Gas space distribution telemetering system and method with high space-time adaptability

Abstract

The invention relates to a gas space distribution telemetering system and method with high space-time adaptability. Comprising an unmanned aerial vehicle end and an equipment vehicle end, the unmanned aerial vehicle end comprises an unmanned aerial vehicle relay platform formed by an unmanned aerial vehicle body, and the relay platform comprises a light path turning module for turning the light path of direct sunlight; the equipment vehicle end comprises an equipment vehicle body, and the equipment vehicle body comprises a light source tracking module which is used for rotating along with the unmanned aerial vehicle relay platform and sending the folded direct solar light to the passive Fourier transform infrared spectrometer; the passive Fourier transform infrared spectrometer is used for receiving, detecting and analyzing the turned direct sunlight to obtain spectral data; and the data processing module is used for obtaining gas types and corresponding concentration information in the target area according to the spectral data based on an inversion algorithm. Therefore, the problem that the sun-to-be-detected gas-infrared spectrometer is required to strictly abide by three points and one line in the traditional method is solved, and the method has wider time and environment adaptability.

Description

Technical Field

[0001] The present application relates to the field of optical remote sensing technology, and in particular to a gas spatial distribution remote sensing system and method with high temporal and spatial adaptability. Background Art

[0002] With the development and progress of optics, electronics and computer science, optical-based spectral monitoring methods have gradually come into people's view. Due to its advantages of multi-component and completely non-contact measurement, large-range and real-time continuous measurement, and high sensitivity, it has become one of the main methods in the field of atmospheric environment monitoring.

[0003] In the related technology, the Solar Occultation Flux (SOF) method is a new gas monitoring method developed from the FTIR (Fourier Transform Infrared Spectrometer) technology. This method uses the sun as the light source, and through the coupling of the optical path tracking system and the FTIR collimation system, the spectrometer can continuously record the solar spectrum passing through the gas area to be measured during movement; at the same time, the measured infrared spectrum is inverted, and combined with the solar altitude angle and wind speed and direction, information such as the type, concentration, and emission flux of the gas to be measured is obtained.

[0004] However, this method needs to calculate the optimal position for the vehicle-mounted FTIR device to move according to the solar azimuth corresponding to the current time and the position of the gas to be tested, that is, the "sun-gas to be tested-FTIR spectrometer" must strictly adhere to the three-point straight line. However, the movement of the vehicle-mounted FTIR is restricted by the terrain, and some areas cannot be reached by vehicles, resulting in the inability to carry out measurements. This problem needs to be solved urgently. Summary of the invention

[0005] The present application provides a gas spatial distribution remote sensing system and method with high temporal and spatial adaptability to solve the problem that the traditional method requires "sun-gas to be measured-FTIR spectrometer" to strictly adhere to the three-point straight line. When measuring the gas to be measured, it is not limited by the position of the sun and the altitude angle, and has a wider range of environmental adaptability.

[0006] To achieve the above-mentioned purpose, the first embodiment of the present application proposes a gas space distribution telemetry system with high temporal and spatial adaptability. The light source of the system adopts direct sunlight. The system includes: a drone end and an equipment vehicle end, wherein:

[0007] The drone end includes a drone relay platform formed by a drone body, and the drone relay platform includes an optical path folding module, and the optical path folding module is used to fold the optical path of the direct sunlight to obtain the folded direct sunlight;

[0008] The equipment vehicle end includes an equipment vehicle body, and the equipment vehicle body includes a light source tracking module, a passive Fourier transform infrared spectrometer and a data processing module, wherein the light source tracking module is used to rotate with the UAV relay platform and send the folded direct sunlight to the passive Fourier transform infrared spectrometer;

[0009] The passive Fourier transform infrared spectrometer is used to receive the deflected direct sunlight, and perform detection and analysis to obtain spectral data;

[0010] The data processing module is used to obtain the gas type and corresponding concentration information in the target area according to the spectral data based on a preset inversion algorithm.

[0011] According to one embodiment of the present application, the data processing module is further used to:

[0012] Based on the preset sea, land and air collaborative operation algorithm, the flight trajectory of the drone end and the moving path of the equipment vehicle end are planned.

[0013] According to one embodiment of the present application, the optical path deflection module includes: an optical path deflection component, a first fixed platform, a first rotating platform, a supporting structure component, a first motor and a second motor, wherein:

[0014] The optical path refracting component is used to refract the direct sunlight to obtain the refracted direct sunlight;

[0015] The first fixing platform is used to fix the UAV relay platform;

[0016] The supporting structure component is arranged on the first fixing platform and is used for fixing the optical path deflecting component;

[0017] The first motor is used to control the optical path deflecting component to rotate in a vertical direction within a first preset angle range;

[0018] The second motor is used to control the first rotating platform to rotate in the horizontal direction within a second preset angle range, so as to drive the optical path deflecting component to rotate in the horizontal direction through the supporting structure.

[0019] According to one embodiment of the present application, the light source tracking module includes: a second fixed platform, a first reflection unit, a second reflection unit, a photodetector, a control unit, a third motor, a second rotating platform, a third reflection unit and a fourth reflection unit, wherein:

[0020] The second fixing platform is used to fix the passive Fourier transform infrared spectrometer;

[0021] The first reflecting unit is used to reflect the deflected direct sunlight to obtain a first reflected light and a second reflected light;

[0022] The second reflecting unit is used to reflect the first reflected light to the photoelectric detector to determine the current tracking effect of the light source tracking module;

[0023] The control unit is used to control the third motor to adjust the azimuth angle of the second rotating stage and the pitch angle of the first reflecting unit based on the current tracking effect, so that the final tracking effect reaches a preset optimal state;

[0024] The third reflecting unit and the fourth reflecting unit are used to reflect the second reflected light to the passive Fourier transform infrared spectrometer for detection and analysis.

[0025] According to one embodiment of the present application, the drone relay platform further includes:

[0026] A first GPS (Global Positioning System) module, wherein the first GPS module is used to obtain real-time location information of the drone terminal;

[0027] A first wireless communication module, the first wireless communication module is used to send the real-time location information to the device vehicle end;

[0028] A first driving module, wherein the first driving module is used to control the first motor and the second motor to adjust the azimuth angle and the pitch angle of the optical path deflecting component at the preset position.

