.) coupled to a photoelectric sensor (silicon photomultiplier tube, photomultiplier tube, any other type of photomultiplier tube), semiconductor (CZT, TlBr, Ge, etc.), inertial measurement unit or OPS (accelerometer, gyroscope, magnetometer, GPS), or a combination of the above. Embodiments measure incoming gamma radiation and record the event and its energy. From this energy data or spectrum, the specific radioactive isotope that emits those detected gamma rays can be identified (e.g., by spectral feature matching, pattern matching, and / or other computer algorithms). By comparing a series of spectra observed over time and their corresponding IMU / OPS data, the relative and / or absolute direction and position of multiple radiation sources can be determined. In addition, radiation heat maps with contour lines corresponding to dose rates, intensities, and spectral features present at a given location and / or according to a specific orientation can be developed. The use of physical models with inverse square distance relationships and Monte Carlo-based statistical analysis can be used to infer additional characteristics of sources present in the survey area.

[0135] For example, as a gamma radiation detector moves to approach and pass by a source (e.g., along a linear path), the maximum signal intensity / maximum count flux will exist when the distance to the radiation detector is minimal (when a vertical line can be drawn from the path the detector moves to the source). A histogram of spectral data associated with the detector motion can be used to pinpoint the source direction to a very small cone. A simple example is to associate the most intense radiation measurement with the position of the radiation detector given by GPS or the orientation of a compass. In all practical cases, this results in a precise location of the source. The new technique can simultaneously separate multiple groups of peaks and spectral features unique to a given isotope, allowing the locations of multiple isotopes to be determined simultaneously. In various embodiments, the data can be viewed as a spectrogram as used in sound analysis but for radiation measurements.

[0136] With regard to Monte Carlo-based statistical analysis, improvements in source localization based on cumulative ratios can be achieved by using statistical analysis to identify the most likely isotope-specific spectra in the raw count data and identifying the most likely relative position changes that contribute to determining the cumulative ratio. For example, for each isotope in the isotope identification spectrum library, each isotope can be represented as a rank 1 matrix Ai of size m (e.g., 1024), where i is a natural number not greater than the total number n of isotopes in the library. This vector can then be used as a probability density function for sampling to represent the spectrum collected experimentally. The spectrum collected experimentally can conform to a rank 1 matrix AExp of the same size m. Thus, it can include a linear combination of all Ai in the library, such that for i=1,...,n, Aexp=Sum(ai*Ai). For isotopes that do not exist, the scalar coefficient ai is equal to 0. In such an embodiment, two or more major isotopes in the raw spectrum can be quickly and accurately identified by template matching. One can then sample from those given isotopic distributions, for example, AExp = a1A1 + a2A2 + a3A3 + b*E, where E is the residual due to statistical variations in the background, unrepresented isotopes (missing from the library), or electronic noise.

[0137] By generating a time series of sample slices for a given accumulation time period, each AExp spectrum can be expanded to a rank p matrix so that each AExp,p shows how the original spectrum evolves over time. In some embodiments, each AExp,p series spectrum can be implemented as a waterfall plot (x-axis is energy, y-axis is time, and the cell value is the count in that energy bin over the specified accumulation time), and machine learning techniques can be used to identify regions of change or "peaks" formed in the original spectrum, such as where a detector approaches and then retreats from a source, as well as to identify one or more sources present in the AExp, at what time, and at what relative position, as described herein.

[0138] Additionally, Markov Chain Monte Carlo techniques can be used to smooth out any noise in the AExp spectrum. When drawn from a probability distribution, variations are expected, especially when the number of samples is small (e.g., long accumulation periods, sparse accumulation times). This is generally well suited for simple Monte Carlo analysis of samples. However, due to the continuity of the dynamic motion of the drone or operator, the most recent samples are inferentially dependent on older samples, and Markov chains can be used to predict the evolution of older spectra into more recent spectra based on practical physical constraints of dynamical motion. For example, since the 1 / r2 law applies to radiation source intensity, the most recent samples depend on previous samples and the expected increase or decrease in flux that accompanies changes in position. The width of the Markov chain in each transition from the previous sample to the most recent sample (e.g., covering the expected range of changes in the relative position of the source) provides an inference of the relative position of the source, since only one Markov chain will represent the actual most recent sample.

