Nuclear Accident Emergency Rescue Unmanned Aerial Vehicle (UAV) Aerial Monitoring Simulation Training System and Method

Abstract

This invention relates to a nuclear accident emergency rescue drone aerial monitoring simulation training system and method. The system includes a simulation training system and a drone. The drone is equipped with a nuclear emergency monitoring system. The simulation training system includes a database module, a radiation contamination diffusion simulation module, an emergency monitoring plan formulation module, a flight trajectory planning module, a drone pre-flight preparation module, an emergency monitoring module, and a drone post-flight processing module. This invention effectively reduces training costs, facilitates repeated practice, and the highly realistic accident scenario and phenomenon simulation effectively improves the psychological quality and practical response capabilities of nuclear emergency aerial monitoring teams. It also possesses intelligent assessment capabilities, effectively evaluating the professional skills of nuclear emergency aerial monitoring teams and reducing the risk that emergency rescue equipment and teams will be unable to effectively perform emergency aerial monitoring in the event of a real nuclear accident.

Description

Technical Field

[0001] This invention relates to a nuclear accident emergency rescue simulation training technology, specifically a nuclear accident emergency rescue UAV aerial monitoring simulation training system and method. Background Technology

[0002] Nuclear safety is the prerequisite for the development of nuclear energy, and nuclear emergency response is the last line of defense in the nuclear safety defense-in-depth system.

[0003] Nuclear emergency response mainly refers to a series of rescue and response measures taken after a serious accident at a nuclear facility. The purpose is to minimize the radiation consequences and social impact of the nuclear accident, and to reduce the radiation hazards and psychological trauma to personnel and the environment. These measures include radiation monitoring, radiation protection, meteorological monitoring, decontamination, and psychological and medical assistance.

[0004] When a nuclear power plant releases, or may release, a large amount of radioactive material into the environment, and the consequences extend beyond the site boundaries, potentially posing a serious threat to public health and environmental safety, an off-site emergency response will be initiated, activating a Level I response. Relevant departments will organize and coordinate national and local radiation monitoring resources to conduct radioactive monitoring of the environment (including air, land, water, atmosphere, crops, food, and drinking water) in areas already affected or potentially affected by nuclear radiation. Nuclear emergency aerial monitoring is a crucial monitoring technique in this context.

[0005] However, due to the low probability of serious accidents at nuclear power plants and the lack of practical experience in conducting nuclear emergency aerial monitoring, it is difficult to master rescue skills through actual nuclear emergency response operations, and it is also difficult to ensure the effectiveness of actual emergency monitoring solely by relying on theoretical knowledge. Therefore, developing a simulation training system that can effectively improve nuclear accident emergency aerial monitoring and rescue skills is of great significance for serious nuclear facility accidents.

[0006] Existing nuclear emergency simulation training generally adopts a simulation format, with trainees training on a virtual system. Because all operations are conducted entirely within a simulation, the training process is severely detached from reality, especially for parts requiring hands-on practice. This makes it impossible to effectively train trainees, and in the event of a real nuclear accident and radiation contamination, there is a risk that emergency rescue equipment and teams may not be able to effectively perform emergency aerial monitoring. If a real-world training method were used, firstly, the release of radioactive material itself constitutes radiation contamination, and it is impossible to actually simulate a radioactive release during drills; secondly, nuclear accident emergency aerial monitoring equipment, including aircraft and airborne equipment, is extremely expensive, making training directly based on real equipment prohibitively costly.

[0007] Therefore, it is necessary to develop a simulation training system for unmanned aerial vehicle (UAV) aerial monitoring in nuclear accident emergency response, to train monitoring teams, improve the quality of monitoring personnel, enhance nuclear accident emergency response capabilities, and reduce training costs. Summary of the Invention

[0008] The purpose of this invention is to provide a nuclear accident emergency rescue drone aerial monitoring simulation training system and method to solve the problems of poor training effect and high training cost of the current simulation training system.

[0009] The present invention is implemented as follows: a nuclear accident emergency rescue drone aerial monitoring simulation training system, comprising a simulation training system and a drone, wherein the drone is equipped with a drone nuclear emergency monitoring system, and the simulation training system comprises the following parts.

[0010] The database module is used to store basic geographic information data, meteorological information data, aerial survey flight data, design survey line data, and dose rate data.

[0011] The radiation pollution diffusion simulation module is used to calculate and simulate the diffusion path and activity of radiation pollution based on the input wind field information, precipitation information, and source term information.

[0012] The emergency monitoring plan development module is used to develop monitoring plans based on the calculation and simulation results of the radiation pollution diffusion simulation module, combined with geographic information data and meteorological information data, to determine the corner coordinates of the emergency monitoring area, and to measure the scale, flight altitude, and configuration of the UAV nuclear emergency monitoring system.

