CN110488341A - A kind of integrated laser surveys high unmanned plane spectral measurement system - Google Patents
A kind of integrated laser surveys high unmanned plane spectral measurement system Download PDFInfo
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- CN110488341A CN110488341A CN201910843206.3A CN201910843206A CN110488341A CN 110488341 A CN110488341 A CN 110488341A CN 201910843206 A CN201910843206 A CN 201910843206A CN 110488341 A CN110488341 A CN 110488341A
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- 238000005259 measurement Methods 0.000 title claims abstract description 21
- 230000003595 spectral effect Effects 0.000 title claims abstract description 18
- 238000012544 monitoring process Methods 0.000 claims abstract description 34
- 230000007613 environmental effect Effects 0.000 claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000003384 imaging method Methods 0.000 claims abstract description 12
- 230000005855 radiation Effects 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 8
- 239000013078 crystal Substances 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims 1
- 238000004611 spectroscopical analysis Methods 0.000 abstract description 12
- 238000012937 correction Methods 0.000 abstract description 4
- 230000001360 synchronised effect Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000443 aerosol Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01T—MEASUREMENT OF NUCLEAR OR X-RADIATION
- G01T1/00—Measuring X-radiation, gamma radiation, corpuscular radiation, or cosmic radiation
- G01T1/36—Measuring spectral distribution of X-rays or of nuclear radiation spectrometry
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Spectroscopy & Molecular Physics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- High Energy & Nuclear Physics (AREA)
- Molecular Biology (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
High unmanned plane spectral measurement system, including drone body are surveyed the invention discloses a kind of integrated laser, and the Radiometric Exploration and environmental monitoring system and laser-measured height system that are mounted on unmanned plane；Radiometric Exploration and environmental monitoring system include radiation detection imaging system, environmental monitoring system, on-board controller, memory module, data transmission module, ground monitoring terminal and server.Integrated laser height-finding system of the present invention can accurately get the synchronous altitude data of energy disperse spectroscopy data, and be real-time altitude information of the energy disperse spectroscopy to ground, can be brought directly to spectral measurement correction model, improve the precision of energy disperse spectroscopy measurement.Meanwhile having high-precision landform follow-up capability, transport convenience, big operating radius and unmanned characteristic, it can play a significant role in remote and hard and dangerous regional large area census operations, there are the advantages such as efficient, at low cost and broad covered area.
Description
Technical field
The present invention relates to aerial survey technical fields, more specifically, are related to a kind of integrated laser and survey high unmanned function
Spectral measurement system.
Background technique
Current existing unmanned plane spectral measurement system is all based on the included winged control of aircraft and inertial navigation system is winged to obtain
Capable height, and this height-precision receives the precision of GPS signal dependent on winged control in itself, thus can not accomplish that near-earth flies
Row；And this system integrated laser height-finding system, the synchronous altitude data of energy disperse spectroscopy data can be accurately acquired, it can be timely
The terrain clearance for adjusting unmanned plane during flying achievees the purpose that near-earth flies, and is real-time high degree of the energy disperse spectroscopy to ground
According to can be brought directly to spectral measurement correction model, improve the precision of energy disperse spectroscopy measurement.
Summary of the invention
High unmanned plane power spectrum survey is surveyed it is an object of the invention to overcome the deficiencies of the prior art and provide a kind of integrated laser
Amount system, integrated laser height-finding system can accurately acquire the synchronous altitude data of energy disperse spectroscopy data, and be energy disperse spectroscopy
To the real-time altitude information on ground, it can be brought directly to spectral measurement correction model, improve the precision of energy disperse spectroscopy measurement.Meanwhile
Have high-precision landform follow-up capability, transport convenience, big operating radius and unmanned characteristic, it can be remote and hard and dangerously
It plays a significant role in area's large area census operations, there are the advantages such as efficient, at low cost and broad covered area.
The purpose of the present invention is achieved through the following technical solutions:
A kind of integrated laser surveys high unmanned plane spectral measurement system, including drone body, and is mounted in unmanned plane
On Radiometric Exploration and environmental monitoring system and laser-measured height system；The Radiometric Exploration and environmental monitoring system include spoke
Penetrate detection imaging system, environmental monitoring system, on-board controller, memory module, data transmission module, ground monitoring terminal kimonos
Business device；The data input/output terminal of the radiation detection imaging system and the first data input/output terminal of on-board controller connect
It connects, the data input/output terminal of the environmental monitoring system and the second data input/output terminal of on-board controller connect, described
The third data input/output terminal of the input/output terminal of memory module and on-board controller connects, and the of the data transmission module
Second input of the connection of the 4th data input/output terminal of one input/output terminal and on-board controller, the data transmission module is defeated
Outlet is connect with the first input/output terminal of ground monitoring terminal, the second input/output terminal of the ground monitoring terminal and service
The input/output terminal of device connects；The laser-measured height system includes laser ranging unit, GPS receiver, flying telescope and light
Electric multiplier tube；The input/output terminal of the GPS receiver and the 5th data input/output terminal of on-board controller connect, described to swash
The input terminal of ligh-ranging unit and the control output end of on-board controller connect, and the laser transmitting of the laser ranging unit swashs
Light short pulse is received through earth's surface, atmosphere and the reflected photon of cloud layer by flying telescope, the flying telescope and photoelectricity
Multiplier tube connection, the photomultiplier tube connection are connect with on-board controller.