[0139] In various embodiments, a random walk algorithm can be used as a Markov chain Monte Carlo generator, where a cost function is applied to guide the solution. In most cases, Gibbs sampling techniques can be used because solutions should be close to each other along the physical dynamics continuum ("local" in mathematical terms). However, in some cases, there is a risk of falling into a local minimum or valley (relative to the cost function) and getting stuck in the algorithm (for example, when the source spectrum is relatively weak). Metropolis-Hastings can be used as a more globally reliable technique for implementing Markov chain Monte Carlo techniques, but the computational cost may be higher and therefore more suitable for off-device processing or post-processing. By making multiple guesses and then comparing them with subsequent recent spectra, the direction and relative position of the source can be estimated. For example, such techniques can be used with multiple spectra at the same time, and can be used to supplement and / or as an alternative to cumulative ratio techniques (for example, where the cumulative ratio technique can be used to provide a rough source localization, which can be used (for example, together with the motion characteristics and / or measurements of the platform 110) to limit the width, number and / or other characteristics of the representative Markov chain, as described herein.

[0140] In various embodiments, the directional radiation detector can be implemented as a smart device equipped with onboard electronics, including a preamplifier, a bias power supply, a temperature sensor, digital signal processing (e.g., implemented in an FPGA), and an inertial measurement unit (IMU) or OPS, as described herein. The directional radiation detector can be pre-calibrated at the factory, and its gain is stabilized by a built-in algorithm using temperature data from a temperature sensor (e.g., other module 170). The user can provide main power and receive and view radiation measurements as user feedback through a display device (e.g., handheld, wearable, backpack) or through wired / wireless data transmission to a base station (e.g., unmanned vehicle). In the latter case, the user can use an application on a smartphone or tablet to obtain measurement characteristics, build energy histograms, perform radionuclide identification, and / or otherwise view and / or further process such data. The data can also be integrated with data from other sensors to improve situational awareness.

[0141] Embodiments may include directional radiation detectors configured to detect incident gamma radiation, determine the direction of incident gamma radiation, and locate the radiation source using OPS data (e.g., including a time series of OPS data). Such embodiments may include a gamma detector, a neutron detector panel, and a neutron moderator. Thus, embodiments may detect and locate gamma radiation and / or neutron radiation, and may be scalable (e.g., a system with multiple individual detectors or multiple directional radiation detectors, as described herein. Each directional radiation detector may be implemented as a personal radiation detector (PRD), a spectral PRD (SPRD), a radioisotope identification device (RIID), and a portable radioactivity detection system (MRDS). If present, the gamma detector may be configured to measure gamma count rate and energy, and the system may be configured to perform radionuclide identification from the resulting gamma energy spectrum. Embodiments with neutron detector panels may be configured to measure neutron count rate. Embodiments may be configured to simultaneously determine the positions of multiple different isotopes and / or generate radiation maps identifying the positions of such isotopes, as described herein.

[0142] Fig. 9 FIG. 9 is a schematic diagram of a radiation source positioning system 900 according to an embodiment of the present disclosure. In particular, Fig. 9 The time evolution of the radiation source localization system 900 is shown as an operator (mobile platform 910) transports a directional radiation detector 160 between two sources: a Cs-137 source 920 and an Am-241 source 925 within a survey area 902, as represented at three different times in the time series a, b, c. Fig. 9 As shown in FIG. , a directional radiation detection system 960 (eg, Figure 3 The directional radiation detection system 160 and / or Fig.101060 embodiment) can be configured to present a display view 932a at a time when the operator 910a is adjacent to the source 920 and relatively far from the source 925. In various embodiments, the display view 932a may include a source location display 934a, which includes a source type identifier 936a configured to indicate various identified radioisotopes in the detected ionization events accumulated at time a, a relative direction indicator 937a configured to indicate the relative direction (e.g., reference / relative to the sensor axis 344) from the directional radiation detection system 960 to the corresponding identified source type, and / or other source location display elements, as described herein. In some embodiments, the display view 932a may include a spectrum 935a of the detected ionization events accumulated at time a, which itself may include a source type differentiation spectrum (e.g., Cs-137 spectrum 921 and Am-241 spectrum 926) corresponding to the source type identified by the source type identifier 936a.

