CN117037559A - Nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training system and method - Google Patents
Nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training system and method Download PDFInfo
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- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
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- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
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- G09B7/00—Electrically-operated teaching apparatus or devices working with questions and answers
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Abstract
The invention relates to a nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training system and a method. The invention can effectively reduce training cost, is convenient for repeated practice, has high reality accident scene and accident phenomenon simulation, can effectively improve psychological diathesis and actual combat strain capacity of the nuclear emergency aviation monitoring team, has intelligent assessment capability, effectively assesses professional skills of the nuclear emergency aviation monitoring team, and reduces risks that emergency rescue equipment and team cannot effectively fulfill emergency aviation monitoring when a real nuclear accident occurs.
Description
Technical Field
The invention relates to a nuclear accident emergency rescue simulation training technology, in particular to a nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training system and method.
Background
Nuclear safety is a precondition for the development of nuclear energy, and nuclear emergency is the last barrier of the nuclear safety deep defense system.
The nuclear emergency mainly refers to a series of rescue actions and treatment measures taken after serious accidents occur in nuclear facilities, and aims to minimize the radiation consequences and social effects of nuclear accidents and reduce the radiation hazard and psychological trauma of the nuclear accidents to personnel and the environment as much as possible, including radiation monitoring, radiation protection, weather monitoring, decontamination and decontamination, psychological and medical rescue and the like.
When a nuclear power plant is or may be present to release a significant amount of radioactive material to the environment, the consequences of the accident exceed field boundaries, potentially seriously compromising public health and environmental safety, and will enter an off-site emergency state, initiating a class i response. The relevant department will organize the coordinated national and local radiation monitoring efforts to monitor the radioactivity of the environment (including air, land, water, atmosphere, crops, food, drinking water, etc.) in areas that are or may be affected by nuclear radiation. The nuclear emergency aviation monitoring is an important monitoring technical means.
However, the probability of serious accidents in the nuclear power plant is very low, and practical combat experience for carrying out nuclear emergency aviation monitoring is low, so that rescue skills are difficult to master in actual nuclear emergency response actions, and the actual emergency monitoring effect is difficult to ensure only by relying on theoretical knowledge. Therefore, aiming at the emergency aviation monitoring of the serious accident of the nuclear facility, a set of simulation training system capable of effectively improving the emergency aviation monitoring rescue skills of the nuclear accident is developed, and the significance is very great.
The existing nuclear emergency simulation training is generally in a simulation mode, trained personnel train on a simulation system, and because all operations are completely carried out on the simulation system, the training process is seriously separated from the actual practice, especially for the part needing the actual operation, the trained personnel cannot be effectively trained, and when the nuclear accident occurs radiation pollution in the actual practice, the risks that emergency rescue equipment and teams cannot effectively fulfill emergency aviation monitoring can possibly occur. If a real training mode is adopted, on one hand, the radioactive substance release is radiation pollution, and the radioactive substance release cannot be truly performed for exercise during exercise; on the other hand, nuclear accident emergency aviation monitoring equipment comprises an aircraft, airborne equipment and the like, is quite expensive, and is directly based on real installation to carry out training with high cost.
Therefore, it is necessary to develop an aviation monitoring simulation training system suitable for nuclear accident emergency rescue unmanned aerial vehicle, train monitoring teams, improve the quality of monitoring personnel, improve the nuclear accident emergency response capability and reduce the training cost.
Disclosure of Invention
The invention aims to provide a nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training system and method, which are used for solving the problems of poor training effect and high training cost of the existing simulation training system.
The invention is realized in the following way: the utility model provides a nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training system, includes simulation training system and unmanned aerial vehicle, is provided with unmanned aerial vehicle nuclear emergency monitoring system on unmanned aerial vehicle, simulation training system includes following part.
And the database module is used for storing basic geographic information data, meteorological information data, aerial survey flight data, design survey line data and dose rate data.
And the radiation pollution diffusion simulation module is used for calculating the diffusion path and activity of the simulated radiation pollution according to the input wind field information, precipitation information and source item information.
The emergency monitoring scheme making module is used for making a monitoring scheme according to the calculation simulation result of the radiation pollution diffusion simulation module and combining geographic information data and meteorological information data to determine corner coordinates of an emergency monitoring area, and measuring a scale, flying height and unmanned plane nuclear emergency monitoring system configuration.
And the flight path planning module is used for simulating and calculating a flight path of a measuring line output survey line of a trend line of the flight path crossing the route and measuring altitude data, defining a base line area, and selecting a take-off and landing point and a relay station.
The unmanned aerial vehicle pre-take-off preparation module is used for inputting the survey line data into the unmanned aerial vehicle flight control system, performing unmanned aerial vehicle pre-take-off inspection and performing unmanned aerial vehicle nuclear emergency aviation monitoring system pre-take-off inspection.
The emergency monitoring module is used for enabling the unmanned aerial vehicle to carry out flight measurement according to the set survey line planning and monitoring the state of the unmanned aerial vehicle in real time.