[0013] The flight trajectory planning module is used to simulate and calculate the flight trajectory trend line of the flight route, output the survey line flight path and measure the altitude data, delineate the baseline area, and select the take-off and landing points and relay stations.

[0014] The UAV pre-flight preparation module is used to input survey line data into the UAV flight control system, perform pre-flight checks on the UAV, and perform pre-flight checks on the UAV nuclear emergency aviation monitoring system.

[0015] The emergency monitoring module is used to enable the UAV to conduct flight measurements according to the set survey line plan and to monitor the UAV status in real time.

[0016] The UAV post-flight processing module is used to inspect the surface of UAVs for radiation contamination, conduct post-flight inspections of UAVs, perform post-landing inspections of UAV nuclear emergency aerial monitoring systems, and analyze and output nuclear emergency monitoring reports.

[0017] The nuclear accident emergency rescue UAV aerial monitoring simulation training system of the present invention also includes an assessment module for scoring and evaluating the performance of trainees, including training process management, training information collection, assessment standard system and training effect evaluation.

[0018] The nuclear accident emergency rescue UAV aerial monitoring simulation training system of the present invention also includes a theoretical training module, which is used to provide trainees with theoretical training on the basic principles of nuclear emergency aerial monitoring and the operating procedures of monitoring equipment, including learning mode and assessment mode.

[0019] The flight trajectory planning module includes a flight trajectory trend line simulation and analysis module for crossing flight routes, a baseline selection module, a take-off and landing point selection module, and a relay station selection module.

[0020] The flight trajectory trend line simulation and analysis module for crossing the route is used to simulate and calculate the flight trajectory trend line of the crossing route based on the corner point information of the emergency monitoring area, the survey line path information, the digital elevation model information, the known obstacle information and the preset obstacle information, the preset flight altitude information, and the flight speed information, and output the survey line flight path and measured altitude data.

[0021] The baseline selection module is used to delineate the baseline area based on baseline selection conditions.

[0022] The take-off and landing point selection module is used to select take-off and landing points based on the take-off and landing point selection criteria;

[0023] The relay station selection module selects a relay station based on the relay station selection criteria.

[0024] The UAV pre-flight preparation module includes a survey line planning module, a UAV nuclear emergency aviation monitoring system pre-flight inspection module, and a UAV pre-flight inspection module.

[0025] The survey line planning module is used to input the survey line coordinates and measured altitude into the UAV flight control system based on the simulation analysis results of the flight trajectory trend line of the crossing route.

[0026] The pre-flight check module of the UAV nuclear emergency aerial monitoring system is used to check and set the operating parameters of the UAV nuclear emergency aerial monitoring system.

[0027] The pre-flight inspection module for drones is used to inspect the drone's airframe.

[0028] The present invention also discloses a simulation training method for aerial monitoring of nuclear accident emergency rescue drones, comprising the following steps.

[0029] a. Activate the nuclear accident emergency rescue drone aerial monitoring simulation training system, input wind field information, precipitation information and source term information into the simulation training system, calculate and simulate and output the diffusion path and activity information of radiation pollution.

[0030] b. Based on the simulation results of radiation pollution diffusion, determine the scope of the emergency monitoring area through interactive methods and save the latitude and longitude coordinates of the emergency monitoring area.

[0031] c. Identify flight obstacles within the emergency monitoring area, preset the latitude and longitude coordinates and altitude of hypothetical obstacles, preset flight altitude information, preset UAV flight speed and climb rate information, and preset measurement scale information; and based on digital elevation information, perform simulation calculations of the flight trend line of the crossing route, and output the altitude data of the survey line flight path.

[0032] d. In the emergency monitoring area, based on the selection criteria, delineate the baseline area and select the locations of take-off and landing points and relay stations.

[0033] e. Plan the survey line flight path on the UAV control console and input the survey line flight path into the UAV flight control system.

[0034] f. Before flight, inspect the UAV body, conduct pre-flight checks on the UAV nuclear emergency aviation monitoring system, and perform early testing of the UAV nuclear emergency aviation monitoring system.

[0035] g. The UAV takes off and is monitored by the UAV nuclear emergency aviation monitoring system, and conducts flight measurements according to the pre-set survey line flight path.

[0036] h. After the drone lands, a surface contamination meter is used to check for radiation contamination on the drone's surface. Post-flight inspection of the drone is conducted, and the drone nuclear emergency aviation monitoring system is tested at night.

[0037] i. Perform data processing and analysis, and output nuclear emergency monitoring reports.

[0038] j. The system conducts assessments and evaluations, and generates team member evaluation reports.

