DE102012108179A1 - Method for checking existence of radioactive contamination in specific region at nuclear plant, involves checking the existence of radioactive contamination at specific region in air-based and unmanned manner by unmanned flight device - Google Patents

Abstract

The method involves checking the existence of radioactive contamination at a specific region in air-based and unmanned manner. The low flight altitude is set to predetermined ranges. The specific region is detected by several measurement values. The measured values are detected with low speed, in particular low transverse velocity and with constant height. An independent claim is included for an unmanned flight device.

Description

The invention relates to a method for checking an area for contamination, in particular radioactive contamination. Furthermore, the invention relates to a flight device for measuring contaminants, in particular radioactive contamination.

For a variety of reasons, it may be necessary to check a specific area for the presence of contaminants. The way in which the measurements are carried out in detail depends greatly on the size of the area to be measured and the type of contamination.

For example, it is possible, in principle, for very narrowly defined areas to be measured by a person using a handheld device, for example. For certain contaminations - especially if they exceed a certain level - a measurement by persons is not useful or not possible. An example of this is measurements on radioactivity in strongly radiating areas, such as within "hot areas" within a nuclear facility or after an uncontrolled escape of larger amounts of radioactivity. In order to be able to carry out measurements in such areas, remote-controlled robots have already been proposed which are equipped with suitable measuring devices.

Airborne and satellite-based measurement systems have already been used to test large-scale areas. By means of an observation platform located at a corresponding height, large areas can be measured simultaneously at a particular time. By using aircraft or helicopters, it is also possible to measure areas larger than the observation field at a certain time by flying off the area to be examined.

An example of the wide range of types of contamination to be measured in practice is the contamination of areas with radioactive radiation sources. For example, the routine inspection of nuclear installations (and their environment) as well as the investigation of areas after accidents can be considered. In the former case, usually permanently installed measuring devices and / or handheld devices are used, which are guided by operating personnel to the locations to be measured. In the latter case, where it is about the measurement of large-scale areas in the shortest possible time, the use of aircraft or helicopters has already been proposed. Such a measuring method is for example in the Journal "Strahlenschutzpraxis" 3/2011, pages 10-12, "Aeroradiometry in Switzerland" or in the same issue 3/2011 of "Strahlenschutzpraxis" on pages 29-32 described.

The said articles also propose, in part, the use of the measuring methods proposed there for detecting radioactive materials (for example radioactive material which has been lost or which has been stolen).

While on the one hand the installation of fixed measuring devices or the use of hand-held measuring devices for the selective monitoring of very small areas or the continuous monitoring of systems is particularly suitable and represents the preferred method of measurement and on the other hand, the aforementioned air surveillance with aircraft and helicopters to represents preferred measurement method in very large areas, the previously known measuring methods turn out to be problematic to inappropriate, if it concerns areas with the extent in the range of premises or the like (typical size range 1 to 10 ha). In this size range, the use of aircraft, but also of helicopters is not suitable because they have to fly in a relatively high altitude. This is not only based on the legal framework (usually the minimum altitude for civil aircraft is 500 ft (about 150 m), which could be circumvented by issuing exemptions for a specific measurement task), as evidenced by the measurement campaigns described in those Articles As there are flying altitudes down to 50 m (about 150 ft.), problems also arise for technical reasons, as, for example, hovering helicopters generate a very strong downward flow of air, if the helicopter were sufficiently deep In order to be able to dissolve also comparatively small-scale structures, this would generally lead to a swirling up of dust, whereby on the one hand the area to be measured would be changed, on the other hand it could in particular lead to a transfer of radioactivity (or other contaminations) into other areas, especially in bisl Non-contaminated areas come. However, this is highly undesirable.

The lack of efficient measuring facilities for areas in the hectare area (premises and the like) proves to be increasingly problematic, since now increasingly nuclear facilities have arrived at the end of their life and must be dismantled and disposed of. Especially in the context of such However, it is often necessary to dismantle the areas regularly for possible decontamination (intervals should be within a few days or even hours). Here, in particular, detection of so-called "hot spots" is of interest, ie of small areas within the area to be investigated, in which an increased contamination is present.

So far, no sufficiently accurate, in particular not sufficiently accurate, spatially resolving measuring method with at the same time sufficient economy has been proposed for such "medium size ranges".