The unmanned aerial vehicle post-aviation processing module is used for carrying out radiation pollution inspection on the surface of the unmanned aerial vehicle, carrying out post-aviation inspection on the unmanned aerial vehicle, carrying out post-landing inspection on an unmanned aerial vehicle nuclear emergency aviation monitoring system, analyzing and outputting a nuclear emergency monitoring report.
The invention further provides an assessment and evaluation module for scoring and evaluating the performance of the trainee, comprising training process management, training information acquisition, evaluation standard system and training effect evaluation.
The invention further provides a theoretical training module for carrying out theoretical training on the basic principle of nuclear emergency aviation monitoring and the operation rules of monitoring equipment on a trainee, wherein the theoretical training module comprises a learning mode and an assessment mode.
The flight path planning module comprises a simulation analysis module of a trend line of a flight path of a traversing route, a base line selection module, a take-off and landing point selection module and a relay station selection module;
the simulation analysis module is used for carrying out simulation calculation on the trend line of the flight track of the traversing course according to the range angular point information of the emergency monitoring area, the information of the survey line path, the information of the digital elevation model, the information of the known obstacle and the information of the preset obstacle, the information of the preset flight altitude and the information of the flight speed, and outputting the survey line flight path and the measured altitude data;
the baseline selection module is used for defining a baseline zone according to baseline selection conditions;
the landing point selection module is used for selecting landing points according to the landing point selection conditions;
and the relay station selection module is used for selecting the relay station according to the relay station selection condition.
The unmanned aerial vehicle pre-take-off preparation module comprises a survey line planning module, a unmanned aerial vehicle nuclear emergency aviation monitoring system pre-take-off inspection module and an unmanned aerial vehicle pre-aviation inspection module;
the survey line planning module is used for inputting survey line coordinates and measured altitude into the unmanned aerial vehicle flight control system according to the simulation analysis result of the trend line of the flight track of the crossing route;
the system comprises a pre-take-off checking module of the unmanned aerial vehicle nuclear emergency aviation monitoring system, a pre-take-off checking module and a pre-take-off checking module, wherein the pre-take-off checking module is used for checking and setting operation parameters of the unmanned aerial vehicle nuclear emergency aviation monitoring system;
and the unmanned aerial vehicle pre-navigation checking module is used for checking the unmanned aerial vehicle body.
The invention also discloses a nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training method, which comprises the following steps.
a. And starting the nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training system, inputting wind field information, precipitation information and source item information in the simulation training system, calculating and simulating, and outputting radiation pollution diffusion paths and activity information.
b. And determining the range of the emergency monitoring area in an interactive mode according to the radiation pollution diffusion simulation calculation result, and storing longitude and latitude coordinates of the emergency monitoring area.
c. Screening flight barriers, preset longitude and latitude coordinates and heights of imaginary barriers, preset flight altitude information, preset unmanned aerial vehicle flight speed and climbing rate information and preset measurement scale information in an emergency monitoring area range; and based on the digital elevation information, carrying out simulation calculation on the flight trend line of the crossing route, and outputting the altitude data of the flight path of the measuring line.
d. And in the emergency monitoring area, a base line area is defined according to the selection conditions, and the positions of the take-off and landing points and the relay stations are selected.
e. And planning a survey line flight path on the unmanned aerial vehicle console, and inputting the survey line flight path into the unmanned aerial vehicle flight control system.
f. Before flying, the unmanned aerial vehicle body is inspected, the unmanned aerial vehicle nuclear emergency aviation monitoring system is inspected before taking off, and the unmanned aerial vehicle nuclear emergency aviation monitoring system is tested early.
g. The unmanned aerial vehicle takes off, and the unmanned aerial vehicle nuclear emergency aviation monitoring system monitors in an emergency mode and performs flight measurement according to a preset survey line flight path.
h. The unmanned aerial vehicle lands, adopts the surface pollution appearance to carry out radiation pollution inspection to the unmanned aerial vehicle surface, carries out unmanned aerial vehicle post-navigation detection, carries out the night test to the emergent aviation monitoring system of unmanned aerial vehicle nuclear.
i. And performing data processing and analysis, and outputting a nuclear emergency monitoring report.
j. The system performs assessment and issues a team member assessment report.