[0039] In step c, the simulation calculation of the flight trend line across the flight path specifically includes:

[0040] Based on the corner points of the emergency monitoring area, set the measurement scale and plan the latitude and longitude coordinates of the beginning and end points of the crossing route;

[0041] Set the sampling point spacing, and for each crossing route, calculate the longitude, latitude and altitude data of each point along its path based on terrain data;

[0042] Imagine imaginary obstacles along the crossing route, and configure their coordinates and ground clearance.

[0043] For each crossing route, a certain width is set on both sides. If there is an altitude that exceeds the altitude of the crossing route or an obstacle that exceeds the altitude of the crossing route within this range, then its altitude is replaced with the altitude of the crossing route.

[0044] Set the minimum relative altitude and maximum allowable deviation of the drone's flight distance from the ground surface and obstacles;

[0045] A cubic spline function was used to fit the altitude data of the crossing route to a smooth flight trend line.

[0046] Set the drone's flight speed and climb rate;

[0047] Based on the UAV's flight speed and climb rate, calculate whether the altitude data of each point on the flight trajectory trend line meets the minimum relative altitude difference and maximum allowable deviation limits. For points that do not meet the altitude flight data, reset the altitude and then perform flight trajectory trend line fitting and smoothing until the flight conditions are met.

[0048] In step f, the pre-flight checks of the UAV nuclear emergency aviation monitoring system include:

[0049] Check and set the recording parameters of the data acquisition system of the UAV nuclear emergency aerial monitoring system, including sampling rate and gamma spectrometer channel number;

[0050] Check navigation and positioning data, ground clearance data, altitude data, and temperature and humidity data;

[0051] Check and set the central meridian parameters;

[0052] Check the sampling rate of the GM tube dose rate meter;

[0053] Check the identification settings of the radionuclide identifier and check the transmission link data;

[0054] Check the aircraft attitude data;

[0055] Examine the video image data.

[0056] Early testing of the UAV nuclear emergency aerial monitoring system includes: conducting tests using Cs point sources and Th point sources respectively, and checking the peak drift information of the gamma spectrometer and the crystal energy resolution information;

[0057] The late-night testing of the UAV nuclear emergency aerial monitoring system included: conducting tests using Cs point sources and Th point sources respectively, and examining the peak drift information of the gamma spectrometer and the crystal energy resolution information.

[0058] The baseline selection criteria are: relatively flat terrain, no or few water systems, relatively uniform radiation field, little human interference, accessible to people, traversable by people on the baseline, and an area of ​​500m × 500m.

[0059] The selection criteria for take-off and landing points are: considering topography, geomorphological features, and traffic information, the area should be located upwind or crosswind of the predicted pollution zone, accessible to the mission vehicle and transport vehicle, and have a certain area.

[0060] The selection criteria for relay stations are: to select areas that have not been contaminated by radiation from nuclear accidents, to be close to the aerial monitoring area, to have relatively high terrain, to be accessible by relay vehicles, and to have a line of sight between the relay station and the mission aircraft.

[0061] This invention relates to a nuclear accident emergency rescue UAV aerial monitoring simulation training system, comprising a simulation training system and a UAV. The simulation training system includes a database module, a radiation contamination diffusion simulation module, an emergency monitoring plan formulation module, a flight trajectory planning module, a UAV pre-flight preparation module, an emergency monitoring module, a UAV post-flight processing module, an assessment module, and a theoretical training module. It can train personnel on the entire process of UAV-based nuclear accident emergency aerial monitoring, combining radiation contamination diffusion simulation with actual UAV flight. This allows for accurate simulation of the radiation contamination diffusion process and hands-on operation of the UAV and the nuclear emergency monitoring system, enabling trainees to fully master the operational process of nuclear accident emergency rescue UAV aerial monitoring. This effectively reduces training costs, facilitates repeated practice, and the highly realistic accident scenario and phenomenon simulation effectively improves the psychological resilience and practical response capabilities of the nuclear emergency aerial monitoring team. Furthermore, it possesses intelligent assessment capabilities, effectively evaluating the professional skills of the nuclear emergency aerial monitoring team and reducing the risk that emergency rescue equipment and teams will be unable to effectively perform emergency aerial monitoring in the event of a real nuclear accident. Attached Figure Description

[0062] Figure 1 This is a structural block diagram of the nuclear accident emergency rescue drone aerial monitoring simulation training system of the present invention. Detailed Implementation

[0063] like Figure 1 As shown, the nuclear accident emergency rescue UAV aerial monitoring simulation training system of the present invention includes a simulation training system and a UAV. The UAV is equipped with a nuclear emergency monitoring system. The simulation training system includes a database module, a radiation pollution diffusion simulation module, an emergency monitoring plan formulation module, a flight trajectory planning module, a UAV pre-takeoff preparation module, an emergency monitoring module, and a UAV post-flight processing module, etc.

