CN112987736A - Ship emission remote measuring system and method based on intelligent unmanned shipborne unmanned aerial vehicle - Google Patents
Ship emission remote measuring system and method based on intelligent unmanned shipborne unmanned aerial vehicle Download PDFInfo
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Abstract
A ship emission remote measurement system based on intelligent unmanned shipborne unmanned aerial vehicle comprises: the unmanned ship automatic driving subsystem, the unmanned aerial vehicle control subsystem, the central data processing subsystem, the full-process monitoring and fault diagnosis subsystem and the unmanned aerial vehicle measuring system with the function of measuring pollutants discharged by ships integrally solve the defects of data distortion and untimely detection of a ship landing static detection technology; based on the intelligent unmanned ship carrier, the detection tasks of various water area environments can be realized, the selection of a target sea area and a target ship can be independently realized, the emission condition of the target ship can be independently evaluated, the workload of relevant departments of a maritime department is greatly reduced, and the true, objective and reliable detection data can be kept.
Description
Technical Field
The invention relates to the technology in the field of air monitoring, in particular to a ship emission remote measuring system based on an intelligent unmanned shipborne unmanned aerial vehicle.
Background
An Unmanned Aerial Vehicle (UAV) is an unmanned aerial vehicle which uses radio remote control or flies under the control of a program, has unique advantages in the aspects of aerial photography, monitoring and other work, has very good working durability, maneuverability and environmental adaptability, has an infrared night scene shooting mode, and ensures all-weather real-time detection tasks. But is limited by short boards such as power sources and signal transmission distances, and emission monitoring of large ships is difficult to carry out by means of the unmanned aerial vehicle which is difficult to go deep into the edge of a control area. With the development of artificial intelligence technology, the concept of unmanned vehicles is in depth, and intelligent unmanned ships are also proposed. The intelligent unmanned ship can realize full-process intellectualization such as autonomous cruising, autonomous detection target selection, autonomous emission result judgment, autonomous decision whether to declare relevant departments and the like. Therefore, the intelligent unmanned ship and the unmanned aerial vehicle detection technology have the possibility of advantage complementation and function coupling in the aspect of ship emission pollutant detection, can detect the ship emission condition entering a control area in time, and obviously reduce pollutant emission.
Disclosure of Invention
The invention provides a ship emission remote measuring system based on an intelligent unmanned shipborne unmanned aerial vehicle, aiming at the problems that the existing ship pollutant emission is serious, but the detection is difficult in the navigation process, the detection result is influenced by people, the detection environment is bad and the like.
The invention is realized by the following technical scheme:
the invention relates to a ship emission remote measuring system based on an intelligent unmanned shipborne unmanned aerial vehicle, which comprises: unmanned ship autopilot subsystem, unmanned aerial vehicle control subsystem, central data processing subsystem, full flow control and failure diagnosis subsystem and have the unmanned aerial vehicle measurement system who measures boats and ships and discharge pollutant function, wherein: the unmanned ship automatic driving subsystem detects the accurate positioning of a task subject and object and the planning of a tracking air line according to the air line information of a target ship, the unmanned ship control subsystem starts the automatic driving system to be close to the target ship and keeps tracking according to the positioning information of the unmanned ship and the information of the tracking target ship, meanwhile, the flight path is optimized by using the measurement result of the measurement system, the central data processing subsystem receives information receiving, analyzing and feedback processing between the maritime affairs bureau and the intelligent unmanned ship and between the maritime affairs bureau and the unmanned ship, the central data processing subsystem receives information receiving, analyzing and feedback processing work, the full-process monitoring and fault diagnosis subsystem carries out artificial intelligent fault monitoring and diagnosis algorithm processing and outputs real-time running data of the power system according to running state information of the power system of the intelligent unmanned ship, normal work of the unmanned ship is guaranteed.
The autopilot subsystem includes: navigation module, air route planner module and navigation controller module, wherein: the navigation module keeps real-time contact with a communication satellite through a satellite positioning device, determines approximate longitude and latitude position information of the intelligent unmanned ship, the unmanned plane and the target ship, and accurately keeps the relative position with the target ship by means of a radar and a camera on the circumference after the intelligent unmanned ship approaches the target ship; the route planner module determines a target ship based on a multi-objective optimization algorithm and determines a navigation route based on a path planning algorithm; the navigation controller module ensures that the intelligent unmanned ship can safely, reliably, timely and efficiently reach a target water area.