In step c, the simulation calculation of the flying trend line of the crossing route specifically comprises the following steps:
setting a measurement scale according to the range angular point of the emergency monitoring area, and planning longitude and latitude coordinates of the head and tail points of the traversing route;
setting a sampling point distance, and calculating longitude, latitude and altitude data of each point according to the terrain data on each traversing route;
setting a virtual obstacle on a traversing route, and configuring coordinates and ground clearance;
setting a certain width for two sides of each crossing route, and if the altitude exceeds the altitude on the crossing route or the height of an obstacle exceeds the altitude of the crossing route in the range, replacing the altitude to the altitude of the crossing route;
setting the minimum relative height and the maximum allowable deviation of the flight distance of the unmanned aerial vehicle from the ground surface and the obstacle;
fitting the height data of the crossing routes into smooth crossing route flight trend lines by adopting a cubic spline function;
setting the flight speed of the unmanned aerial vehicle and the climbing rate of the unmanned aerial vehicle;
according to the flying speed of the unmanned aerial vehicle and the climbing rate of the unmanned aerial vehicle, calculating whether the altitude data of each point on the flying trace trend line of the crossing route meets the limiting conditions of the minimum relative altitude difference and the maximum allowable deviation, resetting the altitude of the point which does not meet the altitude flying data, and fitting the flying trace trend line to be smooth until the flying conditions are met.
In step f, performing a pre-takeoff inspection of the unmanned aerial vehicle nuclear emergency aviation monitoring system includes:
checking and setting recording parameters set by a recording system of the unmanned aerial vehicle nuclear emergency aviation monitoring system, wherein the recording parameters comprise sampling rate and gamma energy spectrometer channel number;
checking navigation positioning data, ground clearance data, altitude data and temperature and humidity data;
checking and setting central meridian parameters;
checking the sampling rate of the GM counting tube dose rate meter;
checking identification setting parameters of a nuclide identifier and checking transmission link data;
checking aircraft attitude data;
the video image data is inspected.
Early testing of the unmanned aerial vehicle nuclear emergency aviation monitoring system comprises: testing by adopting a Cs point source and a Th point source respectively, and checking peak drift information and crystal energy resolution information of a gamma-energy spectrometer;
the unmanned aerial vehicle nuclear emergency aviation monitoring system late test comprises the following steps: and testing by adopting a Cs point source and a Th point source respectively, and checking peak drift information and crystal energy resolution information of the gamma-ray spectrometer.
The baseline selection conditions were: the terrain is flat, no water system or little water system is distributed, the radiation field is uniform, the human interference is little, personnel can reach, the personnel can pass through on the base line, and the area is 500m multiplied by 500 m;
the conditions for selecting the landing points are as follows: taking the topography, the landform characteristics and the traffic information into consideration, predicting an area with a certain area of a take-off and landing point, which can be reached by a mission machine transport vehicle in the upwind direction or the crosswind direction of a pollution area;
the relay station selection conditions are as follows: and selecting a region which is not polluted by nuclear accident radiation, wherein the region is closer to an aviation monitoring region and has relatively high terrain, the relay vehicle can reach the region, and a visible distance condition is provided between a relay station and a task machine.
The invention discloses a nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training system, which comprises a simulation training system and an unmanned aerial vehicle, wherein the simulation training system comprises a database module, a radiation pollution diffusion simulation module, an emergency monitoring scheme making module, a flight track planning module, an unmanned aerial vehicle pre-take-off preparation module, an emergency monitoring module, an unmanned aerial vehicle post-aviation processing module, an assessment module, a theoretical training module and the like. The intelligent simulation system can train the whole process of unmanned aerial vehicle nuclear accident emergency aviation monitoring, and adopts a mode of combining radiation pollution diffusion simulation with actual flight of an unmanned aerial vehicle, namely, the radiation pollution diffusion process can be accurately simulated, and the unmanned aerial vehicle and an unmanned aerial vehicle nuclear emergency monitoring system can be actually operated, so that trained personnel can fully master the operation process of nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring, the training cost is effectively reduced, repeated practice is convenient, high-reality accident scene and accident phenomenon simulation can effectively improve psychological diathesis and actual combat strain capacity of nuclear emergency aviation monitoring teams, intelligent assessment capability is provided, professional skills of the nuclear emergency aviation monitoring teams are effectively assessed, and risks that emergency rescue equipment and teams cannot effectively perform emergency aviation monitoring when real nuclear accidents occur are reduced.
Drawings
Fig. 1 is a block diagram of a nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training system.
Detailed Description
As shown in FIG. 1, the nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training system comprises a simulation training system and an unmanned aerial vehicle, wherein the unmanned aerial vehicle is provided with the unmanned aerial vehicle nuclear emergency monitoring system, and the simulation training system comprises a database module, a radiation pollution diffusion simulation module, an emergency monitoring scheme making module, a flight track planning module, an unmanned aerial vehicle pre-take-off preparation module, an emergency monitoring module, an unmanned aerial vehicle post-aviation processing module and the like.
And the database module is used for storing basic geographic information data, meteorological information data, aerial survey flight data, design survey line data and dose rate data.
The basic geographic information data comprise data such as boundaries and government areas, traffic roads (highways, railways and airports), residential lands and facilities, water systems (various water bodies such as rivers, channels, lakes, reservoirs and oceans), place name address attention points (place names, addresses and attention points), earth surface coverage, digital elevation models, digital positive shot images and the like.
And the radiation pollution diffusion simulation module is used for calculating the diffusion path and activity of the simulated radiation pollution according to the input wind field information, precipitation information and source item information.