[0143] In an embodiment where directional radiation detector 960 is implemented using a single radiation detector 340a, similar to Fig.10 For directional radiation detector 1060 in FIG. 1 , at time a, relative direction indicator 937a may appear as unknown relative direction indicator 940 because no time accumulation ratio is available to determine the relative direction to source 920 or source 925. Similar to Figure 3 , in an embodiment where the directional radiation detector 960 is implemented with multiple radiation detectors 340a, b, at time a, the relative direction indicator 937a for Cs-137 can be presented as an adjacent source indicator or arrow 943 pointing to source 920, and for Am-241 can be presented as a distant source indicator or arrow 942 pointing to source 925 (e.g., roughly parallel to the position vector change between the position of the directional radiation detector 960 at time a and time b or c).

[0144] Similarly, the detector controller 162 of the directional radiation detection system 960 can be configured to present a display view 932b at time b when the operator 910b is between the source 920 and the source 925, and to present a display view 932c at time c when the operator 910c is adjacent to the source 925 and relatively far from the source 920. In various embodiments, the display view 932b may include a source location display 934b including a source type identifier 936b configured to indicate the various identified radioisotopes in the detected ionization events accumulated at time b, a relative direction indicator 937b configured to indicate the relative direction of the corresponding identified source type, and / or other source location display elements, as described herein. In some embodiments, the display view 932b may include a spectrum 935b of the detected ionization events accumulated at time b, which itself may include a source type differentiation spectrum (e.g., Cs-137 spectrum 922 and Am-241 spectrum 927) corresponding to the source type identified by the source type identifier 936b. Similarly, display view 932c may include source location display 934c, which includes source type identifiers 936c configured to indicate various identified radioisotopes in the detected ionization events accumulated at time c, relative direction indicators 937c configured to indicate the relative directions of the corresponding identified source types, and / or other source location display elements, as described herein. In some embodiments, display view 932c may include a spectrum 935c of the detected ionization events accumulated at time c, which itself may include source type differentiation spectra corresponding to the source types identified by source type identifier 936c (e.g., Cs-137 spectrum 923 and Am-241 spectrum 928).

[0145] In various embodiments, at time b, relative direction indicator 937b may be presented as far source indicator or arrow 941 for Cs-137 and pointing to source 920 (e.g., approximately antiparallel to the position change vector between the position of directional radiation detector 960 at time a and time b), and as far source indicator or arrow 942 for Am-241 and pointing to source 925 (e.g., approximately parallel to the position change vector between the position of directional radiation detector 960 at time a and time b). Similarly, at time c, relative direction indicator 937c may be presented as far source indicator or arrow 941 for Cs-137 and pointing to source 920 (e.g., approximately antiparallel to the position change vector between the position of directional radiation detector 960 at time b and time c), and as adjacent source indicator or arrow 943 for Am-241 and pointing to source 925.

[0146] like Fig. 9As shown in , Cs-137 spectra 921, 922, 923 of spectra 935a, b, c show a peak intensity that steadily decreases as the directional radiation detector 960 moves away from the source 920, and Am-241 spectra 926, 927, 928 of spectra 935a, b, c show a peak intensity that steadily increases as the directional radiation detector 960 moves closer to the source 925. As described herein, when the directional radiation detector 960 is manipulated within the survey area 902, the isotope-specific time accumulation ratios associated with times ab, bc, and ac can be used together with the OPS data collected at times a, b, c (e.g., directional radiation sensor data provided by the directional radiation detector 960) to determine the relative positions of the sources 920 and / or 925. In addition, in embodiments where the directional radiation detector 960 includes multiple radiation detectors 340a, b, when the directional radiation detector 960 is positioned and / or manipulated within the survey area 902, the cumulative ratios associated with times a, b, c together with the OPS data collected at times a, b, c (e.g., directional radiation sensor data provided by the directional radiation detector 960) can also be used to determine the relative positions of sources 920 and / or 925, as described herein.

[0147] Fig.10 FIG. 1 is a schematic diagram of a directional radiation detector 1060 for use in a radiation source positioning system 1000 according to an embodiment of the present disclosure. In various embodiments, the directional radiation detector 1060 includes Figure 3 Many of the elements of the directional radiation detector 1060 are similar and configured to operate similarly and provide similar functionality, as described herein. In addition, the directional radiation sensor assembly 1066 of the directional radiation detector 1060 is implemented with a single radiation detector 340a, and the directional radiation detector 1060 includes the OPS 167 but omits the planar collimation plate 324. Thus, embodiments of the directional radiation detector 1060 generally rely on isotope specific time accumulation ratios and OPS data to provide source localization, as described herein.