Further, including Beidou positioning module, the Beidou positioning module are connect with on-board controller.
Further, including display module, the display module are connect with on-board controller.
Further, the environmental monitoring system includes one of barometertic altimeter, radar altimeter and Hygrothermograph
Or it is a variety of.
Further, the radiation detection imaging system includes crystal counter and three-dimensional image forming apparatus, and the crystal is visited
The data input pin of the data output end and on-board controller of surveying device connects, the data output end and machine of the three-dimensional image forming apparatus
The data input pin of set controller connects.
Further, including wireless communication module, the wireless communication module are connect with on-board controller.
The beneficial effects of the present invention are:
(1) present system integrated laser height-finding system can accurately acquire the synchronous high number of passes of energy disperse spectroscopy data
According to, and be real-time altitude information of the energy disperse spectroscopy to ground, it can be brought directly to spectral measurement correction model, energy disperse spectroscopy is improved and survey
The precision of amount.Meanwhile having high-precision landform follow-up capability, transport convenience, big operating radius and unmanned characteristic, it can be with
It plays a significant role in remote and hard and dangerous regional large area census operations, there are the advantages such as efficient, at low cost and broad covered area.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is structural block diagram of the invention.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing, but protection scope of the present invention is not limited to
It is as described below.All features disclosed in this specification, or implicit disclosed all methods or in the process the step of, in addition to mutual
Other than the feature and/or step of repulsion, it can combine in any way.
Any feature disclosed in this specification (including any accessory claim, abstract and attached drawing), except non-specifically chatting
It states, can be replaced by other alternative features that are equivalent or have similar purpose.That is, unless specifically stated, each feature is only
It is an example in a series of equivalent or similar characteristics.
Specific embodiments of the present invention are described more fully below, it should be noted that the embodiments described herein is served only for illustrating
Illustrate, is not intended to restrict the invention.In the following description, in order to provide a thorough understanding of the present invention, a large amount of spies are elaborated
Determine details.It will be apparent, however, to one skilled in the art that: this hair need not be carried out using these specific details
It is bright.In other instances, in order to avoid obscuring the present invention, well known circuit, software or method are not specifically described.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
Before embodiment is described, need to explain some necessary terms.Such as:
If occurring describing various elements using the terms such as " first ", " second " in the application, but these elements are not answered
It is limited when by these terms.These terms are only used to distinguish an element and another element.Therefore, discussed below
" first " element can also be referred to as " second " element without departing from the teachings of the present invention.It should be understood that if referring to unitary
Part " connection " perhaps " coupled " to another element when it can be directly connected or be directly coupled to another element or can also
With there are intermediary elements.On the contrary, when referring to an element being " directly connected " or " directly coupled " to another element, then not
There are intermediary elements.
The various terms occurred in this application are used only for the purpose of description specific embodiment and are not intended as pair
Restriction of the invention, unless the context clearly indicates otherwise, otherwise singular intention also includes plural form.
When the terms " comprising " and/or " comprising " are used in this specification, these terms specify the feature, whole
The presence of body, step, operations, elements, and/or components, but be also not excluded for more than one other feature, entirety, step, operation,
The presence of component, assembly unit and/or its group and/or additional.
As shown in Figure 1, a kind of integrated laser surveys high unmanned plane spectral measurement system, including drone body, and take
The Radiometric Exploration and environmental monitoring system and laser-measured height system being loaded on unmanned plane；The Radiometric Exploration and environmental monitoring
System includes radiation detection imaging system, environmental monitoring system, on-board controller, memory module, data transmission module, ground prison
Survey terminal and server；The data input/output terminal of the radiation detection imaging system and the first data of on-board controller input
Output end connection, the data input/output terminal of the environmental monitoring system and the second data input/output terminal of on-board controller connect
It connects, the input/output terminal of the memory module and the third data input/output terminal of on-board controller connect, the data transmission
4th data input/output terminal of the first input/output terminal of module and on-board controller connects, and the of the data transmission module
Two input/output terminals are connect with the first input/output terminal of ground monitoring terminal, the second input and output of the ground monitoring terminal
End is connect with the input/output terminal of server；The laser-measured height system includes laser ranging unit, GPS receiver, airborne prestige
Remote mirror and photomultiplier tube；The input/output terminal of the GPS receiver and the 5th data input/output terminal of on-board controller connect
It connects, the input terminal of the laser ranging unit and the control output end of on-board controller connect, and the laser ranging unit swashs
Light device emits fast laser pulse, is received through earth's surface, atmosphere and the reflected photon of cloud layer by flying telescope, the airborne prestige
Remote mirror is connect with photomultiplier tube, and the photomultiplier tube connection is connect with on-board controller.
