Development of 3D gas source localization using multi-copter with gas sensor array
Development of 3D gas source localization using multi-copter with gas sensor array
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DOI：
10.1109/isoen.2019.8823396
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发表时间：
2019-05
期刊：
影响因子：
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通讯作者：
Y. Takei;Yukitaka Kanazawa;K. Hirasawa;H. Nanto
中科院分区：
文献类型：
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作者：
Y. Takei;Yukitaka Kanazawa;K. Hirasawa;H. Nanto
在本文中，我们展示了使用带有半导体型气体传感器阵列的四旋翼无人机进行三维气源定位的实验研究。配备气体传感器的空中机器人可用于大范围检测危险化学品。我们一直在开发使用多旋翼飞行器的 3D 气体无人机，气体传感器直接安装在每个转子下方，转子产生的气流可用于将无人机周围的气体输送到气体传感器。评估气体羽流在三维空间中的水平和垂直运动期间的气体传感器阵列输出，以估计气体源的方向和气体浓度梯度。实现零相位滞后的非因果滤波可应用于安装在无人机前部每个旋翼下方的两个气体传感器获得的加减传感器输出。结果表明，组合的气体传感器输出可以给出估计气源方向对应的气体浓度梯度的信息。
In this paper, we show experimental studies for three-dimensional gas source localization using a quad-rotor drone with a semiconductor-type gas sensor array. The aerial robots equipped with the gas sensors can be used to detect hazardous chemicals over wide areas. We have been developing the 3D gas drone using a multi-copter, which has the gas sensors mounted directly under each rotor, and the airflow generated by the rotor can be utilized to deliver gases around the drone to the gas sensors. The gas sensor array outputs during both horizontal and vertical movements in the gas plume spread in three-dimensional space was evaluated to estimate the direction of the gas source and gas concentration gradient. The non-causal filtering to realize zero phase lag can be applied to the added and subtracted sensor outputs obtained by two gas sensors mounted under each rotor in the front of the drone. The results show that the combined gas sensor outputs can give the information to estimate the gas concentration gradient corresponding to the gas source direction.