[0148] Fig.11A -B and 12 show display views presented by the user interface 332 (eg, on the display 333) of the radiation source positioning system 100, 300, and / or 1000 according to an embodiment of the present disclosure. Fig.11A, display view 1100 includes a source location display 1134 implemented as a pin gauge display presented on display 333 as user feedback for the operation of directional radiation detectors 160 and / or 1060, as described herein. For example, source location display 1134 may include one or more relative direction indicators 1137, each including, for example, a directional arrow or pointer 1140 and a centerline 1142 aligned with sensor axis 344, and a corresponding source identifier 1136. In some embodiments, pointer 1140 may be configured to indicate a current accumulation ratio (e.g., an isotope-specific accumulation ratio) associated with a pair of radiation detectors 340a, b and a number of detection event counts recorded by each radiation detector 340a, b over a selected accumulation time period, as described herein, where an accumulation ratio of 1 aligns pointer 1150 with centerline 1142. In other embodiments, pointer 1140 can be configured to indicate a current time accumulation ratio (e.g., an isotope-specific time accumulation ratio) associated with radiation detector 340a, two different accumulation times, and the number of detection event counts recorded by radiation detector 340a at each accumulation time, as described herein.

[0149] exist Fig. 11B , display view 1102 includes a source location display 1134 implemented as a source status display presented on display 333 as user feedback of the operation of directional radiation detectors 160 and / or 1060, as described herein. For example, source location display 1134 may include a relative direction indicator 1137, which may include, for example, one or more direction arrows 1140 (e.g., "up" within relative direction indicator 1137 may be aligned with sensor axis 344), each with a corresponding source identifier 1136.

[0150] In some embodiments, the orientation of the directional arrow 1140 within the relative direction indicator 1137 can be configured to indicate the current relative direction toward the detected source (e.g., based on the current accumulation ratio (e.g., isotope-specific accumulation ratio), time accumulation ratio (e.g., isotope-specific time accumulation ratio), and / or corresponding OPS data, as described herein. In related embodiments, the thickness and / or length of the directional arrow 1140 can be configured to indicate the current accumulation ratio (e.g., any of the accumulation ratio, time accumulation ratio, and / or any isotope-specific accumulation ratio) within a selected accumulation time period, as described herein, Wherein an accumulation ratio of, for example, 1, maximizes the thickness and / or length of the directional arrow 1140. In further embodiments, the thickness and / or length of the directional arrow 1140 may be configured to indicate the total number of detection event counts recorded by the one or more radiation detectors 340 over a selected accumulation time period, normalized so as not to extend beyond the display border / relative angular scale 1144. In any such embodiments, radial length scale rings 1146 may be configured to help visually distinguish different length directional arrows 1146 due to, for example, different isotope specific ionizing radiation fluxes or varying ranges to a particular source.

[0151] In various embodiments, source location display 1134 may include various information indicators and / or selectors (e.g., buttons presented on display 333 for selection by an operator via a mouse click or finger touch) to provide feedback to the operator or otherwise facilitate operation of the directional radiation detector. Fig. 11B As shown in , source location display 1134 may include a mode indicator 1170 (e.g., whether the directional radiation detector is accumulating counts and / or for how long), a time indicator 1172, a power supply capacity indicator 1174, a cumulative and / or instantaneous dose rate indicator 1176, a source type identifier 1178 (e.g., indicating the presence or absence of a particular source characteristic, such as the presence or absence of radiation indicative of neutron radiation), a scan start selector 1180 (e.g., to start one or a series of accumulation time periods), and / or a mode exit selector 1182 (e.g., to end the current count accumulation and / or exit the current operating mode).

[0152] In some embodiments, source location display 1134 may include an operator graphic 1160 that may be configured, for example, to indicate the relative position and / or orientation of an operator of system 100, and / or may be configured to change color and / or opacity to indicate a cumulative dose rate for an operator of system 100 (e.g., where a relative critical cumulative dose rate is identified by a series of critical colors, such as yellow or red). Source location display 1134 may also include, for example, an animated compass marker 1114 that may be configured, for example, to indicate the current absolute orientation of directional radiation detector 360 or 1060 (and by inference, the absolute orientation toward sources detected within the current survey area), or to indicate the absolute orientation of a particular time series of directional radiation sensor data, such as during playback of a particular survey. In such embodiments, time indicator 1172 may be configured to indicate a time associated with particular directional radiation sensor data displayed in source location display 1134.