The object of the invention is thus to propose a method, which is improved over the prior art, for checking an area for contamination, which is improved compared to hitherto known methods for checking an area for contamination. Furthermore, the object of the invention is to propose a flight device for measuring contaminants, which is improved over previously known flying devices for measuring contaminants.

The invention solves the problem.

It is proposed to carry out a procedure for checking an area for contamination so that the verification of the area is air-based and unmanned. The airborne survey of the area makes it possible, on the one hand, to study more effectively areas of several hectares, in particular between 0.1 ha, 0.2 ha, 0.3 ha, 0.4 ha, 0.5 ha , 0.75 ha, 1 ha, 1.25 ha, 1.5 ha, 1.75 ha or 2 ha to 1 ha, 2 ha, 5 ha, 10 ha, 20 ha, 30 ha, 40 ha, 50 ha , 75 ha, 100 ha, 250 ha, 500 ha, 750 ha or 1000 ha. Airborne measurements in particular make it possible to study comparatively rough terrain. The use of an unmanned procedure not only makes it possible to avoid exposures to persons (such as pilots in particular) (or to eliminate or at least greatly reduce the need for personal protection measures), but it is also possible for them Flight apparatus used to carry out the method can be significantly lighter. In particular, the aircraft used may have a payload and / or gross vehicle weight of less than (or equal to) 1 kg, 2 kg, 3 kg, 4 kg, 5 kg, 6 kg, 7 kg, 8 kg, 9 kg, 10 kg, 15 kg, 20 kg, 25 kg, 30 kg, 40 kg, 50 kg, 60 kg, 70 kg, 80 kg, 90 kg, 100 kg, 125 kg, 150 kg, 175 kg, 200 kg, 225 kg, 250 kg , 275 kg, 300 kg, 350 kg or 400 kg. In particular, it is no longer necessary for the flying device to have a payload which is so large that, in addition to the required measuring apparatus, one or more persons can additionally be transported. This can then lead again to the fact that a possible downward airflow can usually be greatly reduced, so that significantly lower altitudes can be realized without causing the above-described Aufwirbelung of dust (or may be the stirring up of dust or such are at least reduced). Legally, too, it is generally the case that sufficiently small, sufficiently light aircraft and / or flying devices with sufficiently low power, less or even substantially no requirements for their approval have to comply. The same applies if necessary additionally or alternatively for the licensing / approval of the operating personnel. In Germany, for example, the weight limit, above which significantly higher legal requirements for a flying object and its operating personnel must be met, is 25 kilograms total weight. An implementation of the proposed method has failed so far usually on the one hand on the only insufficient selection of suitable aircraft devices and on the other hand the presence of suitable detectors, on the one hand sufficiently accurate (especially local resolution), but on the other hand are also correspondingly light and / or have a sufficiently low energy consumption , Due to the lack of availability of such devices, therefore, the prejudice prevailed that such a method was not possible. Incidentally, both a single type of contamination and a plurality of different types of contamination can be measured.

In particular, it is possible that at least a check for radioactive contamination takes place with the proposed method. Especially in this area prevailed so far the prejudice that sufficiently light, sufficiently spatially resolving and sufficiently low-energy detectors would not be available. This is particularly related to the fact that the detector materials commonly used were so far very difficult and beyond were often used for directional effect lead coats and the like. This made the use of small and unmanned flying objects so far largely impossible, but at least problematic. Of course, it is also possible that additionally or alternatively also other contaminations are measured. In particular, in this context, bacterial contamination, contamination with one or more special substances (in particular chemical nature) and the like should be considered. Incidentally, the term "contamination" is to be understood as relatively broad. In particular, too to consider a search for stolen, lost or on a non-permitted transport radioactive substances as covered by this term. In the latter case, technical language is usually referred to as "radioactive sources", since these are enclosed in a container and the radioactive substance (s) accordingly do not spread / spread uncontrollably. On the other hand, in the context of radioactivity, one usually speaks of "contamination" in technical terms only if it is an uncontrolled (and thus not enclosed in a container) spread of radioactive substances.

In particular, it is proposed to carry out the method in such a way that at least temporarily a low measuring height and / or a low flying height of preferably less than 50 m, 40 m, 30 m, 25 m, 20 m, 15 m, 10 m, 9 m, 8 m, 7 m, 6 m, 5 m, 4 m, 3 m, 2 m or 1 m is used. With such altitudes, it is possible to achieve a very high spatial resolution, so that a particularly accurate localization of contaminants (for example, so-called "hot spots") is possible. Accordingly, if necessary, countermeasures and / or remedial measures can be initiated.

