Gas spatial distribution telemetry system and method with high spatiotemporal adaptability

Abstract

The application relates to a high-time-space-adaptability gas space distribution remote measurement system and method. The system comprises a UAV end and a device vehicle end. The UAV end comprises a UAV relay platform composed of a UAV body, and the relay platform comprises a light path folding module for folding the light path of direct sunlight. The device vehicle end comprises a device vehicle body, and the device vehicle body comprises a light source tracking module for following the rotation of the UAV relay platform and transmitting the folded direct sunlight to a passive Fourier transform infrared spectrometer. The passive Fourier transform infrared spectrometer is used for receiving the folded direct sunlight and performing detection and analysis to obtain spectral data. The data processing module is used for obtaining the gas type and corresponding concentration information in a target region based on an inversion algorithm and the spectral data. Thus, the problem that a traditional method requires that a "sun-detecting gas-infrared spectrometer" strictly complies with a three-point-one-line mode is solved, and the system has wider time and environmental adaptability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of optical remote sensing, in particular to a high spatiotemporal adaptability gas spatial distribution remote sensing system and method. BACKGROUND

[0002] With the development of optics, electronics and computer science, optical-based spectral monitoring methods have gradually entered people's field of vision. Because it can realize multi-component, completely non-contact measurement, large-scale 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 related technologies, the infrared solar occultation flux (SOF) method is a new type of gas monitoring method developed from FTIR (Fourier Transform Infrared Spectrometer) technology. This method uses the sun as a light source, couples the light path tracking system with the FTIR collimation system, so that the spectrometer can continuously record the solar spectrum passing through the measured gas region during the movement. At the same time, the measured infrared spectrum is inverted, and combined with the solar elevation angle and wind speed and direction, the information of the measured gas type, concentration, emission flux, etc. is obtained.

[0004] However, this method needs to calculate the best position of the vehicle-mounted FTIR device to be moved according to the solar azimuth angle corresponding to the current time and the position of the measured gas, that is, it requires that the "sun-measured gas-FTIR spectrometer" strictly comply with the three-point-one-line. The movement of the vehicle-mounted FTIR is limited by the terrain, and the vehicle cannot reach some areas, resulting in that the measurement cannot be carried out, which needs to be solved urgently. SUMMARY

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

[0006] To achieve the above-mentioned purpose, the first aspect of the present application provides a high spatiotemporal adaptability gas spatial distribution remote sensing system, the light source of the system uses direct sunlight, and the system comprises: a UAV end and a device vehicle end, wherein,

[0007] The UAV end comprises a UAV relay platform composed of a UAV body, and the UAV relay platform comprises a light path folding module, which is used for light path folding of the direct sunlight to obtain folded direct sunlight;

[0008] The device vehicle end comprises a device vehicle body, the device vehicle body comprises a light source tracking module, a passive Fourier transform infrared spectrometer and a data processing module, wherein the light source tracking module is used for following the rotation of the unmanned aerial vehicle relay platform and sending the folded direct sunlight to the passive Fourier transform infrared spectrometer;

[0009] The passive Fourier transform infrared spectrometer is used for receiving the folded direct sunlight and detecting and analyzing to obtain spectral data;

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

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

[0012] Based on a preset sea-land-air cooperative operation algorithm, the flight trajectory of the unmanned aerial vehicle end and the movement path of the device vehicle end are planned.

[0013] According to an embodiment of the present application, the light path folding module comprises a light path folding component, a first fixed table, a first rotating table, a support structure component, a first motor and a second motor, wherein,

[0014] The light path folding component is used for refracting the direct sunlight to obtain the folded direct sunlight;

[0015] The first fixed table is used for fixing the unmanned aerial vehicle relay platform;

[0016] The support structure component is arranged on the first fixed table and is used for fixing the light path folding component;

[0017] The first motor is used for controlling the light path folding component to rotate in a vertical direction within a first preset angle range;

[0018] The second motor is used for controlling the first rotating table to rotate in a horizontal direction within a second preset angle range, so as to drive the light path folding component to rotate in the horizontal direction through the support structure component.

[0019] According to an embodiment of the present application, the light source tracking module comprises a second fixed table, a first reflecting unit, a second reflecting unit, a photoelectric detector, a control unit, a third motor, a second rotating table, a third reflecting unit and a fourth reflecting unit, wherein,

[0020] The second fixed table is used for fixing the passive Fourier transform infrared spectrometer;

[0021] The first reflecting unit is configured to reflect the turned solar direct light to obtain first reflected light and second reflected light.

[0022] The second reflecting unit is configured to reflect the first reflected light to the photodetector to determine a current tracking effect of the light source tracking module.

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

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

[0025] According to an embodiment of the present application, the unmanned aerial vehicle relay platform further comprises:

[0026] A first GPS (Global Positioning System) module is configured to obtain real-time position information of the unmanned aerial vehicle end.

[0027] A first wireless communication module is configured to send the real-time position information to the equipment vehicle end.

[0028] A first driving module is configured to control the first motor and the second motor to adjust an azimuth angle and a pitch angle of the light path turning component at the preset position.