[0153] exist Fig.12 , display view 1200 includes a source location display 1234 implemented as a gauge display presented on display 333 as user feedback for the operation of directional radiation detectors 160 and / or 1060, as described herein. For example, source location display 1234 may include one or more relative direction indicators 1237 (each including, for example, a variable bar 1240) and a corresponding source identifier 1236. In some embodiments, variable bars 1240 may be configured to indicate a current accumulation ratio associated with a pair of radiation detectors 340a, b and a number of detection event counts recorded by each radiation detector 340a, b over a selected accumulation time period, as described herein, wherein an accumulation ratio of 1 fills variable bar 1240 and an accumulation ratio greater than 1 reduces the height of variable bar 1240. In other embodiments, variable bar 1240 may be configured to indicate a current time accumulation ratio (e.g., an isotope-specific time accumulation ratio) associated with radiation detector 340a, two different accumulation times, and a number of detection event counts recorded by radiation detector 340a at each accumulation time, as described herein.

[0154] Figures 13A-13B 14A-14C illustrate display views of radiation source localization systems 100, 300, and / or 1000 presented by user interface 332 (eg, via display 333) according to embodiments of the present disclosure. Fig.13AIn the illustrated embodiment, geospatial map 1510 includes mobile platform indicator 110 and radiometric heat map overlay 1530 presented on a base map or map 1511. In various embodiments, system 100 may be configured to determine the shape, extent, and / or other characteristics of radiometric heat map overlay 1530 within geospatial map 1510 based at least in part on directional radiation sensor data provided by directional radiation detector 160 and orientation and / or position data provided by orientation sensor 114, GNSS 118, OPS 167, and / or other orientation and / or position data or motion sensors of mobile platform 110 or elements of mobile platform 110 as the mobile platform maneuvers within the area illustrated in geospatial map 1510. For example, the system 100 can be configured to determine a dose rate or intensity distribution associated with a radiation source or contamination concentration based on directional radiation sensor data and / or environmental conditions provided by the mobile platform 110, and present a radiation heat map overlay 1530 according to a color plot to indicate relative dose rates or intensities and / or radiation source concentrations (e.g., likelihood), such as hot colors (e.g., red) indicating relatively high dose rates or intensities of ionizing radiation and / or radiation source concentrations / likelihood, and cold colors (e.g., blue) indicating relatively low dose rates or intensities of ionizing radiation and / or radiation source concentrations / likelihood. Such color plots can be based, for example, on the relative toxicity of the corresponding radioisotopes (e.g., highly toxic radioisotopes are red at relatively low estimated absolute concentrations / ppm), and / or on the relative hazards to organisms, structures, and / or machinery.

[0155] In some embodiments, system 100 may be configured to determine various characteristics of radiometric heat map overlay 1530 displayed within geospatial map 1510 based on environmental conditions associated with a survey area corresponding to base map or map 1511. For example, system 100 may be configured to determine locations of potential sources 1532 of ionizing radiation corresponding to radiometric heat map overlay 1530 based on directional radiation sensor data measured within geospatial map 1510 (e.g., by directional radiation detector 160) and / or other environmental conditions that affect the spatial evolution of radiation sources or contaminants and / or detection of radiation sources or contaminants by directional radiation detector 160 and / or mobile platform 110.

[0156] In another embodiment, the system 100 may be configured to, for example, determine that multiple types of sources exist within a particular survey area, and present each type of source according to a different overlay presented in the display view 1500, each of which may be selectively enabled and / or disabled by a user. The isolated types of sources may include different radioactive isotopes, as described herein.

[0157] In various embodiments, the mobile platform 110 can be configured to adjust its route, for example, based on directional radiation sensor data provided by the directional radiation detector 160 and / or based on various environmental conditions measured by sensors mounted to the mobile platform 110 or by external systems and transmitted to the system 100 (e.g., regional weather data provided by an online database via a wireless network linked to the base station 130 or the co-pilot station 230). Thus, the mobile platform 110 can be configured to autonomously avoid entering a hazardous radioactive plume (e.g., a significant downdraft or other undesirable environmental condition and / or a hazardous radioactive plume under such adverse environmental conditions). For example, sending a UAV / UGV into a hazardous environment can put the mobile platform 110 at risk of damage or contamination requiring replacement or decontamination. By adding intelligent hazard avoidance based on onboard analytes and environmental sensors, hazardous exposure can be limited through automatic route adjustments, thereby protecting the mobile platform 110 and its associated sensor suite.