Wherein the source item information includes, for example 131 I、 137 Cs、 134 Cs、 85 Kr、 133 Xe、 132 Te, etc.
The emergency monitoring scheme making module is used for making a monitoring scheme according to the calculation simulation result of the radiation pollution diffusion simulation module and combining geographic information data (particularly information such as terrains, factory structures and the like), meteorological information data and the like, so as to determine corner coordinates of an emergency monitoring area, measurement scale, flight height and unmanned aerial vehicle nuclear emergency monitoring system configuration.
And the flight path planning module is used for simulating and calculating a flight path of a measuring line output survey line of a trend line of the flight path crossing the route and measuring altitude data, defining a base line area, and selecting a take-off and landing point and a relay station.
The flight path planning module specifically comprises a traversing course flight path trend line simulation analysis module, a base line selection module, a take-off and landing point selection module and a relay station selection module.
The simulation analysis module is used for carrying out simulation calculation on the trend line of the flight track of the crossing navigation line according to the range angular point information of the emergency monitoring area, the information of the survey line path, the information of the digital elevation model, the information of the known obstacle, the information of the preset flight height and the information of the flight speed, and outputting the survey line flight path and the measured altitude data.
The baseline selection module is used for defining a baseline zone according to baseline selection conditions, wherein the baseline selection conditions are as follows: the terrain is flat, no water system or little water system is distributed, the radiation field is uniform, the human interference is little, the personnel can reach, the personnel can pass through on the base line, and the area is 500m multiplied by 500 m.
The landing point selection module is used for selecting landing points according to landing point selection conditions, wherein the landing point selection conditions are as follows: taking the topography, the landform characteristics and the traffic information into consideration, the wind direction or the side wind direction on a predicted pollution area can reach an area with a certain area at a take-off and landing point.
The relay station selection module selects a relay station according to relay station selection conditions, wherein the relay station selection conditions are as follows: the method is characterized in that a field which is close to an aviation monitoring area and has relatively high terrain is selected in an area which is not polluted by nuclear accident radiation, a relay vehicle can reach the field, and a visible distance condition is provided between a relay station and a task machine.
The unmanned aerial vehicle pre-take-off preparation module is used for inputting the survey line data into the unmanned aerial vehicle flight control system, performing unmanned aerial vehicle pre-take-off inspection and performing unmanned aerial vehicle nuclear emergency aviation monitoring system pre-take-off inspection.
The unmanned aerial vehicle pre-take-off preparation module specifically comprises a survey line planning module, a pre-take-off inspection module of the unmanned aerial vehicle nuclear emergency aviation monitoring system and a pre-take-off inspection module of the unmanned aerial vehicle.
The system comprises a line planning module, a line coordinate and a measurement altitude, wherein the line planning module is used for inputting the line coordinate and the measurement altitude into the unmanned aerial vehicle flight control system according to the simulation analysis result of the trend line of the flight track of the crossing route.
And the pre-take-off checking module of the unmanned aerial vehicle nuclear emergency aviation monitoring system is used for checking and setting the operation parameters of the unmanned aerial vehicle nuclear emergency aviation monitoring system. And checking recording parameters set by the recording system, including whether the sampling rate and the gamma spectrometer channel number are set correctly or not, and the like. Whether the gamma spectrometer data record is correct or not; navigation positioning data, ground clearance data, altitude data and temperature and humidity data are complete; whether the GM count tube dose rate data is correct; whether the nuclide identifier data record is correct or not, and whether the link transmission data check is normal or not; whether the aircraft attitude data is normal.
The unmanned aerial vehicle nuclear emergency aviation monitoring system radiation monitoring unit can comprise any combination mode of a gamma energy spectrometer, a GM counting tube dosage rate meter and a nuclide identifier.
And the unmanned aerial vehicle pre-navigation checking module is used for checking the unmanned aerial vehicle body. The engine hand inspection longitudinal center line left side, the engine body hand inspection tail boom, the engine body hand inspection tail rotor, the engine hand inspection engine axis right side and rear portion, the engine body hand inspection main transmission system, the internal control hand inspection helicopter motor cabin and the engine body hand inspection rotor system. And carrying out item-by-item inspection according to the requirement of the pre-voyage inspection list, and filling in the inspection list.
The emergency monitoring module is used for enabling the unmanned aerial vehicle to carry out flight measurement according to the set survey line planning and monitoring the state of the unmanned aerial vehicle in real time. In flight measurement, the operation state of the unmanned aerial vehicle, the link transmission state, the operation state of the unmanned aerial vehicle nuclear emergency aviation monitoring system, the operation state of the image and other equipment are monitored in real time.
The unmanned aerial vehicle post-aviation processing module is used for carrying out radiation pollution inspection on the surface of the unmanned aerial vehicle, carrying out post-aviation inspection on the unmanned aerial vehicle, carrying out post-landing inspection on an unmanned aerial vehicle nuclear emergency aviation monitoring system, analyzing and outputting a nuclear emergency monitoring report.