The multi-objective optimization algorithm sets different priorities for the importance degree of the sea area, the existence of the emission standard exceeding forensics and the tonnage information of the ship, determines a target sea area and a target ship through the multi-objective optimization algorithm by taking the possibility of the emission standard exceeding ship in a specific sea area and the possible realized environmental benefit as optimization functions, and determines the optimal sailing route based on a path planning algorithm.
The path planning algorithm includes, but is not limited to, a simulated annealing algorithm, an artificial potential field method, a fuzzy logic algorithm, a tabu search algorithm, a graph-based algorithm, an intelligent bionic algorithm such as an ant colony algorithm, a neural network algorithm, and a genetic algorithm.
The navigation controller module comprises: speed sensor, rudder rotation assembly.
The navigation module comprises: the system comprises a satellite positioning device, a radar, an inertial navigation device, a wireless communication device, storage equipment and cameras arranged on the periphery of the unmanned ship, wherein the satellite positioning device, the radar, the inertial navigation device, the wireless communication device and the storage equipment are arranged on the top of the unmanned ship.
The unmanned aerial vehicle control subsystem include: unmanned aerial vehicle signal transceiver module, unmanned aerial vehicle flight control module and supervision and reform broadcasting module, wherein: the unmanned aerial vehicle signal transceiver module is used as an unmanned aerial vehicle information transceiver system, is connected with an unmanned aerial vehicle flight control module, a central data processing subsystem and an unmanned aerial vehicle measuring system, and transmits signals. The unmanned aerial vehicle flight control module is used for controlling starting and stopping and path planning of the unmanned aerial vehicle according to information from the signal transceiving module, such as pollutant data information measured by the unmanned aerial vehicle positioning information and the measuring system, and supervising and modifying the broadcasting module, judging whether the pollutant exceeds the standard or not according to the finally measured pollutant emission information of the target ship, and broadcasting the pollutant emission condition to inform the corresponding ship.
The central data processing subsystem comprises: central processing unit and different ship type emission standard databases, wherein: the central processing unit takes ship information sent by the maritime bureau through the communication satellite as input parameters and leads the ship information into different ship type emission standard databases of the central data processing subsystem, so that the emission limit value of the target ship can be obtained, and the emission limit value is compared with the emission information of the target ship returned by the unmanned aerial vehicle, so that the result of whether the emission of the target ship exceeds the standard or not is obtained.
The ship information comprises power form, tonnage, age, ship speed, historical ship emission data and penalty condition.
When the pollutant emission of the target ship exceeds the standard, the central data processing subsystem records the exceeding result in a case, reports the exceeding result to a maritime department, controls the unmanned aerial vehicle to broadcast to the target ship and supervises to prompt rectification and modification; otherwise, controlling the unmanned aerial vehicle to return to land to the intelligent unmanned ship to wait for the next monitoring task; meanwhile, the battery equipped on the intelligent unmanned ship can solve the problem of unmanned plane endurance.
The full-process monitoring and fault diagnosis subsystem comprises: sea area hydrology information monitoring module, power monitoring module, unmanned aerial vehicle state monitoring module, wherein: the sea area hydrological information monitoring module monitors marine hydrological weather of a ship navigation area in real time according to the Beidou navigation system, analyzes and evaluates the safety and feasibility of the detection task, and accordingly makes a decision for continuing or stopping execution; the power monitoring module carries out sensor data fusion processing according to the measurement information of the intelligent unmanned shipborne sensor, a deep learning algorithm is utilized to monitor and diagnose a power system of the unmanned ship, the good working state of the unmanned ship is guaranteed, and the unmanned plane state monitoring module monitors the battery allowance of the unmanned plane and the environmental information of the unmanned plane.
The decision has the highest priority in the system.
The states include: the temperature, the humidity and the wind speed information of the environment where the unmanned aerial vehicle is located.