Furthermore, it is proposed to carry out the method in such a way that the area to be checked is detected by a plurality of measurements, and in particular detected by flying off a geometric pattern, preferably by line-by-line departure. In this way, it is possible to achieve a usually highly efficient, spatially resolved measurement. In particular, it is possible, based on the measured values obtained, for example, to be able to create a map in relation to the distribution of the contaminations. Such a card may, for example, prove to be particularly helpful for initiating countermeasures or the like. It proves to be useful in this context in particular (but not only) if the measuring device used is adapted to the respective measuring campaign to be carried out (in particular with regard to its sensitivity). For example, in the case of radioactivity to be detected, it makes sense to use small and sensitive detectors in the presence of high activities (and possibly high dose rates), whereas comparatively heavy, sensitive detectors are usually advantageously used to detect radioactive sources. It can prove useful if the detector device is exchanged during a measurement campaign, so that in a first part of a measurement campaign, for example, a "rough overview" is realized and then in a second part of the measurement campaign with another detector a more accurate measurement of "suspicion " he follows. It makes sense here if the device used to carry out the method has a detector which is as easy as possible to exchange (for example using quick-connection elements or the like). The same applies mutatis mutandis to any electrical or other connections to be provided.

Furthermore, it is proposed that the method be carried out in such a way that the control of the measuring device is at least temporarily remotely controlled and / or at least temporarily preprogrammed and / or at least temporarily autonomous. Additionally or alternatively, it is proposed that the method is carried out such that the measured values are temporarily stored and / or at least temporarily buffered and / or transmitted at least partially and / or at least temporarily, in particular transmitted wirelessly. An at least temporarily remote-controlled process management can prove advantageous, in particular, when it is necessary to react to unexpected events and / or for other reasons sufficient flexibility must be maintained. In addition, by remote control, the device required to carry out the method may possibly be made simpler. By at least temporary preprogramming a high degree of automation can be realized. Thanks to today available fast processors and / or cost-effective and memory provided with memory, such pre-programming can be comparatively easy and inexpensive, an at least temporarily autonomous process management is particularly appropriate, for example, on the one hand, a high degree of automation to be achieved, but on the other hand sometimes flexible events have to be addressed. Particularly advantageously, an at least temporarily autonomous procedure can turn out, for example, if in certain areas a remote control is not possible, or can only be carried out problematically (for example, closed buildings or the like). An autonomous process implementation can in particular also include a process implementation in which a more exact measurement is automatically carried out in the area in question in areas in which certain conditions exist (for example, in the case of radioactivity in a "first pass" a higher dose is measured) (For example, by staying longer in this area in order to gain better statistics). A caching of data can be particularly advantageous if a particularly large amount of data is obtained, which can not be transmitted or only problematic online (for example, if in a Radio transmission a very wide frequency range would be required and / or if obstacles hinder the propagation of, for example, radio waves). In principle, arbitrary storage systems, in particular digital memories, are available for storing particular measurement data. An at least partial and / or at least temporary direct transmission is particularly advantageous if the data must be available as quickly as possible and if necessary also the risk of loss of the measuring device. The transmission is expediently wireless (for example, electromagnetic spectrum, infrared spectrum or the like). Optionally, however, is also to think of a wired transmission. Caching of measured values is not only a matter of storing a measured value (for example in an electronic memory), but also of sampling and intermediate storage in a corresponding device (for example sample containers).

It may be particularly advantageous if the position of the measuring location is detected during the measuring method and, in particular, the position of the measuring location is detected and / or transmitted and / or buffered together with the associated measured values and / or if the measured values are recorded at least temporarily in a time-resolved manner. In such a method implementation, it is possible in a particularly simple manner that, for example, a map with the contamination distribution can be created. If appropriate, such a card can also be produced with a particularly high resolution, or the methods required for its production can be particularly simple.