[0029] According to one embodiment of the present application, the data processing module is further used for:

[0030] According to the position of the sun, the position of the gas to be measured, the position of the equipment vehicle end and the position of the drone end, the optimal azimuth angle and the optimal pitch angle of the optical path deflection module are calculated, and an angle control signal is generated based on the optimal azimuth angle and the optimal pitch angle. The angle control signal is sent to the first driving module to control the optical path deflection component to achieve horizontal and vertical rotation.

[0031] According to one embodiment of the present application, the equipment vehicle body further includes:

[0032] A second driving module, the second driving module is used to control the equipment vehicle body to move based on the moving path of the equipment vehicle end;

[0033] A second GPS module, the second GPS module is used to obtain the real-time location information of the vehicle end of the device;

[0034] The second communication module is used to send the flight trajectory of the drone end and the real-time location information of the equipment vehicle end to the drone end.

[0035] According to one embodiment of the present application, the drone relay platform further includes:

[0036] A flight control module, the flight control module is used to control the drone end to reach a preset position based on the flight trajectory of the drone end and the real-time position information of the equipment vehicle end, so as to perform gas detection in the target area.

[0037] According to one embodiment of the present application, the optical path deflection module is at least one of a plane reflector, a diffuse reflector and a directional reflective film.

[0038] According to the highly spatiotemporal adaptable gas spatial distribution telemetry system proposed in the embodiment of the present application, the optical path of direct sunlight is deflected by the optical path deflection module; the deflected direct sunlight is sent to the passive Fourier transform infrared spectrometer by the light source tracking module; the deflected direct sunlight is received by the passive Fourier transform infrared spectrometer and detected and analyzed to obtain spectral data; the gas type and corresponding concentration information in the target area are obtained according to the spectral data based on the preset inversion algorithm by the data processing module. Thus, the problem that the traditional method requires "sun-gas to be measured-FTIR spectrometer" to strictly abide by the three-point straight line is solved, and when measuring the gas to be measured, it is not limited by the position of the sun and the altitude angle, and has a wider range of environmental adaptability.

[0039] To achieve the above-mentioned purpose, the second embodiment of the present application proposes a gas space distribution telemetry method with high temporal and spatial adaptability, using the gas space distribution telemetry system with high temporal and spatial adaptability described in the first embodiment, and the method comprises the following steps:

[0040] The data processing module is used to calculate the optimal azimuth angle and the optimal pitch angle of the optical path deflection module according to the position of the sun, the position of the gas to be measured, the position of the equipment vehicle end and the position of the unmanned aerial vehicle end, and an angle control signal is generated based on the optimal azimuth angle and the optimal pitch angle, and the angle control signal and the real-time position information of the equipment vehicle end are sent to the unmanned aerial vehicle end by using the second communication module;

[0041] The optical path deflecting module is used to receive the direct sunlight, and based on the angle control signal, the first driving module is used to control the first motor and the second motor to adjust the optical path deflecting component to realize horizontal and vertical rotation at the preset position, so as to deflect the optical path of the direct sunlight;

[0042] Using a third motor to control the light source tracking module to rotate with the UAV relay platform, and sending the deflected direct sunlight to the passive Fourier transform infrared spectrometer, and using the passive Fourier transform infrared spectrometer to detect and analyze the deflected direct sunlight to obtain spectral data;

[0043] The data processing module is used to obtain the gas types and corresponding concentration information in the target area based on the preset inversion algorithm according to the spectral data.

[0044] According to the highly spatiotemporal adaptability gas spatial distribution remote sensing method proposed in the embodiment of the present application, through the highly spatiotemporal adaptability gas spatial distribution remote sensing system, the problem that the traditional method requires "sun-gas to be tested-FTIR spectrometer" to strictly adhere to the three-point straight line is solved. When measuring the gas to be tested, it is not restricted by the position of the sun and the altitude angle, and has a wider range of environmental adaptability.

[0045] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0047] Figure 1 A block diagram of a gas spatial distribution telemetry system with high temporal and spatial adaptability provided according to an embodiment of the present application;

[0048] Figure 2 A schematic diagram of a flight trajectory of a drone according to an embodiment of the present application;

[0049] Figure 3 A schematic diagram of the structure of an optical path deflecting module and an optional scheme of an optical path deflecting component according to an embodiment of the present application;

[0050] Figure 4 is a structural schematic diagram of a light source tracking module according to an embodiment of the present application;

[0051] Figure 5 A block diagram of another gas space distribution remote sensing system with high temporal and spatial adaptability provided according to an embodiment of the present application;

[0052] Figure 6 It is a principle schematic diagram of a gas distribution detection system with high temporal and spatial adaptability according to an embodiment of the present application;

[0053] Figure 7This is a flow chart of a gas spatial distribution remote sensing method with high spatiotemporal adaptability provided according to an embodiment of the present application.

[0054] Description of reference numerals: 10-gas distribution detection system with high temporal and spatial adaptability, 100-UAV end, 101-UAV relay platform, 102-optical path folding module, 1021-optical path folding component, 1022-first fixed platform, 1023-first rotating platform, 1024-support structure component, 1025-first motor, 1026-second motor, 103-first GPS module, 104-first wireless communication module, 105-first drive module, 106-flight control module; 200-equipment vehicle end, 20 1-equipment vehicle body, 202-light source tracking module, 2021-second fixed platform, 2022-first reflection unit, 2023-second reflection unit, 2024-photoelectric detector, 2025-control unit, 2026-third motor, 2027-second rotating platform, 2028-third reflection unit, 2029-fourth reflection unit, 203-passive Fourier transform infrared spectrometer, 204-data processing module, 205-second drive module, 206-second GPS module, 207-second communication module. DETAILED DESCRIPTION

[0055] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0056] The following describes a gas spatial distribution telemetry system and method with high spatiotemporal adaptability proposed in accordance with an embodiment of the present application with reference to the accompanying drawings.

[0057] Figure 1 It is a block diagram of a gas spatial distribution telemetry system with high spatiotemporal adaptability according to an embodiment of the present application.