Unmanned aerial vehicle measurement system include: unmanned aerial vehicle signal transceiver subsystem, pollution sources component detection subsystem, wherein: the unmanned aerial vehicle signal transceiver subsystem guarantees the two-way interchange between unmanned aerial vehicle and the intelligent unmanned ship, relies on built-in unmanned aerial vehicle flight control subsystem to carry out short distance flight control after receiving the target ship position information that intelligent unmanned ship sent, treats to be close to behind the discharge port of target ship, starts pollution source component detection subsystem and detects the gaseous composition of emission of target ship to with the data of detection pass through unmanned aerial vehicle signal transceiver subsystem and transport back to intelligent unmanned ship. After the result is judged by the central data processing system on the intelligent unmanned ship, when the emission of the target ship exceeds the standard, the violation condition is broadcasted to the target ship by the supervising and urging rectification broadcasting subsystem.
Technical effects
The invention integrally solves the defects of data distortion and untimely time of the ship landing static detection technology;
compared with the prior art, the invention has the unique effects that: based on the intelligent unmanned ship carrier, the detection tasks of various water area environments can be realized, and the problem of difficult ship detection in a control area is particularly solved; meanwhile, the selection of the target sea area and the target ship can be independently realized, the emission condition of the target ship can be independently evaluated, the workload of relevant departments of a maritime department is greatly reduced, and the true, objective and reliable detection data can be kept.
Drawings
Fig. 1 is a schematic view of an unmanned ship device carrying an unmanned aerial vehicle in an embodiment;
FIG. 2 is a schematic diagram of an intelligent unmanned ship device in an embodiment;
FIG. 3 is a schematic view of an embodiment of the unmanned aerial vehicle apparatus;
FIG. 4 is a flow chart of a system for detecting pollutant emission of a large-scale ship in the ocean by an unmanned aerial vehicle carried by an intelligent unmanned ship in the embodiment;
FIG. 5 is a diagram of a model of the operation of the system of the present invention;
FIG. 6 is a control logic diagram of the unmanned ship according to the present invention;
FIG. 7 is a logic diagram of the unmanned aerial vehicle control of the present invention;
in the figure: 1 intelligent unmanned ship main part, 2GPS positioning system, 3 radars and inertial navigation system, 4 wireless communication system and storage equipment, 5 cameras, 6 unmanned aerial vehicle continuation of journey rechargeable battery, 7 unmanned aerial vehicle parking device, 8 unmanned aerial vehicle main part, 9 screw, 10 unmanned aerial vehicle flight control system, 11 pollution sources component detecting system, 12 unmanned aerial vehicle signal receiving and dispatching systems, 13 unmanned aerial vehicle wing.
Detailed Description
As shown in fig. 1, for this embodiment, a ship emission remote measurement system based on an intelligent unmanned shipborne unmanned aerial vehicle includes: unmanned ship 1 of unmanned aerial vehicle carrier and unmanned aerial vehicle 8 that has the measurement boats and ships and discharge pollutant function.
The intelligent unmanned ship 1 comprises: the system comprises an automatic driving subsystem, an unmanned aerial vehicle control subsystem, a central data processing subsystem and a full-flow monitoring and fault diagnosis subsystem.
The autopilot subsystem includes: GPS positioning system 2, radar and inertial navigation system 3, wireless communication system and storage device 4 and camera 5, wherein: the GPS positioning system 2, the radar and inertial navigation system 3, the wireless communication system and the storage device 4 are arranged at the top of the unmanned ship, the air route planner and the unmanned ship controller are arranged in a cockpit of the unmanned ship, and the camera is arranged at the head of the unmanned ship.
On one hand, real-time contact is kept through a satellite positioning device and a communication satellite, and approximate longitude and latitude position information of the intelligent unmanned ship 1, the unmanned plane 8 and the target ship is determined. The intelligent unmanned ship automatically navigates to the periphery of the target ship through the GPS positioning system 2, the radar and the inertial navigation system 3 according to the information of the target ship and the navigation route signals sent by the maritime department. After the intelligent unmanned ship 1 approaches the target ship, the relative position with the target ship needs to be accurately maintained by means of the radar 3 and the camera 5. The route planner module determines a target ship based on a multi-objective optimization algorithm and a navigation route based on a path planning algorithm. Specifically, different priorities are set for the importance degree of the sea area, whether the emission exceeds the standard or not, and the tonnage information of the ship, the possibility that the ship is emitted beyond the standard in a specific sea area and the environment benefit which can be realized are taken as optimization functions, and the target sea area and the target ship are determined through a multi-objective optimization algorithm.