Further, including Beidou positioning module, the Beidou positioning module are connect with on-board controller.
Further, including display module, the display module are connect with on-board controller.
Further, the environmental monitoring system includes one of barometertic altimeter, radar altimeter and Hygrothermograph
Or it is a variety of.
Further, the radiation detection imaging system includes crystal counter and three-dimensional image forming apparatus, and the crystal is visited
The data input pin of the data output end and on-board controller of surveying device connects, the data output end and machine of the three-dimensional image forming apparatus
The data input pin of set controller connects.
Further, including wireless communication module, the wireless communication module are connect with on-board controller.
Embodiment one
As shown in Figure 1, a kind of integrated laser surveys high unmanned plane spectral measurement system, including drone body, and take
The Radiometric Exploration and environmental monitoring system and laser-measured height system being loaded on unmanned plane；Radiometric Exploration and environmental monitoring system
It is whole including radiation detection imaging system, environmental monitoring system, on-board controller, memory module, data transmission module, ground monitoring
End and server；The data input/output terminal of radiation detection imaging system and the first data input/output terminal of on-board controller connect
It connects, the data input/output terminal of environmental monitoring system and the second data input/output terminal of on-board controller connect, memory module
Input/output terminal and on-board controller third data input/output terminal connect, the first input/output terminal of data transmission module
It is connect with the 4th data input/output terminal of on-board controller, the second input/output terminal and ground monitoring of data transmission module are whole
The first input/output terminal connection at end, the second input/output terminal of ground monitoring terminal and the input/output terminal of server connect；
Laser-measured height system includes laser ranging unit, GPS receiver, flying telescope and photomultiplier tube；The input of GPS receiver
The connection of 5th data input/output terminal of output end and on-board controller, the input terminal of laser ranging unit and on-board controller
Control output end connection, the laser of laser ranging unit emits fast laser pulse, reflected through earth's surface, atmosphere and cloud layer
Photon is received by flying telescope, and flying telescope is connect with photomultiplier tube, and photomultiplier tube connection connects with on-board controller
It connects.In the present embodiment, laser burst pulse is first sent, by the return pulse behind ground or atmospheric molecule scattering, by Laser Measuring
High system receiving telescope send to photomultiplier tube and receives, then the processing such as time delay on ground in face of returning to pulse, obtains ice face/ground
The parameter values such as face elevation, ice sheet topology, land topology, vegetation distribution and cloud/aerosol, have packing density height, data precision
The advantages that high.
Remaining technical characteristic in the present embodiment, those skilled in the art can flexibly be selected according to the actual situation
With with to meet different specific actual demands.It will be apparent, however, to one skilled in the art that: it need not use
These specific details realize the present invention.In other instances, in order to avoid obscuring the present invention, well known calculation is not specifically described
Method, method or system etc. limit within technical protection scope in the claimed technical solution of claims of the present invention.
For the aforementioned method embodiment, for simple description, therefore, it is stated as a series of action combinations, still
Those skilled in the art should understand that the application is not limited by the described action sequence, because according to the application, it is a certain
A little steps can be performed in other orders or simultaneously.Secondly, those skilled in the art should also know that, it is retouched in specification
The embodiment stated belongs to preferred embodiment, necessary to related movement and unit not necessarily the application.
It will be appreciated by those of skill in the art that unit described in conjunction with the examples disclosed in the embodiments of the present disclosure and
Algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually with hard
Part or software mode execute, the specific application and design constraint depending on technical solution.Professional technician can be with
Each specific application is come to realize described function using distinct methods, but this realization should not exceed model of the invention
It encloses.
Disclosed system, module and method, may be implemented in other ways.For example, device described above
Embodiment, only schematically, for example, the division of the unit, can be only a kind of logical function partition, it is practical to realize
When there may be another division manner, such as multiple units or components can be combined or can be integrated into another system, or
Some features can be ignored or not executed.Another point, shown or discussed mutual coupling or direct-coupling or communication
Connection is it may be said that through some interfaces, the indirect coupling or communication connection of device or unit can be electrical property, mechanical or other
Form.