[0058] Before introducing the gas spatial distribution telemetry system with high spatiotemporal adaptability proposed in the embodiment of the present application, the relevant technical background is first introduced.

[0059] Traditional gas detection methods mainly include chemical reaction methods, electrochemical methods, chromatography and mass spectrometry related technologies. These methods are all contact measurement methods, which require sampling of gas at the location to be measured. Usually, the gas can only be analyzed in the laboratory, or preliminary qualitative and quantitative analysis can be performed on site, or the gas is transported to a measuring tube and the concentration of the gas is measured by measuring optical probes installed at both ends of the pipe. Due to the limitations of contact measurement of traditional gas sensors, only single-point monitoring of the target gas can be performed, and long-distance accurate measurement and continuous measurement cannot be achieved. It is also difficult to meet the needs of rapid monitoring of large-scale real-time dynamic spatial distribution.

[0060] With the development and progress of optics, electronics and computer science, optical spectral monitoring methods have gradually entered people's field of vision, and because of its advantages of realizing multi-component, completely non-contact measurement, large-range and real-time continuous measurement, and high sensitivity, it has become one of the main methods in the field of atmospheric environment monitoring. At present, the commonly used optical detection methods are: differential absorption lidar technology, differential absorption spectroscopy technology, tunable diode laser absorption spectroscopy technology, Fourier transform infrared spectroscopy technology, etc. Among them, Fourier transform infrared spectroscopy technology is a long-distance gas concentration detection technology developed based on the principle that when light passes through the gas, gas molecules absorb photon energy of different wavelengths to transition to energy levels, thereby having corresponding absorption lines on the spectrum. It has the advantages of high throughput, high measurement speed, high precision, high sensitivity, high resolution, wide-band measurement, no contact sampling and preprocessing, etc., and has the characteristics of real-time online, fast dynamic, stereo telemetry, and automatic measurement of multi-component gas pollutants. It has been widely used in the field of gas telemetry, especially in the field of atmospheric environmental pollution gas measurement.

[0061] At present, the main applications of Fourier transform infrared spectroscopy technology in atmospheric environment monitoring at home and abroad are: (1) portable FTIR spectrometer with built-in extractable multiple reflection gas cell; (2) active long optical path open optical path spectrometer; (3) ground-based solar spectrum infrared occultation flux method FTIR spectrometer; (4) gas target ground-based FTIR remote sensing identification spectrometer; (4) space (airborne, ball-borne, satellite-borne) passive FTIR spectrometer.

[0062] Fourier transform infrared spectroscopy technology is divided into two types: active and passive. Among them, active remote sensing FTIR technology is similar to FTIR in the laboratory. It uses an infrared light source as an external light source and realizes detection by measuring the absorption of the light source by the gas. It has the advantages of high signal-to-noise ratio and good stability, but has high requirements for the external light source. Passive gas detection uses natural light sources (such as the sun) as incident light, and realizes gas detection based on the difference between the gas absorption spectrum and the standard background spectrum. It does not require additional external light sources and retroreflectors. It has a simple structure and is suitable for large spectral range and long-distance detection.

[0063] At present, Fourier transform infrared spectroscopy technology can be divided into ground-based remote sensing, vehicle-mounted remote sensing, ship-mounted remote sensing and airborne remote sensing according to different platforms. Among them, the ground-based FTIR equipment is installed at a fixed site and can be equipped with a longer moving mirror displacement device, a more sensitive detector and refrigeration equipment such as liquid nitrogen, so that the ground-based FTIR can obtain higher spectral resolution, signal-to-noise ratio and detection accuracy. However, since the ground-based FTIR equipment cannot be moved, its detection path is particularly limited by time. It can only follow the movement of the sun for line scanning. There is only one time window in a day for monitoring a certain target area, and it is difficult to monitor at any time. As a simple and economical means, vehicle-mounted remote sensing is not limited by fixed sites. It can quickly and maneuverably carry out remote sensing monitoring of atmospheric components in large-scale areas and obtain high-precision data. Although there is a certain gap in sensitivity and accuracy with ground-based remote sensing, its flexibility and coverage make it an important tool for atmospheric monitoring. Therefore, the infrared solar flux gas detection method based on vehicle-mounted FTIR has become a research hotspot for researchers from various countries in recent years.

[0064] The infrared occultation flux method is a new gas monitoring method developed from FTIR technology. This method uses the sun as the light source. Through the coupling of the optical path tracking system and the FTIR collimation system, the spectrometer can continuously record the solar spectrum passing through the gas area to be measured during the movement; at the same time, the measured infrared spectrum is inverted, and combined with the solar altitude angle and wind speed and direction, the type, concentration, emission flux and other information of the gas to be measured are obtained. Since the change of the solar azimuth angle in the same area over time during the day is relatively fixed, in order to allow sunlight to directly pass through the area to be detected and then enter the Fourier transform infrared spectrometer, it is necessary to calculate the optimal position of the vehicle-mounted FTIR device to move according to the solar azimuth angle corresponding to the current time and the position of the gas to be measured, so as to obtain an ideal spectrum with a high signal-to-noise ratio. However, the movement of the vehicle-mounted FTIR is restricted by the terrain, and vehicles cannot reach some areas (such as forests, rivers, etc.). At this time, the sun, the gas to be measured, and the vehicle-mounted FTIR device cannot be in the same straight line, and the traditional infrared occultation flux method cannot be used for measurement. It can only wait for the sun to move to a suitable angle before measurement, and it is impossible to achieve monitoring anytime and anywhere.

[0065] It is based on the above problems that the embodiment of the present application proposes a highly temporal and spatially adaptable gas spatial distribution telemetry system, which integrates the high-speed and high-precision telemetry of Fourier transform infrared spectroscopy technology, the ultra-high observation accuracy and initial value resolution of the infrared solar occultation flux method, and the high maneuverability and high flexibility of the drone relay platform, and cooperates to detect the distribution of atmospheric gases. Among them, the drone relay platform is equipped with an optical path deflection module to realize the deflection of direct sunlight. The Fourier transform infrared spectroscopy equipment is mounted on the equipment vehicle. Through air-ground collaboration, no matter where the sun is, the high-intensity full-band radiation light it emits can pass through the gas to be tested after the optical path is deflected, and is received by the equipment vehicle equipped with the Fourier transform infrared spectroscopy, and finally transmitted to the Fourier transform infrared spectroscopy for analysis and processing, and inversion analysis of gas types, concentrations and other information, so as to achieve fast and stable gas detection, and can meet the vertical resolution measurement requirements for gases. By using the optical path deflection module, the measurement of the gas to be measured is not restricted by the position of the sun and the altitude angle, and has better time adaptability. At the same time, through the coordinated work of the UAV platform and the equipment vehicle, the high maneuverability and flexibility of the UAV in the air are utilized to make up for the limitations of the equipment vehicle on the ground due to the terrain environment, and it has a wider range of environmental adaptability.