[0064] The database module is used to store basic geographic information data, meteorological information data, aerial survey flight data, design survey line data, and dose rate data.

[0065] The basic geographic information data includes boundaries and administrative divisions, transportation routes (highways, railways, airports), settlements and facilities, water systems (rivers, canals, lakes, reservoirs, oceans and other water bodies), place names, addresses and points of interest (place names, addresses, points of interest), land cover, digital elevation models, digital orthophotos and other data.

[0066] The radiation pollution diffusion simulation module is used to calculate and simulate the diffusion path and activity of radiation pollution based on the input wind field information, precipitation information, and source term information.

[0067] The source item information includes, for example: 131 I, 137 Cs、 134 Cs、 85 Kr、 133 Xe, 132 Te et al.

[0068] The emergency monitoring plan development module is used to develop monitoring plans based on the calculation and simulation results of the radiation pollution diffusion simulation module, combined with geographic information data (specifically, information on topography, factory structures, etc.), meteorological information data, etc., to determine the corner coordinates of the emergency monitoring area, measure the scale, flight altitude, and configuration of the UAV nuclear emergency monitoring system.

[0069] The flight trajectory planning module is used to simulate and calculate the flight trajectory trend line of the flight route, output the survey line flight path and measure the altitude data, delineate the baseline area, and select the take-off and landing points and relay stations.

[0070] The flight trajectory planning module specifically includes a flight trajectory trend line simulation and analysis module for crossing flight routes, a baseline selection module, a take-off and landing point selection module, and a relay station selection module.

[0071] The flight trajectory trend line simulation and analysis module for crossing routes is used to simulate and calculate the flight trajectory trend line of crossing routes based on corner information of the emergency monitoring area, survey line path information, digital elevation model information, known obstacle information and preset obstacle information, preset flight altitude information, and flight speed information, and outputs survey line flight path and measured altitude data.

[0072] The baseline selection module is used to delineate the baseline area based on the baseline selection conditions, which are: relatively flat terrain, no or few water systems, relatively uniform radiation field, little human interference, accessible to people, traversable by people on the baseline, and an area of ​​500m×500m.

[0073] The take-off and landing point selection module is used to select take-off and landing points based on the following conditions: considering terrain, landform features, and traffic information, the take-off and landing points are located in areas that are upwind or crosswind from the predicted contaminated area, accessible to the mission vehicle and transport vehicle, and have a certain area.

[0074] The relay station selection module selects a relay station based on the following conditions: the relay station should be located in an area not contaminated by nuclear accident radiation, the site should be close to the aerial monitoring area and have relatively high terrain, the relay vehicle should be able to reach it, and there should be a line of sight between the relay station and the mission aircraft.

[0075] The UAV pre-flight preparation module is used to input survey line data into the UAV flight control system, perform pre-flight checks on the UAV, and perform pre-flight checks on the UAV nuclear emergency aviation monitoring system.

[0076] The UAV pre-flight preparation module specifically includes a survey line planning module, a UAV nuclear emergency aviation monitoring system pre-flight inspection module, and a UAV pre-flight inspection module.

[0077] The survey line planning module is used to input the survey line coordinates and measured altitude into the UAV flight control system based on the simulation analysis results of the flight trajectory trend line of the crossing route.

[0078] The pre-flight check module of the UAV nuclear emergency aerial monitoring system is used to check and set the operating parameters of the UAV nuclear emergency aerial monitoring system. It checks the recorded parameters set by the system, including whether the sampling rate and gamma spectrometer channel number settings are correct. It also checks whether the gamma spectrometer data recordings are correct and complete; whether the navigation and positioning data, altitude data, elevation data, and temperature and humidity data are complete; whether the GM counter dose rate data is correct; whether the nuclide identifier data recordings are correct; and whether the link transmission data is normal; and whether the aircraft attitude data is normal.

[0079] The radiation monitoring unit of the UAV nuclear emergency aviation monitoring system can include any combination of three types: gamma spectrometer, GM counter tube dose rate meter, and nuclide identifier.

[0080] The pre-flight inspection module for UAVs is used to inspect the UAV airframe. The engine operator inspects the left side of the longitudinal centerline, the airframe operator inspects the tail boom, the airframe operator inspects the tail rotor, the engine operator inspects the right side and rear of the engine shaft, the airframe operator inspects the main drive system, the internal control operator inspects the helicopter electrical compartment, and the airframe operator inspects the rotor system. Each item on the pre-flight inspection checklist is checked, and the checklist is completed.