[0029] According to an embodiment of the present application, the data processing module is further configured to:

[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 unmanned aerial vehicle end, the optimal azimuth angle and the optimal pitch angle of the light path turning module are calculated, and an angle control signal is generated based on the optimal azimuth angle and the optimal pitch angle, and the angle control signal is sent to the first driving module to control the light path turning component to rotate in the horizontal direction and the vertical direction.

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

[0032] A second driving module is configured to control the equipment vehicle body to move based on a moving path of the equipment vehicle end.

[0033] A second GPS module is configured to obtain real-time position information of the equipment vehicle end.

[0034] The second communication module is configured to send the flight trajectory of the UAV end and the real-time position information of the equipment vehicle end to the UAV end.

[0035] According to an embodiment of the present application, the UAV relay platform further comprises:

[0036] The flight control module is configured to control the UAV end to reach a preset position based on the flight trajectory of the UAV 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 an embodiment of the present application, the light path folding module is at least one of a plane mirror, a diffuse mirror and a directional reflection film.

[0038] The high-spatiotemporal adaptability gas spatial distribution remote sensing system according to the embodiments of the present application folds the direct sunlight through a light path folding module, sends the folded direct sunlight to a passive Fourier transform infrared spectrometer through a light source tracking module, receives the folded direct sunlight and performs detection and analysis through the passive Fourier transform infrared spectrometer to obtain spectral data, and obtains the gas type and corresponding concentration information in the target area based on a preset inversion algorithm according to the spectral data through a data processing module. Thus, the problem that the traditional method requires that the "sun-target gas-FTIR spectrometer" strictly comply with the three-point-one-line is solved, and the measurement of the target gas can not be limited by the position and elevation angle of the sun, and has wider environmental adaptability.

[0039] To achieve the above object, the second aspect embodiment of the present application proposes a high-spatiotemporal adaptability gas spatial distribution remote sensing method, which uses the high-spatiotemporal adaptability gas spatial distribution remote sensing system according to the first aspect embodiment, and comprises the following steps:

[0040] The data processing module is used to calculate the best azimuth angle and the best pitch angle of the light path folding module according to the position of the sun, the position of the target gas, the position of the equipment vehicle end and the position of the UAV end, generate an angle control signal based on the best azimuth angle and the best pitch angle, and send the angle control signal and the real-time position information of the equipment vehicle end to the UAV end through the second communication module;

[0041] The light path folding module is used to receive the direct sunlight, and the first motor and the second motor are controlled by the first driving module based on the angle control signal to adjust the rotation of the light path folding component in the horizontal direction and the vertical direction in the preset position to fold the direct sunlight;

[0042] The third motor is used to control the light source tracking module to follow the rotation of the unmanned aerial vehicle relay platform, and the folded 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 folded direct sunlight, so as to obtain spectral data.

[0043] 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 the preset inversion algorithm.

[0044] The high-spatial-temporal adaptability gas spatial distribution remote measurement method and system provided by the embodiments of the present application solve the problem that the traditional method requires that the "sun-target gas-FTIR spectrometer" strictly comply with the three-point-one-line rule, and can be free from the restriction of the position and elevation angle of the sun when measuring the target gas, and has wider environmental adaptability.

[0045] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

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

[0047] Figure 1 A block schematic diagram of a high-spatial-temporal adaptability gas spatial distribution remote measurement system according to an embodiment of the present application is shown;

[0048] Figure 2 A flight trajectory diagram of the unmanned aerial vehicle end according to an embodiment of the present application is shown;

[0049] Figure 3 A structure diagram of a light path folding module and an optional scheme diagram of a light path folding component according to an embodiment of the present application are shown;

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

[0051] Figure 5 A block schematic diagram of another high-spatial-temporal adaptability gas spatial distribution remote measurement system according to an embodiment of the present application is shown;

[0052] Figure 6 A principle diagram of a high-spatial-temporal adaptability gas distribution detection system according to an embodiment of the present application is shown;

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

[0054] Label explanation: 10-high spatiotemporal adaptability gas distribution detection system, 100-UAV end, 101-UAV relay platform, 102-optical path folding module, 1021-optical path folding component, 1022-first fixed table, 1023-first rotating table, 1024-supporting structure component, 1025-first motor, 1026-second motor, 103-first GPS module, 104-first wireless communication module, 105-first driving module, 106-flight control module; 200-equipment vehicle end, 201-equipment vehicle body, 202-light source tracking module, 2021-second fixed table, 2022-first reflecting unit, 2023-second reflecting unit, 2024-photoelectric detector, 2025-control unit, 2026-third motor, 2027-second rotating table, 2028-third reflecting unit, 2029-fourth reflecting unit, 203-passive Fourier transform infrared spectrometer, 204-data processing module, 205-second driving 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 notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as a limitation of the present application.

[0056] The high spatiotemporal adaptability gas spatial distribution remote measurement system and method according to an embodiment of the present application are described below with reference to the accompanying drawings.

[0057] Figure 1 A block schematic diagram of a high spatiotemporal adaptability gas spatial distribution remote measurement system according to an embodiment of the present application is shown.

[0058] Before introducing the high spatiotemporal adaptability gas spatial distribution remote measurement system according to an embodiment of the present application, the related technical background is introduced.