[0066] Next, the gas spatial distribution telemetry system with high temporal and spatial adaptability proposed in the embodiment of the present application is described in detail.

[0067] For example, Figure 1 As shown, the highly spatiotemporal adaptable gas space distribution telemetry system 10 comprises: a drone end 100 and an equipment vehicle end 200, wherein the drone end 100 comprises a drone relay platform 101 formed by a drone body, the drone relay platform 101 comprises an optical path folding module 102, the optical path folding module 102 is used to fold the optical path of direct sunlight to obtain the folded direct sunlight; the equipment vehicle end 200 comprises an equipment vehicle body 201, the equipment vehicle body 201 comprises a light source tracking module 202, a passive Fourier transform module 203, and a light source tracking module 204. The passive Fourier transform infrared spectrometer 203 and the data processing module 204, wherein the light source tracking module 202 is used to follow the rotation of the UAV relay platform 101, and send the reflected direct sunlight to the passive Fourier transform infrared spectrometer 203; the passive Fourier transform infrared spectrometer 203 is used to receive the reflected direct sunlight, and perform detection and analysis to obtain spectral data; the data processing module 204 is used to obtain the gas type and corresponding concentration information in the target area according to the spectral data based on a preset inversion algorithm.

[0068] Specifically, if Figure 1As shown, the highly spatiotemporally adaptable gas spatial distribution telemetry system 10 is mainly composed of two major parts: the drone end 100 and the equipment vehicle end 200. Through the coordinated work of the two, the direct sunlight is utilized to analyze the gas composition in the atmosphere. Among them, the drone end 100 is the aerial part of the entire system, and the high maneuverability and flexibility of the drone relay platform 101 enable the system to be quickly deployed above the target area; the optical path deflection module 102, as the core component of the drone relay platform 101, can accurately capture direct sunlight and deflect its optical path to form a stable and clearly pointed refracted direct sunlight, providing a stable and high signal-to-noise ratio light source for subsequent spectral analysis; the equipment vehicle body 201 integrates multiple functional modules to ensure that the collection, processing and analysis of spectral data can proceed smoothly; the light source tracking module 202 has a high-precision tracking mechanism, which can follow the drone relay platform 101 to rotate in real time, Ensure real-time alignment with the refracted direct sunlight. This dynamic tracking can ensure that the light source received by the spectrometer is stable and undisturbed. The passive Fourier transform infrared spectrometer 203, as the core equipment of spectral analysis, can receive the refracted direct sunlight from the light source tracking module 202, and use Fourier transform technology to decompose it into spectral components of different wavelengths. The data processing module 204 has a built-in preset inversion algorithm, which can process the spectral data of the passive Fourier transform infrared spectrometer 203. Through algorithm analysis, the types of various gases in the target area and the corresponding concentration information can be accurately calculated, thereby providing important data support for environmental monitoring, weather forecasting and other fields.

[0069] It can be seen that the embodiment of the present application adopts the passive Fourier transform infrared spectroscopy telemetry technology, uses the direct sunlight with strong energy and wide spectral range as the light source, does not need to set up additional external light sources and retroreflectors, has a simple structure, has the advantages of high spectral resolution and wide spectral range coverage, and the infrared absorption characteristics of trace gases enable the spectrometer to simultaneously measure the column concentration and vertical distribution of multiple trace gases. At the same time, the drone and the equipment vehicle equipped with infrared hyperspectral remote sensing work in a coordinated manner, and the optical path reversing module 102 carried by the drone end 100 is used, so that the direct sunlight at any time can pass through the gas to be tested after passing through a suitable reversing path and enter the passive Fourier transform infrared spectrometer 203 of the equipment vehicle end 200 for detection and analysis, getting rid of the limitation of the three points of "sun-gas to be tested-spectrometer" in the traditional Fourier transform infrared spectroscopy telemetry process, and effectively improving the time and terrain adaptability of the infrared solar occultation flux method.

[0070] Optionally, in some embodiments, the data processing module 204 is also used to: plan the flight trajectory of the drone end 100 and the moving path of the equipment vehicle end 200 based on a preset sea, land and air collaborative operation algorithm.

[0071] That is to say, the data processing module 204 can perform path planning according to the terrain environment, so that the equipment vehicle end 200 can avoid obstacles according to the moving path calculated by the data processing module 204, and by processing the selected gas detection area and detection height information, plan the flight path and flight altitude of the drone end 100, so that the drone end 100 can move according to the flight trajectory calculated by the data processing module 204.

[0072] It is understandable that the sea, land and air collaborative operation algorithm can adopt a path planning algorithm or an obstacle avoidance algorithm, etc., by using algorithms such as Z-shaped walking, ant colony algorithm, A*, genetic algorithm, artificial bee colony algorithm and neural network to plan the flight path of the drone end 100 and the moving path of the equipment vehicle end 200, so as to achieve efficient movement of the drone and the equipment vehicle in the designated area, thereby improving the detection efficiency.

[0073] For example, a simple implementation method is a zigzag walk, such as Figure 2 As shown, the flight area is divided into several horizontal plane slices according to the flight altitude. The drone 100 first flies to the starting position of the highest altitude plane (such as Figure 3 ), adjust the optical path deflection module 102 and wait for the movement command. After the equipment vehicle end 200 completes the gas detection and sends the movement command, the drone end 100 can fly to the next measurement position in a Z-shape, repeat the above steps, and wait until all measurement positions at the current height are measured. The drone end 100 flies to the starting position of the next height, and repeats the above steps until all measurement heights are measured. Similarly, the flight path of the drone end 100 can also be planned using algorithms such as ant colony algorithm, A*, genetic algorithm, artificial bee colony algorithm and neural network, so as to achieve more efficient movement of the drone in the specified flight area and improve the efficiency of gas detection.