[0081] The emergency monitoring module enables the UAV to conduct flight measurements according to the pre-defined survey route plan and monitors the UAV's status in real time. During flight measurements, it monitors the UAV's operational status, link transmission status, the operational status of the UAV and emergency aviation monitoring system, and the operational status of image and other equipment in real time.

[0082] The UAV post-flight processing module is used to inspect the surface of UAVs for radiation contamination, conduct post-flight inspections of UAVs, perform post-landing inspections of UAV nuclear emergency aerial monitoring systems, and analyze and output nuclear emergency monitoring reports.

[0083] Radiation contamination inspection includes using a surface contamination meter to inspect the surface of the drone. The process involves turning on the surface contamination meter, removing the protective cover, inspecting the drone from the front, left, and right sides, recording data, and comparing measurement data before and after emergency monitoring.

[0084] Post-flight inspection of drones involves conducting a series of checks on the drone after it lands and completing a post-flight inspection form.

[0085] After the UAV nuclear emergency aerial monitoring system landed, an inspection was conducted. After the UAV landed, the UAV nuclear emergency aerial monitoring system was tested using Cs point source and Th point source respectively, and the peak drift information of the gamma spectrometer and the crystal energy resolution information were checked.

[0086] Data analysis and reporting, including data quality checks, coordinate transformation, corrections to various radioactive data from nuclear emergency aerial monitoring, calculation of air absorbed dose rate, calculation of artificial nuclide activity, creation of measurement result maps, and output of emergency monitoring reports.

[0087] The nuclear accident emergency rescue UAV aerial monitoring simulation training system of the present invention also includes an assessment module for scoring and evaluating the performance of trainees, including training process management, training information collection, assessment standard system and training effect evaluation.

[0088] The nuclear accident emergency rescue UAV aerial monitoring simulation training system of the present invention also includes a theoretical training module, which is used to provide trainees with theoretical training on the basic principles of nuclear emergency aerial monitoring and the operating procedures of monitoring equipment, including learning mode and assessment mode.

[0089] The theoretical training materials include: 1. Laws and regulations, departmental rules / administrative documents; 2. Standards and technical specifications; 3. Theories, methods, technologies, and applications of nuclear emergency aerial monitoring; 4. Emergency drill cases; 5. Other emergency knowledge; 6. Nuclear emergency aerial monitoring methods for 10 hypothetical nuclear accident scenarios. This training aims to enable trainees to master the basic principles of nuclear emergency aerial monitoring and the operating procedures of monitoring equipment. Related textbooks, multimedia courseware, teaching plans, and assessment question banks have been compiled.

[0090] The instructor terminal can be configured with different modes. The student terminal module uses immersive VR virtual reality technology to simulate the three-dimensional diffusion of nuclear accident plumes, automatically delineate dose rate isopleths, recommend the ground altitude for measuring nuclear emergency aerial monitoring plumes, interactively determine emergency monitoring zones, plan survey lines, avoid obstacles, simulate flight trend surfaces, confirm baseline selection, confirm UAV take-off and landing points, confirm relay station selection, check the UAV nuclear emergency monitoring system before take-off, conduct pre-flight checks on UAVs, perform emergency monitoring, conduct post-flight checks on UAVs, check for radiation contamination from UAVs, check and test the UAV nuclear emergency aerial monitoring system after landing, and perform data analysis and reporting. The student terminal module can be used for collaborative training by multiple people, supporting a maximum of 30 people.

[0091] Theoretical training is conducted based on textbooks, multimedia courseware, and teaching plans. For members of the aviation radiation monitoring team, corresponding assessment questions are randomly selected automatically or manually, and they are assessed online. Those who pass the assessment are issued electronic certificates of completion. Those who fail the assessment must retake the theoretical training.

[0092] The present invention also discloses a simulation training method for aerial monitoring of nuclear accident emergency rescue drones, comprising the following steps.

[0093] a. Activate the nuclear accident emergency rescue drone aerial monitoring simulation training system, input various parameters such as wind field information, precipitation information, and source term information into the simulation training system, calculate and simulate, and output the diffusion path and activity information of radiation pollution.

[0094] b. Based on the simulation calculation results of radiation pollution diffusion, dynamically display the diffusion path and pollutant activity distribution in three dimensions, determine the scope of emergency monitoring area through interactive means, and save the latitude and longitude coordinates of emergency monitoring area.

[0095] c. Identify flight obstacles within the emergency monitoring area, preset the latitude and longitude coordinates and altitude of hypothetical obstacles, preset flight altitude information, preset UAV flight speed and climb rate information, and preset measurement scale information; and based on digital elevation information, perform simulation calculations of the flight trend line of the crossing route, and output the altitude data of the survey line flight path.