[0158] Embodiments described herein may provide autonomous responses to directional radiation sensor data and / or environmental sensor data. For example, the controller 112 and / or the controller of the base station 130 or the co-pilot station 230 may be configured to receive directional radiation sensor data and / or environmental sensor data from the mobile platform 110 and / or from sensors mounted to the mobile platform 110, and determine a route adjustment to avoid the detected hazardous radioactive plumes and / or environmental conditions. Examples of route adjustments may include stopping, climbing, and / or reversing routes to retreat from a hazardous environment. For example, such route adjustments may be relayed to a user of the base station 130, or may be implemented directly / autonomously by the mobile platform 110. Such autonomous responses are intended to maintain the integrity of the mobile platform 110 and avoid bringing contamination into other non-contaminated areas. Typically, a hazard avoidance route correction may interrupt a manually flown / controlled or automatically planned flight / route. For example, various selectors within a display view may be provided to the driver / user, enabling autonomous operation to be aborted when necessary if the situation is deemed unsuitable.

[0159] exist Fig. 13BIn the illustrated embodiment, display view 1504 includes many of the same features as display view 1500, and additionally includes dose rate or ionizing radiation intensity and / or radiation source concentration / likelihood boundaries 1546-1550 that delimit respective dose rate or ionizing radiation intensity and / or radiation source concentration / likelihood segments 1540-1544, as shown. For example, mobile platform 110 may approach or enter relatively high dose rate or ionizing radiation intensity and / or radiation source concentration / likelihood segment 1540, receive directional radiation sensor data from directional radiation detector 160 indicating hazardous dose rate or ionizing radiation intensity and / or radiation source concentration / likelihood, and trigger presentation of a hazard warning menu at base station 130 or co-pilot station 230. The pilot or co-pilot may select a dose rate or ionizing radiation intensity and / or radiation source concentration / likelihood contour plotting selector to place the mobile platform 110 into a dose rate or ionizing radiation intensity and / or radiation source concentration / likelihood contour plotting mode, and the mobile platform 110 may autonomously maneuver the mobile platform 110 around the survey area to determine the range of dose rate or ionizing radiation intensity and / or radiation source concentration / likelihood segments 1540-1544 and / or the spatial contours of dose rate or ionizing radiation intensity and / or radiation source concentration / likelihood boundaries 1546-1550, as shown.

[0160] More generally, the pilot or co-pilot may select the dose rate or ionizing radiation intensity and / or radiation source concentration / likelihood contour plot selector at any time, regardless of whether the mobile platform 110 has entered any portion of the survey area corresponding to the radiation heat map overlay 1530. For example, such autonomous contour plotting provides much faster contour plotting than manual techniques, and the resolution of such plotting may be adjusted to increase spatial clarity and reduce plotting speed, or vice versa. In a related embodiment, the mobile platform 110 may be configured with a dose rate or ionizing radiation intensity and / or radiation source concentration / likelihood search mode, wherein when such mode is selected, the mobile platform 110 may be configured to maneuver the mobile platform 110 around the survey area corresponding to the radiation heat map overlay 1530 to search for the highest or lowest dose rate or ionizing radiation intensity and / or radiation source concentration / likelihood within the survey area shown in the geospatial map 1510.

[0161] In various embodiments, dose rate or ionizing radiation intensity and / or radiation source concentration / likelihood contour plotting and / or other modes of operation of mobile platform 110 may be performed in a plane, e.g., at a selected altitude, or may be performed in a volume (e.g., in three dimensions), e.g., to generate three-dimensional dose rate or ionizing radiation intensity and / or radiation source concentration / likelihood contours. For example, Fig.14A-C shows display views 1600, 1602, 1604 presented by a user interface of the system 100 (e.g., the user interface 132 of the base station 130 and / or the co-pilot station 230) according to an embodiment of the present disclosure. In particular, the display views 1600, 1602, 1604 provide a three-dimensional view of the radiation plume within the survey area 1630. Fig.14A As shown in , survey area 1630 is disposed above parking lot 1640 between a plurality of buildings 1642 and adjacent to highway 1644, all displayed in three-dimensional geospatial map 1610. In display view 1600, survey area / point cloud 1630 includes three radiation plume overlays / point clouds 1632, 1634, and 1636 corresponding to three radiation plumes within the survey area. In particular, radiation plume point clouds 1632 and 1636 correspond to one type of radiation source, and radiation plume point cloud 1634 corresponds to a different type of radiation source.