[0074] The optical path deflection module 102 is described in detail below.

[0075] In some embodiments, Figure 3As shown in (a), the optical path deflecting module 102 comprises: an optical path deflecting component 1021, a first fixed platform 1022, a first rotating platform 1023, a supporting structure component 1024, a first motor 1025 and a second motor 1026, wherein the optical path deflecting component 1021 is used to refract direct sunlight to obtain deflected direct sunlight; the first fixed platform 1022 is used to fix the UAV relay platform; the supporting structure component 1024 is arranged on the first fixed platform 1022, and is used to fix the optical path deflecting component 1021; the first motor 1025 is used to control the optical path deflecting component 1021 to rotate in a vertical direction within a first preset angle range; the second motor 1026 is used to control the first rotating platform 1023 to rotate in a horizontal direction within a second preset angle range, so as to drive the optical path deflecting component 1021 to rotate in a horizontal direction through the supporting structure component 1024.

[0076] Specifically, if Figure 3 As shown in (a), the first fixed platform 1022 is used to fix the UAV relay platform, and the supporting structure component 1024 is arranged on the first fixed platform 1022, and is used to fix the optical path folding component 1021. The first rotating platform 1023 can be driven by the second motor 1026 to rotate 360° in the horizontal direction, and then the optical path folding component 1021 is driven to rotate in the horizontal direction by the supporting structure component 1024 fixed to the first rotating platform 1023, so as to control the azimuth angle of the optical path folding component 1021. The first motor 1025 can drive the optical path folding component 1021 to rotate within a limited angle θ in the vertical direction, so as to control the pitch angle of the optical path folding component 1021. The optical path folding component 1021 is the core component of the optical path folding module 102, and its main function is to refract the direct sunlight so that it can pass through the gas to be measured and enter the passive Fourier transform infrared spectrometer 203 carried by the equipment vehicle end 200.

[0077] Furthermore, there are multiple ways to implement the optical path deflecting component 1021, which are described in detail below.

[0078] In some embodiments, the light path deflection module 102 is at least one of a plane reflector, a diffuse reflector, and a directional reflective film.

[0079] That is to say, the optical path deflection module 102 provided on the drone relay platform 101 can realize the optical path deflection of direct sunlight light by using simple devices such as plane reflectors, diffuse reflectors, directional reflective films, etc., according to actual conditions, so as to reduce the load of the drone and improve the endurance. In addition, the optical path deflection module 102 can also use relatively complex devices such as sun trackers and integrating spheres to allow more sunlight to be accurately incident on the vehicle-mounted passive Fourier transform infrared spectrometer 203, so as to improve the sunlight collection capability, optical path deflection accuracy, and spectrometer signal-to-noise ratio.

[0080] For example, if Figure 3 As shown in (b)(1), a plane reflector can be used to realize the deflection of the light path. The azimuth and pitch angles of the plane reflector can be adjusted by the first motor 1025 and the second motor 1026 so that the normal of the plane reflector coincides with the bisector of the angle formed by the sun-unmanned aerial vehicle-equipment vehicle. This can realize the refraction of direct sunlight to the direction of the equipment vehicle end 200 and collect it by the light source tracking module 202. This method has a simple structure, and the energy loss of the reflected light is small. It is relatively light and has a high signal-to-noise ratio. It can also be based on the principle of diffuse reflection and use a directional diffuse reflector (such as Figure 3 (b)(2)) or diffuse reflectors (such as Figure 3 (b)(3)) replaces the plane reflector to realize the light path deflection. This method does not require high control accuracy of the azimuth angle and pitch angle of the light path deflection component 1021, and even the adjustment of the pitch angle can be ignored, further reducing the weight and improving the endurance of the UAV. It is suitable for situations where the sunlight is strong and unobstructed and there are requirements for the load endurance of the UAV; in addition, the light path deflection component 1021 can also adopt a relatively complex structure to achieve more efficient and accurate collection and deflection of sunlight, so as to improve the signal-to-noise ratio and detection accuracy of the Fourier transform spectrometer, such as Figure 3 (b) In the structure of the integrating sphere + reflector combination shown in (4), since the light is diffusely reflected multiple times in the integrating sphere and then uniformly emitted from the light outlet, the requirement for the sunlight to be vertically incident on the light inlet of the integrating sphere is not strict, which effectively reduces the accuracy of sun tracking. Figure 3 (b)(5)) is used as the light path deflecting component 1021, which controls the reflector 1 to be adjusted to a suitable angle so that the direct sunlight is imaged at the center of the photodetector through the reflectors 1 and 3. At this time, the reflector 1 is in the best position, and by adjusting the angle of the reflector 4, it is ensured that the direct sunlight is accurately incident on the equipment vehicle end 200 after being deflected by the reflectors 1, 2 and 4.

[0081] According to the principle of Fourier transform infrared spectroscopy, the embodiment of the present application designs a light source tracking module 202 that can rotate with the drone relay platform 101. Figure 4 shown.

[0082] In some embodiments, the light source tracking module 202 includes: a second fixed platform 2021, a first reflection unit 2022, a second reflection unit 2023, a photodetector 2024, a control unit 2025, a third motor 2026, a second rotating platform 2027, a third reflection unit 2028 and a fourth reflection unit 2029, wherein the second fixed platform 2021 is used to fix the passive Fourier transform infrared spectrometer 203; the first reflection unit 2022 is used to reflect the refracted direct sunlight to obtain a first reflected light and a second reflected light; The second reflection unit 2023 is used to reflect the first reflected light to the photodetector 2024 to determine the current tracking effect of the light source tracking module 202; the control unit 2025 is used to control the third motor 2026 to adjust the azimuth angle of the second rotating table 2027 and the pitch angle of the first reflection unit 2022 based on the current tracking effect, so that the final tracking effect reaches a preset optimal state; the third reflection unit 2028 and the fourth reflection unit 2029 are used to reflect the second reflected light to the passive Fourier transform infrared spectrometer 203 for detection and analysis.