[0096] d. In the emergency monitoring area, based on the selection criteria, delineate the baseline area and select the locations of take-off and landing points and relay stations.

[0097] e. Plan the survey line flight path on the UAV control console and input the survey line flight path into the UAV flight control system.

[0098] f. Before flight, inspect the UAV body, conduct pre-flight checks on the UAV nuclear emergency aviation monitoring system, and perform early testing of the UAV nuclear emergency aviation monitoring system.

[0099] The engine operator checks the left side of the longitudinal centerline; the fuselage operator checks the tail boom; the fuselage operator checks the tail rotor; the engine operator checks the right side and rear of the engine shaft; the fuselage operator checks the main transmission system; the internal control operator checks the helicopter electrical compartment; and the fuselage operator checks the rotor system. Perform each item on the pre-flight checklist and complete the checklist.

[0100] Pre-flight checks of the UAV nuclear emergency aerial monitoring system include checking and setting the recording parameters of the system's data acquisition system, including sampling rate and gamma spectrometer channel count; checking navigation and positioning data, altitude data, elevation data, and temperature and humidity data; checking and setting the central meridian parameters; checking the sampling rate of the GM counter dose rate meter; checking the identification setting parameters of the nuclide identifier; checking transmission link data; checking aircraft attitude data; and checking video image data.

[0101] Early testing of the UAV nuclear emergency aerial monitoring system was conducted using Cs and Th point sources to examine gamma spectrometer peak drift information and crystal energy resolution information.

[0102] g. The UAV takes off and is monitored by the UAV nuclear emergency aviation monitoring system, and conducts flight measurements according to the pre-set survey line flight path.

[0103] During flight surveying, the operational status of the UAV, the link transmission status, the operational status of the nuclear emergency aviation monitoring system, and the operational status of image and other equipment are monitored in real time.

[0104] h. After the drone lands, a surface contamination meter is used to check for radiation contamination on the drone's surface. Post-flight inspection of the drone is conducted, and the drone nuclear emergency aviation monitoring system is tested at night.

[0105] After landing, the UAV underwent a series of post-flight checks, and a post-flight checklist was completed. Following landing, the UAV nuclear emergency aerial monitoring system was tested using both Cs and Th point sources to examine gamma spectrometer peak drift information and crystal energy resolution information.

[0106] i. Perform data processing and analysis, and output nuclear emergency monitoring reports. This includes data quality checks, coordinate transformation, corrections to various radioactive data from nuclear emergency aerial monitoring, calculation of air absorbed dose rate, calculation of artificial nuclide activity, creation of measurement result maps, and output of nuclear emergency monitoring reports.

[0107] j. The system conducts assessments and evaluations, and generates team member evaluation reports.

[0108] The simulation calculation of the flight trend line across the flight path specifically includes:

[0109] Based on the corner points of the emergency monitoring area, set the measurement scale and plan the latitude and longitude coordinates of the beginning and end points of the crossing route;

[0110] Set the sampling point spacing, and for each crossing route, calculate the longitude, latitude, and altitude data of each point along its path based on terrain data;

[0111] Imagine imaginary obstacles along the crossing route, and configure their coordinates and ground clearance.

[0112] For each crossing route, a certain width is set on both sides. If there is an altitude that exceeds the altitude of the crossing route or an obstacle that exceeds the altitude of the crossing route within this range, then its altitude is replaced with the altitude of the crossing route.

[0113] Set the minimum relative altitude and maximum allowable deviation of the drone's flight distance from the ground surface and obstacles;

[0114] A cubic spline function was used to fit the altitude data of the crossing route to a smooth flight trend line.

[0115] Set the drone's flight speed and climb rate;

[0116] Based on the UAV's flight speed and climb rate, calculate whether the altitude data of each point on the flight trajectory trend line meets the minimum relative altitude difference and maximum allowable deviation limits. For points that do not meet the altitude flight data, reset the altitude and then perform flight trajectory trend line fitting and smoothing until the flight conditions are met.

[0117] The baseline selection criteria are: relatively flat terrain, no or few water systems, relatively uniform radiation field, little human interference, accessible to people, traversable by people on the baseline, and an area of ​​500m×500m.

[0118] The selection criteria for take-off and landing points are as follows: considering topography, geomorphological features, and traffic information, the area should be located upwind or crosswind from the predicted contaminated area, accessible to the mission vehicle and transport vehicle, and have a certain area.

[0119] The selection criteria for relay stations are: to select areas that have not been contaminated by radiation from nuclear accidents, to be close to the aerial monitoring area, to have relatively high terrain, to be accessible by relay vehicles, and to have a line of sight between the relay station and the mission aircraft.