[0059] Traditional gas detection methods mainly include chemical reaction method, electrochemical method, chromatography and mass spectrometry related technology. These methods all belong to contact measurement method, which needs to sample gas at the position to be measured, and usually can only analyze gas in the laboratory, or carry out preliminary qualitative and quantitative analysis on site, or transport gas to the measuring tube and measure the concentration of gas by measuring the optical probe installed at both ends of the pipeline. Due to the limitation of contact measurement of traditional gas sensor, only single point monitoring of target gas can be realized, and remote accurate measurement and continuous measurement cannot be realized, and it is difficult to meet the demand of large range real-time dynamic spatial stereoscopic distribution rapid monitoring.

[0060] With the development of optics, electronics and computer science, optical spectral monitoring method based on optics has gradually entered people's field of vision, and due to its advantages of 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 atmospheric environment monitoring field. The commonly used optical detection methods at present are: differential absorption laser radar 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 remote gas concentration detection technology developed based on the principle that when light passes through gas, gas molecules absorb different wavelength photon energy to make energy level transition, so that there are corresponding absorption spectral lines on the spectral diagram. It has the advantages of high throughput, high measurement speed, high precision, high sensitivity, high resolution, wide waveband measurement, no need of contact sampling and pretreatment, and has the characteristics of real-time online, rapid dynamic, stereoscopic remote measurement and automatic measurement of multi-component gas pollutants. In the field of gas remote measurement, especially in the field of atmospheric environmental pollution gas measurement, it has been widely applied.

[0061] At present, the main application modes of Fourier transform infrared spectroscopy technology in atmospheric environment monitoring at home and abroad are: (1) portable built-in extraction type multiple reflection gas cell FTIR spectrometer; (2) active long optical path open optical path spectrometer; (3) ground-based solar spectral 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 active and passive types. Among them, the active remote sensing FTIR technology is similar to the FTIR in the laboratory, which uses infrared light source as external light source to realize detection by measuring the absorption of gas to light source, and has the advantages of high signal-to-noise ratio and good stability, but the requirement for external light source is high. The passive gas detection uses natural light source (such as sun) as incident light, realizes gas detection based on the difference between gas absorption spectrum and standard background spectrum, does not need additional external light source and backward reflector, has simple structure, and is suitable for large spectral range and remote 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 the different platforms. Among them, the ground-based FTIR equipment is installed in a fixed site, which can be equipped with longer dynamic mirror displacement device, higher sensitivity detector and liquid nitrogen cooling equipment, 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, the detection path is limited by time, which is particularly obvious. It can only follow the movement of the sun for line scanning, and can only monitor a target area within a time window in a day, which is difficult to achieve monitoring at any time. As a simple and economical means, vehicle-mounted remote sensing is not limited by fixed sites, and can quickly and flexibly monitor atmospheric composition in large-scale areas and obtain high-precision data. Although there is a certain gap in sensitivity and accuracy compared with ground-based remote sensing, its flexibility and coverage make it an important tool for atmospheric monitoring. Therefore, the infrared occultation flux gas detection method based on vehicle-mounted FTIR has become a research hotspot of researchers in recent years.

[0064] Infrared occultation flux method is a new type of gas monitoring method developed from FTIR technology. This method uses the sun as the light source, and through the coupling of the light path tracking system and the FTIR collimation system, the spectrometer can continuously record the solar spectrum passing through the target gas area during the movement. At the same time, the measured infrared spectrum is inverted, and combined with the solar elevation angle and wind speed and direction, the information of the target gas type, concentration, emission flux, etc. is obtained. Since the solar azimuth angle in the same area changes relatively fixedly with time in a day, in order to make the sunlight directly pass through the target detection area and then enter the Fourier transform infrared spectrometer, the optimal position of the vehicle-mounted FTIR equipment needs to be calculated according to the solar azimuth angle corresponding to the current time and the position of the target gas, so as to obtain the ideal spectrum with high signal-to-noise ratio. However, the movement of the vehicle-mounted FTIR will be limited by the terrain, and the vehicle cannot reach some areas (such as forests, rivers, etc.). At this time, the sun, the target gas and the vehicle-mounted FTIR equipment cannot be on the same straight line, and the traditional infrared occultation flux method cannot be used for measurement. It can only wait for the sun to run to the appropriate angle for measurement, and cannot realize monitoring at any time and anywhere.

[0065] Based on the above problems, the embodiment of the application proposes a high space-time adaptability gas spatial distribution remote sensing system. The system combines the high-speed and high-precision remote sensing of Fourier transform infrared spectroscopy technology, the ultra-high observation accuracy and initial value resolution of infrared occultation flux method, and the high mobility and flexibility of the unmanned aerial vehicle relay platform, and cooperates to detect the atmospheric gas distribution. The unmanned aerial vehicle relay platform is equipped with a light path folding module to fold the direct sunlight. The Fourier transform infrared spectroscopy equipment is carried on the equipment vehicle. Through the air-ground cooperation, the high-intensity full-band radiation light emitted by the sun at any position can be folded and passed through the gas to be measured, and the equipment vehicle carrying the Fourier transform infrared spectroscopy receives it, and finally transmits it to the Fourier transform infrared spectroscopy for analysis and processing to obtain the gas type and concentration information, so as to realize rapid and stable gas detection and vertical resolution measurement of the gas. The light path folding module can be used to measure the gas to be measured without being limited by the position and height angle of the sun, and has better time adaptability. At the same time, through the cooperation of the unmanned aerial vehicle platform and the equipment vehicle, the high mobility and flexibility of the unmanned aerial vehicle in the air make up for the limitation of the equipment vehicle on the ground by the terrain environment, and have better environmental adaptability.