Radiation pollution inspection, including inspection of the surface of an unmanned aerial vehicle using a surface pollution meter. The surface pollution instrument is started, the protective cover is removed, inspection and data recording are carried out in front of the unmanned aerial vehicle, on the left side and on the right side, and the measured data are compared before and after emergency monitoring.
And (5) performing post-navigation inspection on the unmanned aerial vehicle, and performing item-by-item detection on the unmanned aerial vehicle after the unmanned aerial vehicle falls down and filling in a post-navigation inspection list.
After the unmanned aerial vehicle falls, the unmanned aerial vehicle nuclear emergency aviation monitoring system is tested in the late test, a Cs point source and a Th point source are respectively adopted for testing, and gamma energy spectrometer peak drift information and crystal energy resolution information are checked.
The data analysis and report comprises data quality inspection, coordinate conversion, correction of each item of nuclear emergency aviation monitoring radioactive data, calculation of air absorption dosage rate, calculation of artificial nuclide activity, drawing of measurement results, and output of emergency monitoring reports.
The invention further provides an assessment and evaluation module for scoring and evaluating the performance of the trainee, comprising training process management, training information acquisition, evaluation standard system and training effect evaluation.
The invention further provides a theoretical training module for carrying out theoretical training on the basic principle of nuclear emergency aviation monitoring and the operation rules of monitoring equipment on a trainee, wherein the theoretical training module comprises a learning mode and an assessment mode.
The theoretical training teaching material comprises: 1. legal regulations, department regulations/administrative files; 2. standard and technical specifications; 3. nuclear emergency aviation monitoring theory method technology and application; 4. emergency exercise cases; 5. other emergency knowledge; 6. 10 kinds of virtual nuclear accident scene nuclear emergency aviation monitoring method. The trained personnel can master the basic principle of nuclear emergency aviation monitoring and the operation rules of monitoring equipment. Related teaching materials, multimedia courseware, teaching plans and examination question libraries are compiled.
The system can be set in different modes by a instructor, a student terminal module adopts an immersive VR virtual reality technical means to carry out nuclear accident smoke plume three-dimensional diffusion simulation, automatically circles a dose rate equivalent circle, recommends nuclear emergency aviation monitoring smoke plume measurement ground clearance height, interactively determines an emergency monitoring area, survey line planning, obstacle avoidance, flight trend surface simulation, baseline selection confirmation, unmanned aerial vehicle take-off and landing point selection confirmation, relay station selection confirmation, unmanned aerial vehicle nuclear emergency monitoring system inspection before take-off, unmanned aerial vehicle pre-voyage inspection, emergency monitoring, unmanned aerial vehicle post-voyage inspection, unmanned aerial vehicle radiation pollution inspection, post-landing unmanned aerial vehicle nuclear emergency aviation monitoring system inspection test, data analysis and report, and the student terminal module can be trained by multiple persons in a cooperative mode to support 30 persons maximally.
According to teaching materials, multimedia courseware and teaching plan, theoretical training is carried out, corresponding examination questions are randomly and automatically or manually extracted for examination according to different responsibilities of aviation radiation monitoring team members, and online answering is carried out, an electronic check certificate is issued after the examination is passed, and if the examination is not passed, theoretical training is re-participated.
The invention also discloses a nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training method, which comprises the following steps.
a. And starting the nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training system, inputting various parameters such as wind field information, precipitation information, source item information and the like in the simulation training system, calculating, simulating and outputting the diffusion path and activity information of the radiation pollution.
b. According to the radiation pollution diffusion simulation calculation result, dynamically and three-dimensionally displaying the diffusion path and the pollutant activity distribution, determining the range of an emergency monitoring area in an interactive mode, and storing longitude and latitude coordinates of the emergency monitoring area.
c. Screening flight barriers, preset longitude and latitude coordinates and heights of imaginary barriers, preset flight altitude information, preset unmanned aerial vehicle flight speed and climbing rate information and preset measurement scale information in an emergency monitoring area range; and based on the digital elevation information, carrying out simulation calculation on the flight trend line of the crossing route, and outputting the altitude data of the flight path of the measuring line.
d. And in the emergency monitoring area, a base line area is defined according to the selection conditions, and the positions of the take-off and landing points and the relay stations are selected.
e. And planning a survey line flight path on the unmanned aerial vehicle console, and inputting the survey line flight path into the unmanned aerial vehicle flight control system.
f. Before flying, the unmanned aerial vehicle body is inspected, the unmanned aerial vehicle nuclear emergency aviation monitoring system is inspected before taking off, and the unmanned aerial vehicle nuclear emergency aviation monitoring system is tested early.