[0120] This invention enables training in the entire process of unmanned aerial vehicle (UAV) emergency aerial monitoring for nuclear accidents. It combines radiation contamination diffusion simulation with actual UAV flights, accurately simulating the diffusion process while allowing for hands-on operation of the UAV and nuclear emergency monitoring system. This allows trainees to fully master the operational process of UAV aerial monitoring in nuclear accident emergency response, effectively reducing training costs and facilitating repeated practice. The highly realistic accident scenario and phenomenon simulation effectively improves the psychological resilience and practical response capabilities of the nuclear emergency aerial monitoring team. Furthermore, it possesses intelligent assessment capabilities, effectively evaluating the professional skills of the nuclear emergency aerial monitoring team and reducing the risk that emergency rescue equipment and teams will be unable to effectively perform emergency aerial monitoring in the event of a real nuclear accident.

[0121] This invention combines actual geographical location and hypothetical possible accident sources, and its system architecture has a certain degree of specificity and versatility.

Claims

1. A simulation training method for aerial monitoring of nuclear accident emergency rescue drones, characterized in that, Includes the following steps: a. Activate the nuclear accident emergency rescue drone aerial monitoring simulation training system, input wind field information, precipitation information and source term information into the simulation training system, calculate and simulate and output the diffusion path and activity information of radiation pollution; b. Based on the simulation results of radiation pollution diffusion, determine the scope of the emergency monitoring area through interactive methods and save the latitude and longitude coordinates of the emergency monitoring area; c. Identify flight obstacles within the emergency monitoring area, preset the latitude and longitude coordinates and altitude of hypothetical obstacles, preset flight altitude information, preset UAV flight speed and climb rate information, and preset measurement scale information; and based on digital elevation information, perform simulation calculations of the flight trend line of the crossing route, and output the altitude data of the survey line flight path; The simulation calculation of the flight trend line across the flight path specifically includes: Based on the corner points of the emergency monitoring area, set the measurement scale and plan the latitude and longitude coordinates of the beginning and end points of the crossing route; Set the sampling point spacing, and for each crossing route, calculate the longitude, latitude, and altitude data of each point along its path based on terrain data; Imagine imaginary obstacles along the crossing route, and configure their coordinates and ground clearance. For each crossing route, a certain width is set on both sides. If there is an altitude that exceeds the altitude of the crossing route or an obstacle that exceeds the altitude of the crossing route within this range, then its altitude is replaced with the altitude of the crossing route. Set the minimum relative altitude and maximum allowable deviation of the drone's flight distance from the ground surface and obstacles; A cubic spline function was used to fit the altitude data of the crossing route to a smooth flight trend line. Set the drone's flight speed and climb rate; Based on the UAV's flight speed and climb rate, calculate whether the altitude data of each point on the flight trajectory trend line meets the minimum relative height difference and maximum allowable deviation conditions. For points that do not meet the altitude data, reset the altitude and perform flight trajectory trend line fitting and smoothing again until the flight conditions are met. d. In the emergency monitoring area, based on the selection criteria, delineate the baseline area and select the locations of take-off and landing points and relay stations; e. Plan the survey line flight path on the UAV control console and input the survey line flight path into the UAV flight control system; f. Before flight, inspect the UAV body, conduct pre-flight checks on the UAV nuclear emergency aviation monitoring system, and conduct early testing of the UAV nuclear emergency aviation monitoring system; g. The UAV takes off and is monitored by the UAV nuclear emergency aviation monitoring system, and conducts flight measurements according to the pre-set survey line flight path; h. When the drone lands, a surface contaminant is used to check for radiation contamination on the drone's surface. Post-flight inspection of the drone is conducted, and the drone nuclear emergency aviation monitoring system is tested late. i. Perform data processing and analysis, and output nuclear emergency monitoring reports; j. The system conducts assessments and evaluations, and generates team member evaluation reports.

2. The nuclear accident emergency rescue UAV aerial monitoring simulation training method according to claim 1, characterized in that, In step f, the pre-flight checks of the UAV nuclear emergency aviation monitoring system include: Check and set the recording parameters of the data acquisition system of the UAV nuclear emergency aerial monitoring system, including sampling rate and gamma spectrometer channel number; Check navigation and positioning data, ground clearance data, altitude data, and temperature and humidity data; Check and set the central meridian parameters; Check the sampling rate of the GM tube dose rate meter; Check the identification settings of the radionuclide identifier and check the transmission link data; Check the aircraft attitude data; Examine the video image data.

3. The nuclear accident emergency rescue UAV aerial monitoring simulation training method according to claim 1, characterized in that, Early testing of the UAV nuclear emergency aerial monitoring system includes: conducting tests using Cs point sources and Th point sources respectively, and checking the peak drift information of the gamma spectrometer and the crystal energy resolution information; The late-night testing of the UAV nuclear emergency aerial monitoring system included: conducting tests using Cs point sources and Th point sources respectively, and examining the peak drift information of the gamma spectrometer and the crystal energy resolution information.