[0066] Next, the high space-time adaptability gas spatial distribution remote sensing system proposed by the embodiment of the application will be described in detail.

[0067] As shown in Figure 1 The high space-time adaptability gas spatial distribution remote sensing system 10 includes an unmanned aerial vehicle end 100 and an equipment vehicle end 200. The unmanned aerial vehicle end 100 includes an unmanned aerial vehicle relay platform 101 composed of an unmanned aerial vehicle body. The unmanned aerial vehicle relay platform 101 includes a light path folding module 102 for folding the direct sunlight to obtain the folded direct sunlight. The equipment vehicle end 200 includes an equipment vehicle body 201 including a light source tracking module 202, a passive Fourier transform infrared spectrometer 203, and a data processing module 204. The light source tracking module 202 is used to follow the rotation of the unmanned aerial vehicle relay platform 101 and send the folded direct sunlight to the passive Fourier transform infrared spectrometer 203. The passive Fourier transform infrared spectrometer 203 is used to receive the folded direct sunlight and detect and analyze it to obtain spectral data. The data processing module 204 is used to obtain the gas type and corresponding concentration information in the target area based on the preset inversion algorithm and the spectral data.

[0068] Specifically, as shown in Figure 1As shown, the high space-time adaptability gas space distribution telemetry system 10 mainly consists of two parts, the unmanned aerial vehicle end 100 and the equipment vehicle end 200, and through the cooperative work of the two, the utilization of direct sunlight is realized, and then the gas composition in the atmosphere is analyzed. Among them, the unmanned aerial vehicle end 100 is the aerial part of the whole system, and the high mobility and flexibility of the unmanned aerial vehicle relay platform 101 enable the system to be quickly deployed to the upper air of the target area; the light path folding module 102 as the core component of the unmanned aerial vehicle relay platform 101 can accurately capture the direct sunlight and fold its light path, forming a stable and clearly directed 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 spectral data collection, processing and analysis can proceed smoothly; the light source tracking module 202 has a high-precision tracking mechanism and can rotate in real time following the unmanned aerial vehicle relay platform 101 to ensure real-time alignment of the refracted direct sunlight. This dynamic tracking can ensure that the light source received by the spectrometer is stable and not disturbed; 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 preset inversion algorithm that can process the spectral data of the passive Fourier transform infrared spectrometer 203. Through algorithm analysis, the types and corresponding concentration information of various gases in the target area can be accurately calculated, thereby providing important data support for environmental monitoring, weather forecasting and other fields.

[0069] As can be seen, the passive Fourier transform infrared spectral telemetry technology is adopted in the embodiments of the present application, using the direct sunlight with strong energy and wide spectral range as the light source, without setting up additional external light source and back reflector, the structure is simple, has the advantages of high spectral resolution and wide spectral range coverage, plus the infrared absorption characteristics of trace gases, so that the spectrometer can simultaneously measure the column concentration and vertical distribution of multiple trace gases. At the same time, the unmanned aerial vehicle and the equipment vehicle carrying infrared hyperspectral remote sensing work in a coordinated manner, and the light path folding module 102 carried by the unmanned aerial vehicle end 100 makes the direct sunlight at any time can pass through the appropriate folding path, pass through the gas to be measured and enter the passive Fourier transform infrared spectrometer 203 of the equipment vehicle end 200 for detection and analysis, breaking away from the restriction of the traditional Fourier transform infrared spectral telemetry process "sun-gas to be measured-spectrometer" three points in a line, effectively improving the time and terrain adaptability of the infrared occultation flux method.

[0070] Optionally, in some embodiments, the data processing module 204 is further configured to plan the flight trajectory of the unmanned aerial vehicle end 100 and the movement path of the equipment vehicle end 200 based on a preset sea-land-air cooperative operation algorithm.

[0071] That is, the data processing module 204 can plan a path according to the terrain environment, so that the device vehicle end 200 can travel according to the movement path calculated by the data processing module 204, and plan the flight path and flight height of the UAV end 100 by processing the selected gas detection area and detection height information, so that the UAV end 100 can move according to the flight trajectory calculated by the data processing module 204.

[0072] It can be understood that the sea-land-air cooperative operation algorithm can use path planning algorithms or obstacle avoidance algorithms, etc., to plan the flight path of the UAV end 100 and the movement path of the device vehicle end 200 by using Z-shaped walk, ant colony algorithm, A*, genetic algorithm, artificial bee colony algorithm and neural network algorithm, etc. Thus, the UAV and the device vehicle can move efficiently in the designated area, thereby improving the detection efficiency.