Unmanned aerial vehicle 8 include: unmanned aerial vehicle flight control system 10, pollution sources component detecting system 11, unmanned aerial vehicle signal transceiver system 12, unmanned aerial vehicle wing 13.
Unmanned aerial vehicle flight control system 10 include: unmanned aerial vehicle position information tracking module and unmanned aerial vehicle instruction decision-making module, after the autopilot subsystem confirms and is close to the target ship position, unmanned aerial vehicle instruction decision-making module takes off through program control unmanned aerial vehicle and detects the emission information of target boats and ships, can obtain the accurate position of unmanned aerial vehicle for unmanned ship in real time with the help of unmanned aerial vehicle position tracking module, wait to detect the back that finishes, look whether there is the target boats and ships that wait to detect around the waters, unmanned aerial vehicle instruction decision-making module decides whether continue to carry out next test task, whether remote control unmanned aerial vehicle falls back to charge on the intelligent unmanned ship, wait to detect the task next time.
As shown in fig. 4 and 5, the maritime department, as a management department, masters the navigation information of respective navigation ships, and can transmit the ship information, including ship route, positioning and tonnage information, which is normally navigated in the ocean to the intelligent unmanned ship near the ship through a satellite, the intelligent unmanned ship receives the relevant information through the wireless communication system 4, then determines the relative position according to the GPS positioning system 2, plans the path by combining with a self route planner module after the intelligent unmanned ship determines the target, navigates to the vicinity of the target ship, and starts the unmanned plane to monitor the emission information of the target ship.
Specifically, the intelligent unmanned ship route planner module planning the path comprises the following steps: firstly, according to information about target ship positioning, air route and tonnage sent by a maritime department, judging the importance degree of a sea area where the target ship is located, judging whether an emission standard exceeding forepart exists or not, setting different priorities for the information of the ship tonnage, and determining the target sea area and the target ship through a multi-objective optimization algorithm by taking the possibility of the emission standard exceeding ship in a specific sea area and the possible realized environmental benefit as optimization functions. On the basis, the optimal navigation route can be determined based on a path planning algorithm such as a simulated annealing algorithm, an artificial potential field method, a fuzzy logic algorithm and a tabu search algorithm, or based on a graph algorithm, or an intelligent bionic algorithm such as an ant colony algorithm, a neural network algorithm and a genetic algorithm. The navigation controller module is a closed-loop control system consisting of a speed sensor and a rudder rotating assembly, and ensures that the intelligent unmanned ship can safely, reliably, timely and efficiently reach a target water area.
When the target ship is determined by the intelligent unmanned ship and navigated to the position near the ship, and the target ship appears in the visual field range of the unmanned ship camera 5, relevant pictures are taken and transmitted to the control center of the maritime department, and after the personnel in the maritime department confirm that the target ship is correct, a detection command is issued. At this moment, the unmanned ship of intelligence will combine radar and inertial navigation system 3 to track the location to this target vessel, starts the emission condition that possesses unmanned aerial vehicle 8 that detects the pollutant function and detects this target vessel simultaneously.
Specifically, unmanned aerial vehicle with measure boats and ships emission pollutant function includes: unmanned aerial vehicle signal transceiver module, pollution sources component detection module, unmanned aerial vehicle flight control module and set up in the data processing analysis module of ground central control room, wherein: unmanned aerial vehicle signal transceiver module, pollution source component detection module and unmanned aerial vehicle flight control module set up in the unmanned aerial vehicle, and pollution source component detection module detects the emission concentration of pollution source component and sends to data processing analysis module through unmanned aerial vehicle signal transceiver module, and unmanned aerial vehicle flight control module passes through the control information that unmanned aerial vehicle signal transceiver module received central control room and sent. When the unmanned ship tracks the periphery of the target ship, the unmanned ship is launched, the unmanned ship detects the emission of the target ship and sends the measured data to a maritime department and an environmental protection department for recording.