[0083] Specifically, if Figure 4 As shown, the second fixed platform 2021 serves as a fixed support for the passive Fourier transform infrared spectrometer 203 and the light source tracking module 202. The direct sunlight emitted by the drone end 100 is reflected by the first reflector unit 2022, and a part of it is reflected by the second reflector unit 2023 and irradiated on the photoelectric detector 2024, which is used to judge the current tracking effect of the light source tracking module 202, and the control unit 2025 drives the third motor 2026 to correct the azimuth angle of the second rotating platform 2027 and the pitch angle of the first reflector unit 2022 to obtain the best tracking effect. The other part is reflected by the third reflector unit 2028 and the fourth reflector unit 2029 and then incident on the dynamic Fourier transform infrared spectrometer 203 for analysis and detection.

[0084] Optionally, in some embodiments, Figure 5 As shown, the UAV relay platform 101 also includes: a first GPS module 103, a first wireless communication module 104 and a first driving module 105, wherein the first GPS module 103 is used to obtain the real-time position information of the UAV end 100; the first wireless communication module 104 is used to send the real-time position information to the equipment vehicle end 200; the first driving module 105 is used to control the first motor 1025 and the second motor 1026 to adjust the azimuth and pitch angles of the optical path deflecting component 1021 at a preset position.

[0085] Specifically, if Figure 5As shown, the drone relay platform 101 integrates positioning, communication and driving functions. The drone end 100 can locate its own position through the first GPS module 103, and transmit the real-time position information to the data processing module 204 in the equipment vehicle end 200 through the first wireless communication module 104. The first driving module 105 can drive the first motor 1025 and the second motor 1026 of the optical path deflection module 102 to change the azimuth and pitch angle of the optical path deflection component 1021 to ensure that the incident direct sunlight can be accurately collected by the equipment vehicle end 200 after deflection. The drone end 100 in the embodiment of the present application does not need to set up an image transmission module, but only needs to transmit position information, which has the characteristics of fast speed and low latency.

[0086] The optimal angles for the azimuth angle and the elevation angle of the optical path deflecting component 1021 are calculated by the data processing module 204 .

[0087] In some embodiments, the data processing module 204 is also used to calculate the optimal azimuth angle and optimal pitch angle of the optical path deflection module 102 according to the position of the sun, the position of the gas to be measured, the position of the equipment vehicle end 200 and the position of the drone end 100, and generate an angle control signal based on the optimal azimuth angle and the optimal pitch angle, and send the angle control signal to the first driving module 105 to control the optical path deflection component 1021 to realize horizontal and vertical rotation.

[0088] That is to say, the data processing module 204 also has the following functions: it will comprehensively consider the specific position of the sun, the specific position of the gas to be measured, the actual position of the equipment vehicle end 200, and the actual position of the drone end 100. Through these data, the data processing module 204 can accurately calculate the optimal azimuth and optimal pitch angle of the optical path deflection module 102. In order to achieve this goal, the data processing module 204 will generate corresponding angle control signals based on the calculated optimal azimuth and optimal pitch angle. These angle control signals will then be sent to the first drive module 105 to drive the optical path deflection component 1021 to perform precise horizontal and vertical rotation. In this way, the optical path deflection component 1021 can accurately adjust its angle to ensure the correct deflection of the optical path, thereby improving the accuracy and efficiency of the measurement.

[0089] Optionally, in some embodiments, Figure 5 As shown, the drone relay platform 101 also includes: a flight control module 106, which is used to control the drone end 100 to reach a preset position based on the flight trajectory of the drone end 100 and the real-time position information of the equipment vehicle end 200 to perform gas detection in the target area.

[0090] That is, the drone relay platform 101 is also equipped with a flight control module 106, which is mainly used to perform precise control and coordination according to the flight trajectory of the drone end 100 and the real-time position information of the equipment vehicle end 200. Through this intelligent collaborative work, the drone end 100 can accurately reach the predetermined location, thereby effectively performing the task of gas detection in the target area.

[0091] Optionally, in some embodiments, Figure 5 As shown, the equipment vehicle body 201 also includes: a second driving module 205, a second GPS module 206 and a second communication module 207, wherein the second driving module 205 is used to control the movement of the equipment vehicle body 201 based on the moving path of the equipment vehicle end 200; the second GPS module 206 is used to obtain the real-time location information of the equipment vehicle end 200; the second communication module 207 is used to send the flight trajectory of the drone end 100 and the real-time location information of the equipment vehicle end 200 to the drone end 100.

[0092] Specifically, if Figure 5 As shown, the equipment vehicle 200 also integrates positioning, communication and driving functions. After the direct sunlight signal (infrared light signal) is absorbed by the gas, it is refracted by the optical path reversing module 102 carried by the drone relay platform 101 to the light source tracking module 202 of the equipment vehicle section 200, and is absorbed by the gas again on the way. After the direct sunlight signal enters the passive Fourier transform infrared spectrometer 203, the obtained spectral data is transmitted to the data processing module 204. The data processing module 204 can obtain information such as the type and concentration of gas in the target area through the inversion algorithm, and complete the gas detection in the current light propagation path. Then, the data processing module 204 can update the target path of the drone end 100, and transmit the movement instruction to the flight control module 106 of the drone section 100 through the second communication module 207. The flight control module 106 drives the drone end 100 to move to the next measurement position, thereby completing the flight control of the drone end 100. At the same time, the second GPS module 206 can update the position signal of the equipment vehicle end 200 in real time and transmit it to the data processing module 204. The data processing module 204 controls the light source tracking module 202 to follow the rotation of the drone relay platform 101 based on the received real-time position information of the drone end 100.

[0093] After completing the gas detection at the height and plane of the current designated area, the equipment vehicle end 200 can plan the target trajectory path and other spatial positions that need to be detected through the second GPS module 206 after the data processing module 204 completes the analysis and processing of the gas detection results and its own position, so as to realize the intelligent collaborative detection of the drone end 100 and the equipment vehicle end 200.

[0094] In order to facilitate those skilled in the art to further understand the gas space distribution remote sensing system with high temporal and spatial adaptability proposed in the embodiment of the present application, the following is combined with Figure 6 For further elaboration.