The engine hand inspection longitudinal center line left side, the engine body hand inspection tail boom, the engine body hand inspection tail rotor, the engine hand inspection engine axis right side and rear portion, the engine body hand inspection main transmission system, the internal control hand inspection helicopter motor cabin and the engine body hand inspection rotor system. And carrying out item-by-item inspection according to the requirement of the pre-voyage inspection list, and filling in the inspection list.
The method comprises the steps of checking before taking off of the unmanned aerial vehicle nuclear emergency aviation monitoring system, wherein the checking comprises checking and setting recording parameters set by a recording system of the unmanned aerial vehicle nuclear emergency aviation monitoring system, and the recording parameters comprise sampling rate and gamma energy spectrometer channel number; checking navigation positioning data, ground clearance data, altitude data and temperature and humidity data; checking and setting central meridian parameters; checking the sampling rate of the GM counting tube dose rate meter; checking identification setting parameters of a nuclide identifier and checking transmission link data; checking aircraft attitude data; checking video image data, etc.
Early testing of the unmanned aerial vehicle nuclear emergency aviation monitoring system is carried out, testing is carried out by adopting a Cs point source and a Th point source respectively, and peak drift information and crystal energy resolution information of the gamma energy spectrometer are checked.
g. The unmanned aerial vehicle takes off, and the unmanned aerial vehicle nuclear emergency aviation monitoring system monitors in an emergency mode and performs flight measurement according to a preset survey line flight path.
In flight measurement, the operation state of the unmanned aerial vehicle, the link transmission state, the operation state of a nuclear emergency aviation monitoring system, the operation state of equipment such as images and the like are monitored in real time.
h. The unmanned aerial vehicle lands, adopts the surface pollution appearance to carry out radiation pollution inspection to the unmanned aerial vehicle surface, carries out unmanned aerial vehicle post-navigation detection, carries out the night test to the emergent aviation monitoring system of unmanned aerial vehicle nuclear.
The unmanned aerial vehicle is subjected to post-navigation item-by-item inspection after falling, and a post-navigation inspection list is filled in. After the unmanned aerial vehicle falls, the unmanned aerial vehicle nuclear emergency aviation monitoring system is tested in the evening, a Cs point source and a Th point source are respectively adopted for testing, and gamma energy spectrometer peak drift information and crystal energy resolution information are checked.
i. And performing data processing and analysis, and outputting a nuclear emergency monitoring report. The method comprises the steps of data quality inspection, coordinate conversion, correction of nuclear emergency aviation monitoring radioactive data items, calculation of air absorption dosage rate, calculation of artificial nuclide activity, drawing production of measuring results, nuclear emergency monitoring report and the like.
j. The system performs assessment and issues a team member assessment report.
The simulation calculation of the flying trend line of the crossing route specifically comprises the following steps:
setting a measurement scale according to the range angular point of the emergency monitoring area, and planning longitude and latitude coordinates of the head and tail points of the traversing route;
setting a sampling point distance, and calculating longitude, latitude and altitude data of each point according to the terrain data on a path of each traversing route;
setting a virtual obstacle on a traversing route, and configuring coordinates and ground clearance;
setting a certain width for two sides of each crossing route, and if the altitude exceeds the altitude on the crossing route or the height of an obstacle exceeds the altitude of the crossing route in the range, replacing the altitude to the altitude of the crossing route;
setting the minimum relative height and the maximum allowable deviation of the flight distance of the unmanned aerial vehicle from the ground surface and the obstacle;
fitting the height data of the crossing routes into smooth crossing route flight trend lines by adopting a cubic spline function;
setting the flight speed of the unmanned aerial vehicle and the climbing rate of the unmanned aerial vehicle;
according to the flying speed of the unmanned aerial vehicle and the climbing rate of the unmanned aerial vehicle, calculating whether the altitude data of each point on the flying trace trend line of the crossing route meets the limiting conditions of the minimum relative altitude difference and the maximum allowable deviation, resetting the altitude of the point which does not meet the altitude flying data, and fitting the flying trace trend line to be smooth until the flying conditions are met.
Wherein, the baseline selection condition is: the terrain is flat, no water system or little water system is distributed, the radiation field is uniform, the human interference is little, the personnel can reach, the personnel can pass through on the base line, and the area is 500m multiplied by 500 m.
The conditions for selecting the landing points are as follows: taking the topography, the landform characteristics and the traffic information into consideration, the wind direction or the side wind direction on a predicted pollution area can reach an area with a certain area at a take-off and landing point.
The relay station selection conditions are as follows: and selecting a region which is not polluted by nuclear accident radiation, wherein the region is closer to an aviation monitoring region and has relatively high terrain, the relay vehicle can reach the region, and a visible distance condition is provided between a relay station and a task machine.