Specifically, as shown in fig. 7. After the unmanned aerial vehicle takes off, the unmanned aerial vehicle automatically drives a target ship through the unmanned aerial vehicle flight control system 10 and keeps tracking. After the unmanned aerial vehicle keeps a certain distance with the target ship, the emission detection system is started to detect the pollutant emission condition of the target ship. The pollution source component detection module 11 is used for detecting pollution source components in a pollution source. The pollution source components comprise: CO, CO2Hydrocarbons, NOx, SOx, NH3、O3Formaldehyde and particulates.
Further, in order to measure the pollutant concentration better, make the measured value more close to the real emission value, when unmanned aerial vehicle detected the pollutant, unmanned aerial vehicle flight control module will control unmanned aerial vehicle to carry out the flight of hovering, regard the pollutant concentration value as optimizing index simultaneously, gradually optimize the route of hovering through dynamic optimization algorithm, make the pollutant concentration who records highest, can reflect the real circumstances of discharging most, when the pollutant concentration who surveys stabilizes within 1%, through unmanned aerial vehicle signal transceiver system 12 record pollutant data, and with data transmission to intelligent unmanned ship control center, control center will be according to the emission limit value of regulation in the marine territory that target ship is located, judge whether this boats and ships discharge exceeds standard. When the pollutant discharged by the target ship exceeds the standard, the central data processing system records the actual result on a case and reports the actual result to a maritime department and an environmental protection department, and commands the unmanned aerial vehicle to broadcast to the target ship to supervise and prompt rectification and modification. When the pollutant discharged by the target ship does not exceed the standard, the unmanned aerial vehicle is instructed to return to land to the intelligent unmanned ship to wait for the next monitoring task; meanwhile, the battery equipped on the intelligent unmanned ship can solve the problem of unmanned plane endurance.
Compared with the prior art, the intelligent unmanned ship carrier based on the intelligent unmanned ship carrier can realize detection tasks of various water area environments, and particularly solves the problem of difficult ship detection in a control area; meanwhile, the selection of the target sea area and the target ship can be independently realized, the emission condition of the target ship can be independently evaluated, the workload of relevant departments of a maritime department is greatly reduced, and the true, objective and reliable detection data can be kept.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (7)
1. The utility model provides a boats and ships emission remote measurement system based on unmanned on-board unmanned aerial vehicle of intelligence which characterized in that includes: unmanned ship autopilot subsystem, unmanned aerial vehicle control subsystem, central data processing subsystem, full flow control and failure diagnosis subsystem and have the unmanned aerial vehicle measurement system who measures boats and ships and discharge pollutant function, wherein: the unmanned ship automatic driving subsystem detects the accurate positioning of a task subject and object and the planning of a tracking air line according to the air line information of a target ship, the unmanned ship control subsystem starts the automatic driving system to be close to the target ship and keeps tracking according to the positioning information of the unmanned ship and the information of the tracking target ship, meanwhile, the flight path is optimized by using the measurement result of the measurement system, the central data processing subsystem receives information receiving, analyzing and feedback processing between the maritime affairs bureau and the intelligent unmanned ship and between the maritime affairs bureau and the unmanned ship, the central data processing subsystem receives information receiving, analyzing and feedback processing work, the full-process monitoring and fault diagnosis subsystem carries out artificial intelligent fault monitoring and diagnosis algorithm processing and outputs real-time running data of the power system according to running state information of the power system of the intelligent unmanned ship, normal work of the unmanned ship is guaranteed.
2. The marine emissions telemetry system based on an intelligent unmanned on-board drone of claim 1, wherein said autopilot subsystem comprises: navigation module, air route planner module and navigation controller module, wherein: the navigation module keeps real-time contact with a communication satellite through a satellite positioning device, determines approximate longitude and latitude position information of the intelligent unmanned ship, the unmanned plane and the target ship, and accurately keeps the relative position with the target ship by means of a radar and a camera on the circumference after the intelligent unmanned ship approaches the target ship; the route planner module determines a target ship based on a multi-objective optimization algorithm and determines a navigation route based on a path planning algorithm; the navigation controller module ensures that the intelligent unmanned ship can safely, reliably, timely and efficiently reach a target water area.