Furthermore, it is proposed to carry out the method such that the measured values are detected at least partially at a low speed, in particular at a low transverse speed, and / or when the measured values are detected at least partially at substantially constant height in the method. As a result, the measurement accuracy can generally be increased significantly (in particular by using a low speed) (in the case of radioactivity measurements, one should usually speak of a measurement sensitivity, a detection limit or a detection probability). This is especially true for measurements due to the. Measuring device and / or require a certain amount of time due to the physical value to be measured. A measurement at a substantially constant height (in particular over ground) is particularly suitable in order to be able to maintain the resolution and / or to be able to avoid any necessary correction calculations. But it is also possible, at least temporarily or at least partially, to use a varying height (in particular a varying height above ground). In particular, in such a case, it makes sense, if suitable algorithms are used, with which the influence of a varying amount on the measurement results can be compensated ("can be deducted"). Such compensation may also be useful at a constant altitude, for example to compensate for topographical terrain effects.

Furthermore, an unmanned flying device is proposed which has at least one measuring device for preferably time-resolved measurement of contaminations, in particular radioactive contamination. With such a device, the method described above can be carried out particularly advantageously. In particular, the properties and advantages already described above can arise at least in an analogous manner. Furthermore, it is possible to develop the unmanned aerial vehicle in the sense of the previous description, at least analogously.

In particular, it is proposed that the unmanned aerial vehicle is designed as a slow-flying aircraft and, in particular, is designed as a flight device with the ability to be substantially at least temporarily stationary. These may be, for example, balloon-type flying devices, airship-type flying devices, helicopter-type flying devices and / or flying devices with pronounced slow-moving characteristics. In particular, recently become available, under the term "Mikrokopter" become known flying devices (and their modifications) to. Due to the advancement of detector technology (particularly for the detection of radioactive contamination), such devices may also carry and / or provide power to modern detectors. For example, a 1.5 × 1.5 inch ² LaBr ₃ detector is formed. Due to the slow airspeed, a sufficiently accurate spatial resolution can be realized even at low altitudes. The speed of flight should advantageously be less than (or equal to) 0.5 m / s, 0.75 m / s, 1 m / s, 1.5 m / s, 2 m / s, 2.5 m / s , 3 m / s, 4 m / s or 5 m / s.

It is particularly preferred if the proposed flying device is designed and set up in such a way that it carries out the method described above at least temporarily. This can be realized, for example, using program-controlled devices (for example single-board computers). It may then result in the advantages and properties already described above, at least in an analogous manner.

Furthermore, it is proposed to design the unmanned aerial vehicle with at least one position detection device, preferably with at least two or a plurality of position detection devices, in particular with at least one satellite navigation device, at least one inertial navigation system device of at least one direction finding device and / or at least one radio directional device. As a result of such methods (in particular also by a combination of such methods), it is generally possible to determine particularly accurate position measurement values in a comparatively simple manner. Also, such systems can be comparatively light and / or comparatively economical in energy consumption, which may prove to be particularly advantageous for the presently proposed flying device.

Furthermore, it is proposed to use the previously described method and / or the previously described unmanned aerial vehicle for performing a measurement in the context of a release procedure for a site in the legal sense. This can be understood, for example, the release of a site in the nuclear sense, for example, after dismantling a radioactive plant. It is possible that the measurement represents the essential, predominant or even exclusive part of the release process. Likewise, however, it is also possible that the measurement has merely "supporting character" and, for example, further and / or other measurements are carried out in order to achieve a certain "redundancy".

In the following the invention will be explained in more detail by means of advantageous embodiments and with reference to the accompanying drawings. Show it:

1 a conceivable embodiment for a Mikrokopter with a detector in a schematic, perspective view;

2 FIG. 2: an exemplary embodiment of a radioactivity detector in a schematic cross-sectional view;

3 : a method for measuring an area for radioactive contamination;

4 : Simulation calculations for a measurement result obtained using a microcopter

5 FIG. 2 shows a further exemplary embodiment of a radioactivity detector in a schematic cross-sectional view.

In 1 is an embodiment of a radiation measuring drone 1 shown in a schematic perspective view. The radiation measuring drone 1 consists of a Mikrokopter 2 , the present over six propellers 3 which provide the necessary lift. The power supply of the microcopter 2 takes place via two high-performance accumulators 4 based for example on lithium-ion or lithium-polymer technology. Furthermore, in 1 the control electronics 5 of the microcopter 2 to recognize. The control electronics 5 Adopts the position control of the microcopter 2 and ensures that the Mikrokopter 2 Departures a pre-programmed flight path. In the presently illustrated embodiment, the routing of the microcopter takes place 2 with the help of position data, which via a in the control electronics 5 built-in GPS receiver (not shown in detail here) are received. However, it is possible in the present embodiment illustrated, the previously programmed flight path by remote control signals (designed as a radio remote control) to modify, if necessary. This is in the control electronics 5 a corresponding receiver (not shown here) provided.