[0073] For example, a simple implementation is Z-shaped walk, as shown in Figure 2 The flight area is divided into several horizontal plane slices according to the flight height, the UAV end 100 first flies to the starting position of the highest height plane (for example, the lower left corner position in Figure 3 ), adjusts the light path folding module 102 and waits for the movement instruction, after the device vehicle end 200 completes the gas detection and sends the movement instruction, the UAV end 100 can fly to the next measurement position in Z-shaped, repeat the above steps, after all measurement positions at the current height complete the measurement, the UAV end 100 flies to the next height starting position, repeats the above steps until all measurement heights complete the measurement. Similarly, ant colony algorithm, A*, genetic algorithm, artificial bee colony algorithm and neural network algorithm, etc. can be used to plan the flight path of the UAV end 100, to realize more efficient movement of the UAV in the designated flight area, and improve the gas detection efficiency.

[0074] The light path folding module 102 will be described in detail below.

[0075] In some embodiments, as shown in Figure 3As shown in (a), the optical path deflection module 102 includes: an optical path deflection component 1021, a first fixed platform 1022, a first rotating platform 1023, a support structure component 1024, a first motor 1025, and a second motor 1026. The optical path deflection component 1021 refracts direct sunlight to obtain deflected direct sunlight; the first fixed platform 1022 is used to fix the UAV relay platform; the support structure component 1024 is mounted on the first fixed platform 1022 and is used to fix the optical path deflection component 1021; the first motor 1025 controls the optical path deflection component 1021 to rotate vertically within a first preset angle range; the second motor 1026 controls the first rotating platform 1023 to rotate horizontally within a second preset angle range, thereby driving the optical path deflection component 1021 to rotate horizontally via the support structure component 1024.

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

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

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

[0079] In other words, the optical path conversion module 102, located on the UAV relay platform 101, can use simple devices such as plane mirrors, diffuse mirrors, and directional reflective films to convert the optical path of direct sunlight, reducing the load on the UAV and improving its endurance, depending on the actual situation. Alternatively, the optical path conversion module 102 can also employ more complex devices such as solar trackers and integrating spheres to allow more sunlight to accurately enter the vehicle-mounted passive Fourier transform infrared spectrometer 203, thereby improving sunlight collection capabilities, optical path conversion accuracy, and the spectrometer's signal-to-noise ratio.

[0080] For example, as shown in Figure 3 (b)(1), a plane mirror can be used to realize the turning of the light path. By adjusting the azimuth angle and the elevation angle of the plane mirror through the first motor 1025 and the second motor 1026, the normal line of the plane mirror is made to coincide with the angle bisector of the angle between the sun-unmanned aerial vehicle-equipment vehicle, so as to realize the refraction of the direct sunlight to the direction of the equipment vehicle end 200 and the collection by the light source tracking module 202. This method has a simple structure, small light energy loss after reflection, is relatively light, and has a high signal-to-noise ratio. Based on the principle of diffuse reflection, a directional diffusion mirror (such as Figure 3 (b)(2)) or a diffuse mirror (such as Figure 3 (b)(3)) can be used to replace the plane mirror to realize the turning of the light path. This method has a low control accuracy requirement for the direction angle and the elevation angle of the light path turning component 1021, and even the adjustment of the elevation angle can be ignored, thereby further reducing the weight and improving the endurance time of the unmanned aerial vehicle, and being suitable for the case where the sunlight is strong and there is no shelter and the weight and endurance of the unmanned aerial vehicle are required. In addition, the light path turning component 1021 can also have a relatively complex structure to realize more efficient and accurate collection and turning of the sunlight, so as to improve the signal-to-noise ratio and detection accuracy of the Fourier transform spectrometer, such as the combination structure of the integrating sphere + mirror as shown in Figure 3 (b)(4). Since the light is uniformly emitted from the light outlet after multiple diffuse reflections in the integrating sphere, the requirement for the perpendicular incidence of the sunlight to the light inlet of the integrating sphere is not strict, and the accuracy of the sun tracking is effectively reduced. The sun tracking mechanism (such as Figure 3 (b)(5)) is used as the light path turning component 1021, the mirror 1 is adjusted to the appropriate angle, so that the direct sunlight is imaged on the central photodetector through the mirror 1 and the mirror 3. At this time, the mirror 1 is in the best position, and the angle of the mirror 4 is adjusted to ensure that the direct sunlight is accurately incident to the equipment vehicle end 200 after being turned by the mirror 1, the mirror 2 and the mirror 4.

[0081] According to the principle of Fourier transform infrared spectroscopy, the light source tracking module 202 that can rotate with the unmanned aerial vehicle relay platform 101 is designed, as shown in Figure 4 .

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

[0083] Specifically, as shown in Figure 4 , the second fixed table 2021 serves as a fixed support for the passive Fourier transform infrared spectrometer 203 and the light source tracking module 202. The sunlight emitted by the unmanned aerial vehicle end 100 is reflected by the first reflecting mirror unit 2022, part of which is reflected by the second reflecting unit 2023 to irradiate on the photodetector 2024, which is used to determine the current tracking effect of the light source tracking module 202. The third motor 2026 is driven by the control unit 2025 to correct the azimuth angle of the second rotating table 2027 and the pitch angle of the first reflecting mirror unit 2022 to obtain the best tracking effect. The other part is reflected by the third reflecting unit 2028 and the fourth reflecting unit 2029 to enter the passive Fourier transform infrared spectrometer 203 for analysis and detection.