[0162] Also shown in display view 1600 are various selectors and / or indicators configured to receive user selections of particular selectors to, for example, adjust the perspective or other characteristics of display view 1600, geospatial map 1610, and / or point clouds 1630-1636, or to, for example, indicate the status of geospatial map 1610 and / or point clouds 1630-1636. In particular, header 1612 may include a selector configured to allow a user to change the zoom level or view perspective of display view 1600, time evolution controller 1614 may include a selector configured to allow a user to present any one or more of point clouds 1630-1636 according to a selected timestamp or to animate one or more point clouds 1630-1636 according to a selected time period and / or rate (e.g., to show how each radioactive plume evolves over time), and timeline indicator 1616 may be configured to indicate a particular time or time range corresponding to the animation of the timestamps and / or point clouds 1630-1636. Fig. 14B Display view 1602 shows a magnified perspective view of survey area 1630 and analyte plume overlay / point cloud 1632-36, and Fig. 14C Display view 1604 shows a top-down perspective view of survey area 1630 and radiation plume coverage / point clouds 1632 - 36 .

[0163] exist Fig.14AIn the embodiment shown in Figure 16-C, points within the survey area 1630 are colored as a neutral color to indicate that the corresponding area has been sampled but no hazardous radiation has been detected. Points within the radiation plume 1630 are colored as hot (e.g., red) to indicate relatively high dose rates or ionizing radiation intensity and / or radiation source concentration / likelihood, and colored as cold (e.g., blue) to indicate relatively low dose rates or ionizing radiation intensity and / or radiation source concentration / likelihood. In other embodiments, for example, different radioisotopes can be assigned different colors, and other characteristics of the point cloud (e.g., saturation, opacity, point diameter, and / or other characteristics) can be used to convey dose rates or ionizing radiation intensity and / or radiation source concentration / likelihood to the user. Portions of the display views 1600-1604 without points are not sampled.

[0164] Where applicable, hardware, software or a combination of hardware and software may be used to implement the various embodiments provided by the present disclosure. In addition, where applicable, the various hardware components and / or software components set forth herein may be combined into composite components comprising software, hardware and / or both without departing from the spirit of the present disclosure. Where applicable, the various hardware components and / or software components set forth herein may be divided into subcomponents comprising software, hardware or both without departing from the spirit of the present disclosure. In addition, where applicable, it may be expected that software components may be implemented as hardware components, and vice versa.

[0165] Software (e.g., non-transitory instructions, program code, and / or data) according to the present disclosure may be stored on one or more non-transitory machine-readable media. It is also contemplated that the software identified herein may be implemented using one or more general-purpose or special-purpose computers and / or computer systems, whether networked and / or otherwise. Where applicable, the order of the various steps described herein may be changed, combined into composite steps, and / or divided into sub-steps to provide the features described herein.

[0166] The above embodiments illustrate but do not limit the present invention. It should also be understood that many modifications and variations are possible based on the principles of the present invention. Therefore, the scope of the present invention is limited only by the appended claims.

Claims

1. A system, comprising: Directional radiation detectors; a logic device configured to communicate with a communication module and the directional radiation detector is coupled to a mobile platform, wherein the communication module is configured to establish a wireless communication link with a base station, the base station is associated with the mobile platform, the directional radiation detector includes a sensor assembly, the sensor assembly includes a first radiation detector and a second radiation detector and is configured to provide directional radiation sensor data to determine a direction of a radiation source when the mobile platform is maneuvered within a survey area, and the logic device is configured to: receiving the directional radiation sensor data while the mobile platform is maneuvering within a survey area, receiving orientation and / or position data corresponding to the directional radiation sensor data, and generating radiation source location survey information corresponding to a survey area based at least in part on a combination of the orientation and / or position data and the directional radiation sensor data; a planar collimation plate, wherein the first and second radiation detectors comprise respective first and second scintillators and / or semiconductor detectors, the respective first and second scintillators and / or semiconductor detectors being separated from each other by the planar collimation plate in a direction perpendicular to a sensor axis of the sensor assembly; and The directional radiation sensor data is represented by a ratio of counts accumulated in the first radiation detector and the second radiation detector.

2. The system according to claim 1, further comprising: the mobile platform; an orientation and / or position sensor coupled to the mobile platform and configured to provide orientation and / or position data; as well as A radiation sensor bracket is coupled to the mobile platform and is configured to mount the directional radiation detector to the mobile platform and / or orient the directional radiation detector relative to the mobile platform.