[0095] like Figure 6As shown, when the equipment vehicle body 201 travels to the starting position of the measurement path, the data processing module 204 can calculate the appropriate optical path bending path according to the position of the gas to be measured, the position of the equipment vehicle end 200 and the current position of the sun, and send the optimal optical path bending path and the position information of the equipment vehicle end 200 to the drone end 100 through the second communication module 208, and drive the drone body to fly to the optimal position through the first GPS module 103 and the flight control module 106 of the drone end 100. After being absorbed by the atmosphere and the gas to be measured, the direct sunlight can be incident on the optical path bending module 102 carried by the drone relay platform 101, and the optical path bending component 1021 is controlled to rotate in the horizontal and vertical directions through the first motor 1025 and the second motor 1026 to ensure that the direct sunlight is accurately incident on the equipment vehicle end 200 after being folded. The drone plans the flight path and returns the position signal to the equipment vehicle end 200 in real time. The equipment vehicle end 200 can use the third motor 2026 to control the light source tracking module 202 to follow the rotation of the drone relay platform 101 to accurately receive the sunlight after being folded by the drone relay platform 101 and incident on the passive Fourier transform spectrometer 203 to achieve gas detection in the target area. The drone end 100 can fly flexibly in a certain space area, and form a stereo measurement with different observation angles with the equipment vehicle end 200. The lateral movement of the drone end 100 at the same flight altitude is used to achieve the gas concentration measurement in the plane dimension, and the longitudinal movement at different flight altitudes is used to achieve the gas concentration measurement in the vertical dimension. The drone end 100 and the equipment vehicle end 200 communicate in real time through their respective wireless communication modules (i.e., the first wireless communication module 104 and the second communication module 208) to share each other's positions. The equipment vehicle end 200 can plan the flight area and path of the drone end 100 based on the sun, the gas to be measured and the position of the equipment vehicle end 200 and send it to the drone end 100; the drone end 100 flies to the starting position of the detection area, adjusts the optical path folding module 102 according to its own position and the position of the equipment vehicle end 200, and waits for the equipment vehicle end 200 to complete the gas detection; the equipment vehicle end 200 receives the optical signal folded by the drone end 100 and detects it through the passive Fourier transform infrared spectrometer 203, and then sends a movement instruction to the drone end 100; after receiving the movement instruction, the drone end 100 moves to the next measurement position according to the flight path planned by the data processing module 204, adjusts the optical path folding module 102 again, and repeats the above steps until the drone end 100 completes the gas detection of all the positions to be measured in the flight area, at which time the equipment vehicle end 200 moves to the next measurement position for a new round of measurement. Therefore, through the collaborative work of the drone end 100 and the equipment vehicle end 200, a multi-angle, all-round stereoscopic monitoring of the target area can be formed.

[0096] It should be noted that the optical path deflection module 102 and the passive Fourier transform infrared spectrometer 203 can be respectively carried on vehicles, boats, hot air balloons, etc., to realize various collaborative working modes such as ground-to-air, sea-to-air, and air-to-air, so as to facilitate the detection of the atmospheric composition, trace gas content, etc. of the corresponding celestial body; infrared light can be expanded to visible light and far-infrared light; the passive Fourier transform infrared spectrometer 203 can also be replaced by other types of detection equipment, such as grating spectrometers, etc.; drones can be replaced by airships, manned aircraft, etc.; application scenarios are not limited to the earth, and can also be realized on planets such as Mars, Venus and even exoplanets. The aircraft on these planets can be used as relays, combined with the infrared occultation / transit flux method, to form spatial distribution telemetry of the planetary atmosphere.

[0097] According to the highly spatiotemporal adaptable gas spatial distribution telemetry system proposed in the embodiment of the present application, the optical path of direct sunlight is deflected by the optical path deflection module; the deflected direct sunlight is sent to the passive Fourier transform infrared spectrometer by the light source tracking module; the deflected direct sunlight is received by the passive Fourier transform infrared spectrometer and detected and analyzed to obtain spectral data; the gas type and corresponding concentration information in the target area are obtained according to the spectral data based on the preset inversion algorithm by the data processing module. Thus, the problem that the traditional method requires "sun-gas to be measured-FTIR spectrometer" to strictly abide by the three-point straight line is solved, and when measuring the gas to be measured, it is not limited by the position of the sun and the altitude angle, and has a wider range of environmental adaptability.

[0098] Next, the gas spatial distribution remote sensing method with high temporal and spatial adaptability proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0099] Figure 7 This is a flow chart of a gas spatial distribution remote sensing method with high spatiotemporal adaptability according to an embodiment of the present application.

[0100] like Figure 7 As shown, this highly temporal and spatially adaptable gas spatial distribution remote sensing method adopts Figure 1 The gas space distribution remote sensing system with high spatiotemporal adaptability of the embodiment comprises the following steps:

[0101] In step S701, the data processing module is used to calculate the optimal azimuth and optimal pitch angle of the optical path deflection module according to the position of the sun, the position of the gas to be measured, the position of the equipment vehicle end and the position of the drone end, and an angle control signal is generated based on the optimal azimuth and optimal pitch angle, and the second communication module is used to send the angle control signal and the real-time position information of the equipment vehicle end to the drone end.

[0102] In step S702, the light path deflecting module is used to receive direct sunlight, and based on the angle control signal, the first driving module is used to control the first motor and the second motor to adjust the light path deflecting component to achieve horizontal and vertical rotation at a preset position to deflect the light path of the direct sunlight.

[0103] In step S703, the third motor is used to control the light source tracking module to follow the rotation of the UAV relay platform, and the reflected direct sunlight is sent to the passive Fourier transform infrared spectrometer, and the passive Fourier transform infrared spectrometer is used to detect and analyze the reflected direct sunlight to obtain spectral data.

[0104] In step S704, the data processing module is used to obtain the gas types and corresponding concentration information in the target area according to the spectral data based on a preset inversion algorithm.

[0105] It should be noted that the aforementioned explanation of the embodiment of the gas spatial distribution telemetry system with high spatiotemporal adaptability is also applicable to the gas spatial distribution telemetry method with high spatiotemporal adaptability of this embodiment, and will not be repeated here.