4. The nuclear accident emergency rescue UAV aerial monitoring simulation training method according to claim 1, characterized in that, The baseline selection criteria are: relatively flat terrain, no or few water systems, relatively uniform radiation field, little human interference, accessible to people, traversable by people on the baseline, and an area of ​​500m × 500m. The selection criteria for take-off and landing points are: considering topography, geomorphological features, and traffic information, the area should be located upwind or crosswind of the predicted pollution zone, accessible to the mission vehicle and transport vehicle, and have a certain area. The selection criteria for relay stations are: to select areas that have not been contaminated by radiation from nuclear accidents, to be close to the aerial monitoring area, to have relatively high terrain, to be accessible by relay vehicles, and to have a line of sight between the relay station and the mission aircraft.

5. A nuclear accident emergency rescue unmanned aerial vehicle (UAV) aerial monitoring simulation training system, characterized in that, The method for simulated training of nuclear accident emergency rescue drone aerial monitoring as described in claim 1 includes a simulation training system and a drone, wherein a drone nuclear emergency monitoring system is installed on the drone, and the simulation training system includes: The database module is used to store basic geographic information data, meteorological information data, aerial survey flight data, design survey line data, and dose rate data; The radiation pollution diffusion simulation module is used to calculate the diffusion path and activity of radiation pollution based on the input wind field information, precipitation information, and source term information. The emergency monitoring plan development module is used to develop monitoring plans based on the calculation and simulation results of the radiation pollution diffusion simulation module, combined with geographic information data and meteorological information data, to determine the corner coordinates of the emergency monitoring area, measure the scale, flight altitude, and configuration of the UAV nuclear emergency monitoring system; The flight trajectory planning module is used to simulate and calculate the flight trajectory trend line across the route, output the survey line flight path and measure the altitude data, delineate the baseline area, and select the take-off and landing points and relay stations; The UAV pre-flight preparation module is used to input survey line data into the UAV flight control system, perform pre-flight checks on the UAV, and perform pre-flight checks on the UAV nuclear emergency aviation monitoring system. The emergency monitoring module is used to enable the UAV to conduct flight measurements according to the set survey line plan and to monitor the UAV status in real time. The UAV post-flight processing module is used to inspect the surface of UAVs for radiation contamination, conduct post-flight inspections of UAVs, perform post-landing inspections of UAV nuclear emergency aerial monitoring systems, and analyze and output nuclear emergency monitoring reports.

6. The nuclear accident emergency rescue UAV aerial monitoring simulation training system according to claim 5, characterized in that, It also includes an assessment module for scoring and evaluating trainees’ performance, including training process management, training information collection, assessment standard system, and training effect evaluation.

7. The nuclear accident emergency rescue UAV aerial monitoring simulation training system according to claim 5, characterized in that, It also includes a theoretical training module, which provides trainees with theoretical training on the basic principles of nuclear emergency aerial monitoring and the operating procedures of monitoring equipment, including learning and assessment modes.

8. The nuclear accident emergency rescue UAV aerial monitoring simulation training system according to claim 5, characterized in that, The flight trajectory planning module includes a flight trajectory trend line simulation and analysis module for crossing flight routes, a baseline selection module, a take-off and landing point selection module, and a relay station selection module; The flight trajectory trend line simulation and analysis module for the crossing route is used to simulate and calculate the flight trajectory trend line of the crossing route based on the corner point information of the emergency monitoring area, the survey line path information, the digital elevation model information, the known obstacle information and the preset obstacle information, the preset flight altitude information, and the flight speed information, and output the survey line flight path and measured altitude data. The baseline selection module is used to delineate the baseline area based on baseline selection conditions. The take-off and landing point selection module is used to select take-off and landing points based on the take-off and landing point selection criteria; The relay station selection module selects a relay station based on the relay station selection criteria.

9. The nuclear accident emergency rescue UAV aerial monitoring simulation training system according to claim 5, characterized in that, The UAV pre-flight preparation module includes a survey line planning module, a UAV nuclear emergency aviation monitoring system pre-flight inspection module, and a UAV pre-flight inspection module. The survey line planning module is used to input the survey line coordinates and measured altitude into the UAV flight control system based on the simulation analysis results of the flight trajectory trend line of the crossing route. The pre-flight check module of the UAV nuclear emergency aerial monitoring system is used to check and set the operating parameters of the UAV nuclear emergency aerial monitoring system. The pre-flight inspection module for drones is used to inspect the drone's airframe.

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