[0084] Optionally, in some embodiments, as shown in Figure 5 , the unmanned aerial vehicle relay platform 101 further comprises: a first GPS module 103, a first wireless communication module 104, and a first driving module 105. The first GPS module 103 is used to obtain real-time position information of the unmanned aerial vehicle 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 angle and the pitch angle of the light path folding component 1021 at the preset position.

[0085] Specifically, as shown in Figure 5As shown, the UAV relay platform 101 integrates positioning, communication and driving functions. The UAV end 100 can locate its position through the first GPS module 103, and transmit 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 light path folding module 102, change the azimuth angle and the pitch angle of the light path folding component 1021, and ensure that the incident direct sunlight can be accurately collected by the equipment vehicle end 200 after folding. The UAV end 100 in the embodiment of the application does not need to set an image transmission module, and only needs to transmit position information, which has the characteristics of fast speed and low delay.

[0086] Among them, the optimal angles of the azimuth angle and the pitch angle of the light path folding component 1021 are calculated by the data processing module 204.

[0087] In some embodiments, the data processing module 204 is further configured to: calculate the optimal azimuth angle and the optimal pitch angle of the light path folding 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 UAV 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 light path folding component 1021 to rotate in the horizontal direction and the vertical direction.

[0088] That is, 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 UAV end 100. Through these data, the data processing module 204 can accurately calculate the optimal azimuth angle and the optimal pitch angle of the light path folding 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 angle and optimal pitch angle. These angle control signals will be sent to the first driving module 105 to drive the light path folding component 1021 to rotate accurately in the horizontal direction and the vertical direction. In this way, the light path folding component 1021 can accurately adjust its angle to ensure the correct folding of the light path, thereby improving the accuracy and efficiency of the measurement.

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

[0090] That is, the UAV relay platform 101 is also equipped with a flight control module 106, which is mainly used to accurately control and coordinate according to the flight trajectory of the UAV end 100 and the real-time position information of the equipment vehicle end 200. Through such intelligent cooperation, the UAV end 100 can accurately reach the predetermined position, thereby effectively performing the task of detecting gas in the target area.

[0091] Optionally, in some embodiments, as shown in Figure 5 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 equipment vehicle body 201 to move based on the moving path of the equipment vehicle end 200; the second GPS module 206 is used to obtain the real-time position information of the equipment vehicle end 200; and the second communication module 207 is used to send the flight trajectory of the UAV end 100 and the real-time position information of the equipment vehicle end 200 to the UAV end 100.

[0092] Specifically, as shown in Figure 5 The equipment vehicle end 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 light path folding module 102 carried by the UAV relay platform 101 to the light source tracking module 202 of the equipment vehicle section 200, and is again absorbed by the gas in the middle. 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 the gas in the target area through an 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 UAV end 100 and transmit the moving instructions to the flight control module 106 of the UAV section 100 through the second communication module 207. The flight control module 106 drives the UAV end 100 to move to the next measurement position, thereby completing the flight control of the UAV 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 UAV relay platform 101 based on the received real-time position information of the UAV end 100.

[0093] After completing the gas detection of the height and plane of the specified area, the equipment vehicle end 200 can plan the target trajectory path and other spatial positions required for detection through the second GPS module 206 after the data processing module 204 analyzes and processes the results of the gas detection and its own position. In this way, the intelligent collaborative detection of the UAV end 100 and the equipment vehicle end 200 is realized.

[0094] For the skilled in the art to further understand the high spatiotemporal adaptability gas spatial distribution remote measurement system provided by the embodiments of the present application, the following further describes the embodiments of the present application in conjunction with Figure 6 The embodiments of the present application are further described.

[0095] As Figure 6As shown, when the device vehicle body 201 travels to the measurement path starting position, the data processing module 204 can calculate the appropriate light path folding path according to the position of the to-be-measured gas, the position of the device vehicle end 200, and the current sun position, and send the optimal light path folding path and the position information of the device vehicle end 200 to the unmanned aerial vehicle end 100 through the second communication module 208. The unmanned aerial vehicle end 100 drives the unmanned aerial vehicle body to fly to the optimal position through the first GPS module 103 and the flight control module 106 of the unmanned aerial vehicle end 100. After the direct sunlight is absorbed by the atmosphere and the to-be-measured gas, it can be incident to the light path folding module 102 carried by the unmanned aerial vehicle relay platform 101. The first motor 1025 and the second motor 1026 control the light path folding component 1021 to rotate in the horizontal and vertical directions, to ensure that the direct sunlight accurately enters the device vehicle end 200 after folding. The unmanned aerial vehicle end 100 plans the flight path and returns the position signal to the device vehicle end 200 in real time. The device vehicle end 200 can use the third motor 2026 to control the light source tracking module 202 to follow the unmanned aerial vehicle relay platform 101 to rotate, so as to accurately receive the sunlight folded by the unmanned aerial vehicle relay platform 101, and to be incident to the passive Fourier transform spectrometer 203, so as to realize the gas detection of the target area. The unmanned aerial vehicle end 100 can flexibly fly in a certain space area, and forms a stereoscopic measurement with the device vehicle end 200 at different observation angles. The lateral movement of the unmanned aerial vehicle end 100 at the same flight height is used to realize the gas concentration measurement in the plane dimension, and the longitudinal movement of the unmanned aerial vehicle end 100 at different flight heights is used to realize the gas concentration measurement in the vertical dimension. The unmanned aerial vehicle end 100 and the device vehicle end 200 communicate in real time through the 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 device vehicle end 200 can plan the flight area and path of the unmanned aerial vehicle end 100 based on the positions of the sun, the to-be-measured gas, and the device vehicle end 200, and send them to the unmanned aerial vehicle end 100. The unmanned aerial vehicle end 100 flies to the starting position of the detection area, adjusts the light path folding module 102 according to the position of the device vehicle end 200 and the position of the device vehicle end 200, and waits for the device vehicle end 200 to complete the gas detection. After the device vehicle end 200 receives the light signal folded by the unmanned aerial vehicle end 100 and detected by the passive Fourier transform infrared spectrometer 203, it sends a moving instruction to the unmanned aerial vehicle end 100. After receiving the moving instruction, the unmanned aerial vehicle end 100 moves to the next measurement position according to the flight path planned by the data processing module 204, adjusts the light path folding module 102 again, and repeats the above steps until the unmanned aerial vehicle end 100 completes the gas detection of all to-be-measured positions in the flight area. At this time, the device vehicle end 200 moves to the next measurement position to perform a new round of measurement. In this way, through the cooperative work of the unmanned aerial vehicle end 100 and the device vehicle end 200, multi-angle and omnidirectional stereoscopic monitoring of the target area can be realized.

