用微型无人机群实时定位多个伽马射线源
Autonomous localization of multiple ionizing radiation sources using miniature single-layer Compton cameras onboard a group of micro aerial vehicles
- 多架微型无人机搭载轻量级康普顿相机，分布式采集辐射数据
- 单次粒子即可反推辐射方向，实现毫秒级实时定位
- 适合应急搜救、核设施巡检等高移动性场景
本文提出一种基于微型飞行器（MAVs）群体的自主多源伽马辐射定位方法。采用仅重44克的MiniPIX TPX3康普顿相机，可部署于小型、灵活的无人飞行器上。该辐射地图构建方法融合多个分布式康普顿相机传感器的测量数据，实现实时精确估计多个放射性源的位置。与依赖辐射场梯度或等值线的传统强度型探测器不同，康普顿相机仅需单个电离粒子即可重建可能的辐射来源方向，无需长时间累积数据。该即时估计能力充分释放了高度机动无人机的潜力。方法结合主动搜索策略，协调无人机未来行动以优化源位置估计质量并加快探索速度。方案在模拟和真实世界实验中对多个铯-137源进行了验证。
原文摘要 · Abstract (English)
A novel method for autonomous localization of multiple sources of gamma radiation using a group of Micro Aerial Vehicles (MAVs) is presented in this paper. The method utilizes an extremely lightweight (44 g) Compton camera MiniPIX TPX3. The compact size of the detector allows for deployment onboard safe and agile small-scale Unmanned Aerial Vehicles (UAVs). The proposed radiation mapping approach fuses measurements from multiple distributed Compton camera sensors to accurately estimate the positions of multiple radioactive sources in real time. Unlike commonly used intensity-based detectors, the Compton camera reconstructs the set of possible directions towards a radiation source from just a single ionizing particle. Therefore, the proposed approach can localize radiation sources without having to estimate the gradient of a radiation field or contour lines, which require longer measurements. The instant estimation is able to fully exploit the potential of highly mobile MAVs. The radiation mapping method is combined with an active search strategy, which coordinates the future actions of the MAVs in order to improve the quality of the estimate of the sources' positions, as well as to explore the area of interest faster. The proposed solution is evaluated in simulation and real world experiments with multiple Cesium-137 radiation sources.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。