The invention can train the whole process of unmanned aerial vehicle nuclear accident emergency aviation monitoring, adopts a mode of combining radiation pollution diffusion simulation with actual flight of an unmanned aerial vehicle, can accurately simulate the radiation pollution diffusion process, and can also actually operate the unmanned aerial vehicle and an unmanned aerial vehicle nuclear emergency monitoring system, so that trained personnel fully master the operation process of nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring, the training cost is effectively reduced, repeated practice is convenient, high-reality accident scene and accident phenomenon simulation can effectively improve psychological quality and actual combat strain capacity of nuclear emergency aviation monitoring teams, intelligent assessment and evaluation capacity is provided, professional skills of the nuclear emergency aviation monitoring teams are effectively assessed, and risks that emergency rescue equipment and teams cannot effectively fulfill emergency aviation monitoring when real nuclear accidents occur are reduced.
The system architecture has certain pertinence and universality by combining actual geographic positions and supposing possible accident source items.
Claims (10)
1. The utility model provides a nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training system which characterized in that, including simulation training system and unmanned aerial vehicle, be provided with unmanned aerial vehicle nuclear emergency monitoring system on unmanned aerial vehicle, simulation training system includes:
the database module is used for storing basic geographic information data, meteorological information data, aerial survey flight data, design survey line data and dose rate data;
the radiation pollution diffusion simulation module is used for calculating a diffusion path and activity of the simulated radiation pollution according to the input wind field information, precipitation information and source item information;
the emergency monitoring scheme making module is used for making a monitoring scheme according to the calculation simulation result of the radiation pollution diffusion simulation module and combining geographic information data and meteorological information data to determine corner coordinates of an emergency monitoring area, a measurement scale, a flight height and unmanned plane nuclear emergency monitoring system configuration;
the flight path planning module is used for simulating and calculating a flight path of a measuring line output survey line of a trend line of the flight path crossing and measuring altitude data, defining a base line area, and selecting a take-off and landing point and a relay station;
the unmanned aerial vehicle pre-take-off preparation module is used for inputting the survey line data into the unmanned aerial vehicle flight control system, performing unmanned aerial vehicle pre-take-off inspection and performing unmanned aerial vehicle nuclear emergency aviation monitoring system pre-take-off inspection;
the emergency monitoring module is used for enabling the unmanned aerial vehicle to carry out flight measurement according to the set survey line planning and monitoring the state of the unmanned aerial vehicle in real time;
the unmanned aerial vehicle post-aviation processing module is used for carrying out radiation pollution inspection on the surface of the unmanned aerial vehicle, carrying out post-aviation inspection on the unmanned aerial vehicle, carrying out post-landing inspection on an unmanned aerial vehicle nuclear emergency aviation monitoring system, analyzing and outputting a nuclear emergency monitoring report.
2. The system of claim 1, further comprising an assessment module for scoring and evaluating the performance of the trainee, including training process management, training information collection, evaluation criteria, and training effect evaluation.
3. The nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training system of claim 1, further comprising a theoretical training module for theoretical training of basic principles of nuclear emergency aviation monitoring and monitoring equipment operation procedures of a trainee, including a learning mode and an assessment mode.
4. The nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training system according to claim 1, wherein the flight path planning module comprises a traversing course flight path trend line simulation analysis module, a baseline selection module, a take-off and landing point selection module and a relay station selection module;
the simulation analysis module is used for performing simulation calculation on the trend line of the flying track of the crossing course according to the range angular point information of the emergency monitoring area, the information of the survey line path, the information of the digital elevation model, the information of the known obstacle, the information of the preset flying height and the information of the flying speed, and outputting the survey line flying path and the measured altitude data;
the baseline selection module is used for defining a baseline zone according to baseline selection conditions;
the landing point selection module is used for selecting landing points according to the landing point selection conditions;
and the relay station selection module is used for selecting the relay station according to the relay station selection condition.
5. The nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training system according to claim 1, wherein the unmanned aerial vehicle pre-takeoff preparation module comprises a survey line planning module, an unmanned aerial vehicle nuclear emergency aviation monitoring system pre-takeoff inspection module and an unmanned aerial vehicle pre-aviation inspection module;
the survey line planning module is used for inputting survey line coordinates and measured altitude into the unmanned aerial vehicle flight control system according to the simulation analysis result of the trend line of the flight track of the crossing route;
the system comprises a pre-take-off checking module of the unmanned aerial vehicle nuclear emergency aviation monitoring system, a pre-take-off checking module and a pre-take-off checking module, wherein the pre-take-off checking module is used for checking and setting operation parameters of the unmanned aerial vehicle nuclear emergency aviation monitoring system;
and the unmanned aerial vehicle pre-navigation checking module is used for checking the unmanned aerial vehicle body.