3. The system of claim 1, wherein: the first and second radiation detectors being aligned with the sensor axis of the sensor assembly; and The planar collimation plate is coplanar with a sensor axis of the sensor assembly.

4. The system of claim 3, wherein: The first radiation detector and the second radiation detector include respective first and second silicon photomultiplier tubes; and The first and second silicon photomultiplier tubes are coupled to a common printed circuit board disposed within a housing of the directional radiation detector.

5. The system of claim 3, wherein: The first scintillator and the second scintillator are cubic, cylindrical or rectangular and are bonded to opposite surfaces of the planar collimating plate; and The planar collimating plate is dimensioned to completely shield at least the first scintillator of the first radiation detector and the second scintillator of the second radiation detector.

6. The system of claim 1, further comprising a user interface associated with the mobile platform, wherein: The logic device is configured to: A display view including radiation source location survey information and / or one or more relative direction indicators is presented via a display of the user interface.

7. The system according to claim 1, wherein: The logic device is configured to: detecting entry of the mobile platform into a hazardous portion of the survey area based at least in part on the radiation source location survey information; and The route of the mobile platform is adjusted to avoid dangerous portions of the survey area.

8. The system according to claim 1, wherein: The logic device is configured to: determining one or more dose rate and / or radiation source concentration boundaries based at least in part on the radiation source location survey information; and A display view including the dose rate and / or radiation source concentration boundaries is presented in a display of a user interface associated with the mobile platform.

9. The system of claim 1, further comprising an imaging module coupled to the mobile platform, wherein: The logic device is configured to: receiving, from the imaging module, a visible spectrum and / or infrared image of the survey area as the mobile platform maneuvers within the survey area; and Radiation source location survey information corresponding to the survey area is generated based at least in part on a combination of the orientation and / or position data, the directional radiation sensor data, and the visible spectrum and / or infrared image of the survey area.

10. A method comprising: receiving directional radiation sensor data from a directional radiation detector coupled to the mobile platform to determine a direction of a radiation source while the mobile platform is maneuvering within the survey area, wherein the directional radiation detector comprises a sensor assembly including a first radiation detector and a second radiation detector; receiving orientation and / or position data corresponding to directional radiation sensor data; generating radiation source location survey information corresponding to the survey area based at least in part on a combination of the orientation and / or position data and the directional radiation sensor data; wherein the first radiation detector and the second radiation detector comprise respective first and second scintillators and / or semiconductor detectors, the respective first and second scintillators and / or semiconductor detectors being separated from each other by a planar collimation plate along a direction perpendicular to a sensor axis of the sensor assembly; and The directional radiation sensor data is represented by a ratio of counts accumulated in the first radiation detector and the second radiation detector.

11. The method according to claim 10, wherein: Receiving orientation and / or position data includes receiving the orientation and / or position data from an orientation and / or position sensor coupled to the mobile platform.

12. The method according to claim 10, wherein: The first and second radiation detectors are aligned with a sensor axis of the sensor assembly; and The planar collimation plate is coplanar with a sensor axis of the sensor assembly.

13. The method according to claim 12, wherein: The first radiation detector and the second radiation detector include respective first and second silicon photomultiplier tubes; and The first and second silicon photomultiplier tubes are coupled to a common printed circuit board disposed within a housing of the directional radiation detector.

14. The method of claim 10, wherein: The first scintillator and the second scintillator are bonded to opposite surfaces of the planar collimating plate; and The planar collimating plate is dimensioned to completely shield at least the first scintillator of the first radiation detector and the second scintillator of the second radiation detector.

15. The method according to claim 10, further comprising: A display view including radiation source location survey information and / or one or more relative direction indicators is presented via a display of the user interface.

16. The method according to claim 10, further comprising: detecting entry of the mobile platform into a hazardous portion of the survey area based at least in part on the radiation source location survey information; as well as The route of the mobile platform is adjusted to avoid dangerous portions of the survey area.

17. The method according to claim 10, further comprising: determining one or more dose rate and / or radiation source concentration boundaries based at least in part on the radiation source location survey information; as well as A display view including the dose rate and / or radiation source concentration boundaries is presented in a display of a user interface associated with the mobile platform.

18. The method according to claim 10, further comprising: receiving a visible spectrum and / or infrared image of the survey area from an imaging module while the mobile platform is maneuvering within the survey area; as well as Radiation source location survey information corresponding to the survey area is generated based at least in part on a combination of the orientation and / or position data, the directional radiation sensor data, and the visible spectrum and / or infrared image of the survey area.

Images