3. The marine emissions telemetry system of claim 2, wherein said navigation controller module comprises: a speed sensor and a rudder rotating assembly; the navigation module comprises: the system comprises a satellite positioning device, a radar, an inertial navigation device, a wireless communication device, storage equipment and cameras arranged on the periphery of the unmanned ship, wherein the satellite positioning device, the radar, the inertial navigation device, the wireless communication device and the storage equipment are arranged on the top of the unmanned ship.
4. The marine emissions telemetry system based on an intelligent unmanned shipboard drone of claim 1, wherein the drone control subsystem includes: unmanned aerial vehicle signal transceiver module, unmanned aerial vehicle flight control module and supervision and reform broadcasting module, wherein: the unmanned aerial vehicle signal transceiver module is used as an unmanned aerial vehicle information transceiver system, is connected with the unmanned aerial vehicle flight control module, the central data processing subsystem and the unmanned aerial vehicle measurement system, and transmits signals; the unmanned aerial vehicle flight control module supervises and revises the broadcasting module according to the information from the signal transceiving module, judges whether the pollutant exceeds the standard or not according to the finally measured pollutant emission information of the target ship, and broadcasts the pollutant emission condition to inform the corresponding ship.
5. The marine emissions telemetry system based on an intelligent unmanned shipboard drone of claim 1, wherein the central data processing subsystem includes: central processing unit and different ship type emission standard databases, wherein: the central processing unit is used for importing ship information sent by a maritime office through a communication satellite as an input parameter into different ship type emission standard databases of the central data processing subsystem, so that the emission limit value of the target ship can be obtained, and the emission limit value is compared with the emission information of the target ship returned by the unmanned aerial vehicle to obtain the result of whether the emission of the target ship exceeds the standard or not; when the pollutant emission of the target ship exceeds the standard, the central data processing subsystem records the exceeding result in a case, reports the exceeding result to a maritime department, controls the unmanned aerial vehicle to broadcast to the target ship and supervises to prompt rectification and modification; otherwise, controlling the unmanned aerial vehicle to return to land to the intelligent unmanned ship to wait for the next monitoring task; meanwhile, the battery equipped on the intelligent unmanned ship can solve the problem of unmanned plane endurance.
6. The marine emissions telemetry system based on an intelligent unmanned shipboard unmanned aerial vehicle of claim 1, wherein the full process monitoring and fault diagnosis subsystem comprises: sea area hydrology information monitoring module, power monitoring module, unmanned aerial vehicle state monitoring module, wherein: the sea area hydrological information monitoring module monitors marine hydrological weather of a ship navigation area in real time according to the Beidou navigation system, analyzes and evaluates the safety and feasibility of the detection task, and accordingly makes a decision for continuing or stopping execution; the power monitoring module carries out sensor data fusion processing according to the measurement information of the intelligent unmanned shipborne sensor, a deep learning algorithm is utilized to monitor and diagnose a power system of the unmanned ship, the good working state of the unmanned ship is ensured, and the unmanned plane state monitoring module monitors the battery surplus of the unmanned plane and the environment information where the unmanned plane is located; said decision having the highest priority in said system; the states include: the temperature, the humidity and the wind speed information of the environment where the unmanned aerial vehicle is located.
7. The marine emissions telemetry system based on an intelligent unmanned shipboard drone of claim 1, wherein the drone measurement system includes: unmanned aerial vehicle signal transceiver subsystem, pollution sources component detection subsystem, wherein: the unmanned aerial vehicle signal transceiver subsystem guarantees the two-way communication between unmanned aerial vehicle and the intelligent unmanned ship, rely on built-in unmanned aerial vehicle flight control subsystem to carry out short distance flight control after receiving the target ship positional information that intelligent unmanned ship sent, treat after the discharge port that is close to target ship, start pollution source component detection subsystem and detect the exhaust gas composition of target ship, and carry the testing data back to intelligent unmanned ship through unmanned aerial vehicle signal transceiver subsystem, after the central data processing system judges the result on the intelligent unmanned ship, when target ship discharges and exceeds standard, then with the help of supervising and urging to rectify the broadcasting subsystem and report the condition to target ship in violation.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114253297A (en) * | 2021-12-24 | 2022-03-29 | 交通运输部天津水运工程科学研究所 | Method for actively and safely tracking tail gas of rotor unmanned aerial vehicle through ship tail gas detection |
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