6. The nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training method is characterized by comprising the following steps of:
a. starting a nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training system, inputting wind field information, precipitation information and source item information in the simulation training system, calculating and simulating, and outputting radiation pollution diffusion paths and activity information;
b. determining the range of an emergency monitoring area in an interactive mode according to the radiation pollution diffusion simulation calculation result, and storing longitude and latitude coordinates of the emergency monitoring area;
c. screening flight barriers, preset longitude and latitude coordinates and heights of imaginary barriers, preset flight altitude information, preset unmanned aerial vehicle flight speed and climbing rate information and preset measurement scale information in an emergency monitoring area range; based on the digital elevation information, carrying out simulation calculation on a flight trend line of a crossing route, and outputting altitude data of a flight path of a measuring line;
d. in the emergency monitoring area, a base line area is defined according to selection conditions, and the positions of a take-off and landing point and a relay station are selected;
e. planning a survey line flight path on an unmanned aerial vehicle console, and inputting the survey line flight path into an unmanned aerial vehicle flight control system;
f. before flying, checking the unmanned aerial vehicle body, checking the unmanned aerial vehicle nuclear emergency aviation monitoring system before taking off, and performing early test of the unmanned aerial vehicle nuclear emergency aviation monitoring system;
g. taking off the unmanned aerial vehicle, carrying out emergency monitoring through an unmanned aerial vehicle nuclear emergency aviation monitoring system, and carrying out flight measurement according to a preset survey line flight path;
h. the unmanned aerial vehicle lands, the surface of the unmanned aerial vehicle is subjected to radiation pollution inspection by adopting a surface pollution meter, the unmanned aerial vehicle post-navigation detection is carried out, and the unmanned aerial vehicle nuclear emergency aviation monitoring system is subjected to a late test;
i. data processing and analysis are carried out, and a nuclear emergency monitoring report is output;
j. the system performs assessment and issues a team member assessment report.
7. The method for simulated training of aviation monitoring of a nuclear accident emergency rescue unmanned aerial vehicle according to claim 6, wherein in step c, the simulated calculation of the traversing course flight trend line specifically comprises:
setting a measurement scale according to the range angular point of the emergency monitoring area, and planning longitude and latitude coordinates of the head and tail points of the traversing route;
setting a sampling point distance, and calculating longitude, latitude and altitude data of each point according to the terrain data on a path of each traversing route;
setting a virtual obstacle on a traversing route, and configuring coordinates and ground clearance;
setting a certain width for two sides of each crossing route, and if the altitude exceeds the altitude on the crossing route or the height of an obstacle exceeds the altitude of the crossing route in the range, replacing the altitude to the altitude of the crossing route;
setting the minimum relative height and the maximum allowable deviation of the flight distance of the unmanned aerial vehicle from the ground surface and the obstacle;
fitting the height data of the crossing routes into smooth crossing route flight trend lines by adopting a cubic spline function;
setting the flight speed of the unmanned aerial vehicle and the climbing rate of the unmanned aerial vehicle;
according to the flying speed of the unmanned aerial vehicle and the climbing rate of the unmanned aerial vehicle, calculating whether the altitude data of each point on the flying trace trend line of the crossing route meets the limiting conditions of the minimum relative altitude difference and the maximum allowable deviation, resetting the altitude of the point which does not meet the altitude flying data, and fitting the flying trace trend line to be smooth until the flying conditions are met.
8. The method of claim 6, wherein in step f, performing a pre-takeoff check of the unmanned aerial vehicle nuclear emergency aviation monitoring system comprises:
checking and setting recording parameters set by a recording system of the unmanned aerial vehicle nuclear emergency aviation monitoring system, wherein the recording parameters comprise sampling rate and gamma energy spectrometer channel number;
checking navigation positioning data, ground clearance data, altitude data and temperature and humidity data;
checking and setting central meridian parameters;
checking the sampling rate of the GM counting tube dose rate meter;
checking identification setting parameters of a nuclide identifier and checking transmission link data;
checking aircraft attitude data;
the video image data is inspected.
9. The nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training method according to claim 6, wherein the unmanned aerial vehicle nuclear emergency aviation monitoring system early test comprises: testing by adopting a Cs point source and a Th point source respectively, and checking peak drift information and crystal energy resolution information of a gamma-energy spectrometer;
the unmanned aerial vehicle nuclear emergency aviation monitoring system late test comprises the following steps: and testing by adopting a Cs point source and a Th point source respectively, and checking peak drift information and crystal energy resolution information of the gamma-ray spectrometer.
10. The nuclear accident emergency rescue unmanned aerial vehicle aviation monitoring simulation training method according to claim 6, wherein the baseline selection conditions are: the terrain is flat, no water system or little water system is distributed, the radiation field is uniform, the human interference is little, personnel can reach, the personnel can pass through on the base line, and the area is 500m multiplied by 500 m;
the conditions for selecting the landing points are as follows: taking the topography, the landform characteristics and the traffic information into consideration, predicting an area with a certain area of a take-off and landing point, which can be reached by a mission machine transport vehicle in the upwind direction or the crosswind direction of a pollution area;
the relay station selection conditions are as follows: and selecting a region which is not polluted by nuclear accident radiation, wherein the region is closer to an aviation monitoring region and has relatively high terrain, the relay vehicle can reach the region, and a visible distance condition is provided between a relay station and a task machine.
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