[0106] According to the highly spatiotemporal adaptability gas spatial distribution remote sensing method proposed in the embodiment of the present application, through the highly spatiotemporal adaptability gas spatial distribution remote sensing system, the problem that the traditional method requires "sun-gas to be tested-FTIR spectrometer" to strictly adhere to the three-point straight line is solved. When measuring the gas to be tested, it is not restricted by the position of the sun and the altitude angle, and has a wider range of environmental adaptability.

[0107] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0108] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0109] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A gas space distribution telemetry system with high temporal and spatial adaptability, characterized in that: The light source of the system adopts direct sunlight. The system includes: a drone end and an equipment vehicle end, wherein: The drone end includes a drone relay platform formed by a drone body, and the drone relay platform includes an optical path folding module, and the optical path folding module is used to fold the optical path of the direct sunlight to obtain the folded direct sunlight; The equipment vehicle end includes an equipment vehicle body, and the equipment vehicle body includes a light source tracking module, a passive Fourier transform infrared spectrometer and a data processing module, wherein the light source tracking module is used to rotate with the UAV relay platform and send the folded direct sunlight to the passive Fourier transform infrared spectrometer; The passive Fourier transform infrared spectrometer is used to receive the deflected direct sunlight, and perform detection and analysis to obtain spectral data; The data processing module is used to obtain the gas type and corresponding concentration information in the target area according to the spectral data based on a preset inversion algorithm.

2. The system according to claim 1, characterized in that The data processing module is also used for: Based on the preset sea, land and air collaborative operation algorithm, the flight trajectory of the drone end and the moving path of the equipment vehicle end are planned.

3. The system according to claim 2, characterized in that The optical path deflection module comprises: an optical path deflection component, a first fixed platform, a first rotating platform, a supporting structure component, a first motor and a second motor, wherein: The optical path refracting component is used to refract the direct sunlight to obtain the refracted direct sunlight; The first fixing platform is used to fix the UAV relay platform; The supporting structure component is arranged on the first fixing platform and is used for fixing the optical path deflecting component; The first motor is used to control the optical path deflecting component to rotate in a vertical direction within a first preset angle range; The second motor is used to control the first rotating platform to rotate in the horizontal direction within a second preset angle range, so as to drive the optical path deflecting component to rotate in the horizontal direction through the supporting structure.

4. The system according to claim 3, characterized in that The light source tracking module includes: a second fixing platform, a first reflecting unit, a second reflecting unit, a photodetector, a control unit, a third motor, a second rotating platform, a third reflecting unit and a fourth reflecting unit, wherein: The second fixing platform is used to fix the passive Fourier transform infrared spectrometer; The first reflecting unit is used to reflect the deflected direct sunlight to obtain a first reflected light and a second reflected light; The second reflecting unit is used to reflect the first reflected light to the photoelectric detector to determine the current tracking effect of the light source tracking module; The control unit is used to control the third motor to adjust the azimuth angle of the second rotating stage and the pitch angle of the first reflecting unit based on the current tracking effect, so that the final tracking effect reaches a preset optimal state; The third reflecting unit and the fourth reflecting unit are used to reflect the second reflected light to the passive Fourier transform infrared spectrometer for detection and analysis.

5. The system according to claim 4, characterized in that The UAV relay platform further includes: A first GPS module, wherein the first GPS module is used to obtain real-time location information of the drone terminal; A first wireless communication module, the first wireless communication module is used to send the real-time location information to the device vehicle end; A first driving module, wherein the first driving module is used to control the first motor and the second motor to adjust the azimuth angle and the pitch angle of the optical path deflecting component at the preset position.

6. The system according to claim 5, characterized in that The data processing module is also used for: According to the position of the sun, the position of the gas to be measured, the position of the equipment vehicle end and the position of the drone end, the optimal azimuth angle and the optimal pitch angle of the optical path deflection module are calculated, and an angle control signal is generated based on the optimal azimuth angle and the optimal pitch angle. The angle control signal is sent to the first driving module to control the optical path deflection component to achieve horizontal and vertical rotation.

7. The system according to claim 6, characterized in that The equipment vehicle body also includes: A second driving module, the second driving module is used to control the equipment vehicle body to move based on the moving path of the equipment vehicle end; A second GPS module, the second GPS module is used to obtain the real-time location information of the vehicle end of the device; The second communication module is used to send the flight trajectory of the drone end and the real-time location information of the equipment vehicle end to the drone end.

8. The system according to claim 7, characterized in that The UAV relay platform further includes: A flight control module, the flight control module is used to control the drone end to reach a preset position based on the flight trajectory of the drone end and the real-time position information of the equipment vehicle end, so as to perform gas detection in the target area.

9. The system according to claim 8, characterized in that The optical path deflection module is at least one of a plane reflector, a diffuse reflector and a directional reflective film.

10. A method for remote sensing of gas spatial distribution with high temporal and spatial adaptability, using the remote sensing system for remote sensing of gas spatial distribution with high temporal and spatial adaptability according to any one of claims 1 to 9, characterized in that: The method comprises the following steps: The data processing module is used to calculate the optimal azimuth angle and the optimal pitch angle of the optical path deflection module according to the position of the sun, the position of the gas to be measured, the position of the equipment vehicle end and the position of the unmanned aerial vehicle end, and an angle control signal is generated based on the optimal azimuth angle and the optimal pitch angle, and the angle control signal and the real-time position information of the equipment vehicle end are sent to the unmanned aerial vehicle end by using the second communication module; The optical path deflecting module is used to receive the direct sunlight, and based on the angle control signal, the first driving module is used to control the first motor and the second motor to adjust the optical path deflecting component to realize horizontal and vertical rotation at the preset position, so as to deflect the optical path of the direct sunlight; Using a third motor to control the light source tracking module to rotate with the UAV relay platform, and sending the deflected direct sunlight to the passive Fourier transform infrared spectrometer, and using the passive Fourier transform infrared spectrometer to detect and analyze the deflected direct sunlight to obtain spectral data; The data processing module is used to obtain the gas types and corresponding concentration information in the target area based on the preset inversion algorithm according to the spectral data.

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