The unit that the discrete parts illustrates may or may not be physically separated, shown as a unit
Component may or may not be physical unit, it can and it is in one place, or may be distributed over multiple network lists
In member.It can select some or all of unit therein according to the actual needs to realize the purpose of the scheme of the present embodiment.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially right in other words
The part of part or the technical solution that the prior art contributes can be embodied in the form of software products, the calculating
Machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be individual
Computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.And
Storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory
The various media that can store program code such as device (Random Access Memory, RAM), magnetic or disk.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in the method for above-described embodiment, being can
It is completed with instructing relevant hardware by computer program, the program can be stored in computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the storage medium can be magnetic
Dish, CD, ROM, RAM etc..
The above is only a preferred embodiment of the present invention, it should be understood that the present invention is not limited to described herein
Form should not be regarded as an exclusion of other examples, and can be used for other combinations, modifications, and environments, and can be at this
In the text contemplated scope, modifications can be made through the above teachings or related fields of technology or knowledge.And those skilled in the art institute into
Capable modifications and changes do not depart from the spirit and scope of the present invention, then all should be in the protection scope of appended claims of the present invention
It is interior.
Claims (6)
1. a kind of integrated laser surveys high unmanned plane spectral measurement system, which is characterized in that including drone body, and carry
Radiometric Exploration and environmental monitoring system and laser-measured height system on unmanned plane；The Radiometric Exploration and environmental monitoring system
System includes radiation detection imaging system, environmental monitoring system, on-board controller, memory module, data transmission module, ground monitoring
Terminal and server；The first data input of the data input/output terminal and on-board controller of the radiation detection imaging system is defeated
Outlet connection, the data input/output terminal of the environmental monitoring system and the second data input/output terminal of on-board controller connect
It connects, the input/output terminal of the memory module and the third data input/output terminal of on-board controller connect, the data transmission
4th data input/output terminal of the first input/output terminal of module and on-board controller connects, and the of the data transmission module
Two input/output terminals are connect with the first input/output terminal of ground monitoring terminal, the second input and output of the ground monitoring terminal
End is connect with the input/output terminal of server；The laser-measured height system includes laser ranging unit, GPS receiver, airborne prestige
Remote mirror and photomultiplier tube；The input/output terminal of the GPS receiver and the 5th data input/output terminal of on-board controller connect
It connects, the input terminal of the laser ranging unit and the control output end of on-board controller connect, and the laser ranging unit swashs
Light device emits fast laser pulse, is received through earth's surface, atmosphere and the reflected photon of cloud layer by flying telescope, the airborne prestige
Remote mirror is connect with photomultiplier tube, and the photomultiplier tube connection is connect with on-board controller.
2. a kind of integrated laser according to claim 1 surveys high unmanned plane spectral measurement system, which is characterized in that including
Beidou positioning module, the Beidou positioning module are connect with on-board controller.
3. a kind of integrated laser according to claim 1 surveys high unmanned plane spectral measurement system, which is characterized in that including
Display module, the display module are connect with on-board controller.
4. a kind of any integrated laser surveys high unmanned plane spectral measurement system according to claim 1~3, feature exists
In the environmental monitoring system includes one of barometertic altimeter, radar altimeter and Hygrothermograph or a variety of.
5. a kind of integrated laser surveys high unmanned plane spectral measurement system according to claim 4, which is characterized in that the spoke
Penetrating detection imaging system includes crystal counter and three-dimensional image forming apparatus, the data output end of the crystal counter and airborne control
The data input pin of device processed connects, and the data output end of the three-dimensional image forming apparatus and the data input pin of on-board controller connect
It connects.
6. a kind of integrated laser surveys high unmanned plane spectral measurement system according to claim 1, which is characterized in that including nothing
Line communication module, the wireless communication module are connect with on-board controller.
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| CN201910843206.3A CN110488341A (en) | 2019-09-06 | 2019-09-06 | A kind of integrated laser surveys high unmanned plane spectral measurement system |
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| CN201910843206.3A CN110488341A (en) | 2019-09-06 | 2019-09-06 | A kind of integrated laser surveys high unmanned plane spectral measurement system |
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Citations (4)
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|---|---|---|---|---|
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2019
- 2019-09-06 CN CN201910843206.3A patent/CN110488341A/en active Pending
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| US20180284302A1 (en) * | 2015-12-24 | 2018-10-04 | Nuctech Company Limited | Aerial cdznte inspection system and inspection method |
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| CN105929439A (en) * | 2016-04-19 | 2016-09-07 | 成都新核泰科科技有限公司 | Aerial gamma spectrometry survey system based on UAV |
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