[0096] It should be noted that the light path folding module 102 and the passive Fourier transform infrared spectrometer 203 can be carried on a vehicle, a ship, a hot air balloon, etc., including but not limited to, to realize ground-to-air, sea-to-air, air-to-air, etc. Various collaborative working modes facilitate the detection of atmospheric composition, trace gas content, etc. of corresponding celestial bodies; the infrared light can be extended 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 a grating spectrometer; the unmanned aerial vehicle can be replaced by an airship, a manned aircraft, etc.; the application scenarios are not limited to the earth, and can also be realized on Mars, Venus, and even exoplanets, etc. Planets can use aircraft on these planets as relays to form a spatial distribution remote sensing of planetary atmospheres by cooperating with the infrared occultation / transit flux method.

[0097] The high temporal and spatial adaptability gas spatial distribution remote sensing system according to the embodiments of the present application folds the direct sunlight through the light path folding module; sends the folded direct sunlight to the passive Fourier transform infrared spectrometer through the light source tracking module; receives the folded direct sunlight and performs detection and analysis through the passive Fourier transform infrared spectrometer to obtain spectral data; and obtains the gas species and corresponding concentration information in the target area based on the preset inversion algorithm according to the spectral data through the data processing module. Thus, the problem that the traditional method requires that the "sun-target gas-FTIR spectrometer" strictly comply with the three-point-one-line is solved, and the measurement of the target gas can not be limited by the position and elevation angle of the sun, and has wider environmental adaptability.

[0098] Secondly, the high temporal and spatial adaptability gas spatial distribution remote sensing method according to the embodiments of the present application is described with reference to the accompanying drawings.

[0099] Figure 7 is a flowchart of the high temporal and spatial adaptability gas spatial distribution remote sensing method of an embodiment of the present application.

[0100] As shown in Figure 7 , the high temporal and spatial adaptability gas spatial distribution remote sensing method adopts Figure 1 the high temporal and spatial adaptability gas spatial distribution remote sensing system of the embodiments, and the method comprises the following steps:

[0101] In step S701, the data processing module is used to calculate the best azimuth angle and the best pitch angle of the light path folding module according to the position of the sun, the position of the target gas, the position of the device vehicle end, and the position of the unmanned aerial vehicle end, and generate an angle control signal based on the best azimuth angle and the best pitch angle. The second communication module is used to send the angle control signal and the real-time position information of the device vehicle end to the unmanned aerial vehicle end.

[0102] In step S702, the sunlight is received by the light path folding module, and based on the angle control signal, the first motor and the second motor are controlled by the first driving module to adjust the light path folding component to rotate in the preset position in the horizontal direction and the vertical direction, so as to fold the light path of the sunlight.

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

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

[0105] It should be noted that the foregoing description of the high-time-space adaptability gas spatial distribution remote sensing system embodiment also applies to the high-time-space adaptability gas spatial distribution remote sensing method of the embodiment, which will not be described here.

[0106] According to the high-time-space adaptability gas spatial distribution remote sensing method and system provided in the embodiments of the present application, the problem that the traditional method requires that the "sun-target gas-FTIR spectrometer" strictly comply with the three-point-one-line is solved, and the measurement of the target gas can not be limited by the position and height angle of the sun, and has wider environmental adaptability.

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

[0108] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 the description of the present application, the illustrative description of the above terms is not necessarily for the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the skilled in the art can combine and combine the different embodiments or examples described in the present application 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 is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and that those skilled in the art can make changes, modifications, substitutions and variations to the above-described embodiments within the scope of the present application.

Claims

1. A high spatiotemporal adaptive gas spatial distribution telemetry system, characterized in that, The light source of the system adopts direct sunlight, and the system comprises: a UAV end and a device vehicle end, wherein, The UAV end comprises a UAV relay platform composed of a UAV body, and the UAV relay platform comprises a light path folding module, which is used for light path folding of the direct sunlight to obtain folded direct sunlight; The device vehicle end comprises a device vehicle body, and the device vehicle body comprises a light source tracking module, a passive Fourier transform infrared spectrometer, and a data processing module, wherein the light source tracking module is used for following the rotation of the UAV relay platform and sending the folded direct sunlight to the passive Fourier transform infrared spectrometer; The passive Fourier transform infrared spectrometer is used for receiving the folded direct sunlight and performing detection and analysis to obtain spectral data; The data processing module is used for obtaining gas types and corresponding concentration information in a target area based on a preset inversion algorithm according to the spectral data; The light path folding module comprises a light path folding component, a first fixed table, a first rotating table, a support structure component, a first motor, and a second motor, wherein the light path folding component is used for refracting the direct sunlight to obtain the folded direct sunlight, the first fixed table is used for fixing the UAV relay platform, the support structure component is arranged on the first fixed table and is used for fixing the light path folding component, the first motor is used for controlling the light path folding component to rotate in a vertical direction within a first preset angle range, and the second motor is used for controlling the first rotating table to rotate in a horizontal direction within a second preset angle range to drive the light path folding component to rotate in the horizontal direction through the support structure component; The system combines Fourier transform infrared spectroscopy technology, infrared occultation flux method, and the UAV relay platform, and works in a cooperative manner of the UAV end and the device vehicle end carrying the passive Fourier transform infrared spectrometer, so that the direct sunlight at any time can pass through a suitable folding path and then pass through a gas to be detected to be incident on the passive Fourier transform infrared spectrometer for detection and analysis.

2. The system of claim 1, wherein, The data processing module is further used for: Planning a flight trajectory of the UAV end and a movement path of the device vehicle end based on a preset sea-land-air cooperative operation algorithm.

3. The system of claim 2, wherein, The light source tracking module comprises a second fixed table, a first reflecting unit, a second reflecting unit, a photodetector, a control unit, a third motor, a second rotating table, a third reflecting unit, and a fourth reflecting unit, wherein, The second fixed table is used for fixing the passive Fourier transform infrared spectrometer; The first reflecting unit is used for reflecting the folded direct sunlight to obtain first reflected light and second reflected light; The second reflecting unit is used for reflecting the first reflected light onto the photodetector to judge a current tracking effect of the light source tracking module; The control unit is configured to control the third motor to adjust the azimuth angle of the second rotating table and the elevation 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 configured to reflect the second reflected light to the passive Fourier transform infrared spectrometer for detection and analysis.

4. The system of claim 3, wherein, The unmanned aerial vehicle relay platform further comprises: A first GPS module configured to acquire real-time position information of the unmanned aerial vehicle end; A first wireless communication module configured to send the real-time position information to the equipment vehicle end; A first driving module configured to control the first motor and the second motor to adjust the azimuth angle and the elevation angle of the light path folding component at a preset position.

5. The system of claim 4, wherein, The data processing module is further configured to: calculate optimal azimuth angle and optimal elevation angle of the light path folding 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 generate an angle control signal based on the optimal azimuth angle and the optimal elevation angle, and send the angle control signal to the first driving module to control the light path folding component to rotate in the horizontal direction and the vertical direction.

6. The system of claim 5, wherein, The equipment vehicle body further comprises: A second driving module configured to control the equipment vehicle body to move based on the movement path of the equipment vehicle end; A second GPS module configured to acquire real-time position information of the equipment vehicle end; A second communication module configured to send the flight trajectory of the unmanned aerial vehicle end and the real-time position information of the equipment vehicle end to the unmanned aerial vehicle end.

7. The system of claim 6, wherein, The unmanned aerial vehicle relay platform further comprises: A flight control module configured to control the unmanned aerial vehicle end to reach the preset position based on the flight trajectory of the unmanned aerial vehicle end and the real-time position information of the equipment vehicle end, so as to perform gas detection in the target area.

8. The system of claim 7, wherein, The light path folding module is at least one of a plane mirror, a diffuse mirror, and a directional reflection film.

9. A high spatio-temporal adaptive gas spatial distribution telemetry method, using the high spatio-temporal adaptive gas spatial distribution telemetry system according to any one of claims 1-8, characterized in that, The method comprises the following steps: using the data processing module to calculate optimal azimuth angle and optimal elevation angle of the light path folding 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 generate an angle control signal based on the optimal azimuth angle and the optimal elevation angle, and using a second communication module to send the angle control signal and the real-time position information of the equipment vehicle end to the unmanned aerial vehicle end; using the light path folding module to receive the direct sunlight, and using a first driving module to control a first motor and a second motor to adjust the light path folding component to rotate in the horizontal direction and the vertical direction at a preset position based on the angle control signal, so as to fold the light path of the direct sunlight; The third motor is used for controlling the light source tracking module to follow the rotation of the unmanned aerial vehicle relay platform, and the folded direct sunlight is sent to the passive Fourier transform infrared spectrometer, and the passive Fourier transform infrared spectrometer is used for detecting and analyzing the folded direct sunlight, so as to obtain spectrum data. The data processing module is used for obtaining the gas type and corresponding concentration information in the target area according to the spectrum data based on the preset inversion algorithm.

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