In the payload range 6 of the microcopter 2 is a radioactivity detector 7 hooked. (The construction of the radioactivity detector 7 is below with reference to 2 explained in more detail.) The radioactivity detector 7 is also from the high-capacity batteries 4 energized. The radioactivity detector 7 not only consists of the detector crystal 8th , but also has electronic drive components 12 on and in particular an electronic memory for storing the measured data obtained. The measured data are stored together with position values in the exemplary embodiment shown here. This is the radioactivity detector 7 also provided with a GPS receiver (although it is possible, the GPS data of the control electronics 5 to use).

The construction of the radioactivity detector 7 is in 2 shown in more detail. The radioactivity detector 7 indicates the actual detector crystal 8th on. This is formed in the present embodiment shown from a LaBr ₃ crystal with a cylindrical shape. The height of the cylinder is 1.5 ". Also the diameter of the detector crystal 8th in this case is 1.5 "(1" = 2.54 cm). This results in a weight of the detector crystal 8th of about 250 g.

The detector crystal 8th is completely in the present embodiment of a cylindrical aluminum can 9 wrapped with a wall thickness of 1 mm (apart from presently not shown through openings for electrical lines). The weakening effect of the aluminum can 9 in terms of usually Radiation radiation to be detected is usually so low that this construction is not a disadvantage. On the contrary, it is even possible in the rule that unwanted background signals can be suppressed. As a result, the measurement signal quality can be significantly increased in some cases.

For the sake of completeness, it should be pointed out that it may also prove useful to replace the radioactivity detector described above 7 "Classic" Geiger-Müller counters are used. These generally have a comparatively low weight. On the other hand, they usually have a relatively poorer sensitivity. However, this inferior sensitivity may be compensated for by a longer measurement period (which may possibly be realized due to the lower weight of the Geiger-Müller counter).

Finally, in 2 still schematically the measuring electronics 12 of the radioactivity detector 7 located. This has in particular electrical storage units for the measured values obtained. The measured values are stored together with GPS data, which is also fed into the measuring electronics 12 integrated GPS receiver can be obtained. Furthermore, the measuring electronics 12 suitable amplification and processing components, that of the detector crystal 8th amplify measured values and convert them into a suitable data format.

In 3 is a method for measuring an area for contamination as a flowchart 13 shown.

In a first step (step 14 ) the Mikrokopter is programmed with the flight data.

The micro-copter then flies to the first (or next) position (step 15 ) and picks up the corresponding measured value there (step 16 ).

The measured value is stored together with the position (step 17 ).

Now it is checked whether the Mikrokopter already all positions according to flight plan (programming under step 14 ) or if any positions are still outstanding (check step 18 ). If there are still positions to fly, the process branches in the loop 19 and another position is approached (step 15 ) etc.

However, if all positions have already been approached, the Mikrokopter returns to its starting point and shuts down (step 20 ).

Now in another step 21 the measured values are read out and processed. In particular, the measured values can be prepared and displayed in the form of a map.

In 4 a possible result of such a measurement is shown. These are the results of a simulation calculation. In 4 is a field of present 50 m × 50 m shown (scaling each -25 m to 25 m). The individual measured values obtained are as points 22 shown with different gray coloration (dithering). You can see a cluster 23 from several points with a different gray color. This corresponds to a radioactive source to be identified.

In 5 is finally a second embodiment of a radioactivity detector 10 shown. Again, the actual detector, the present as a layered detector 11 is executed, in a closed aluminum box 9 locked in. The layered detector 11 consists of a large number of mutually parallel bars 24 which are made of a plastic scintillation material. This training of a plurality of mutually parallel bars 24 leads to an at least in connection with some measurements desired directional characteristic of the radioactivity detector 10 , This is especially true when for each individual bar 24 a single measurement pickup sensor (not shown here) is used. The present invention shown radioactivity detector 10 has a directional characteristic down.

Should this directional characteristic be undesirable in the context of a "measurement flight" (temporarily), then it is also possible that the radioactivity detector 10 is rotated in a horizontal position so as to "suppress" the directional characteristic. This is the radioactivity detector 10 on a rotation axis 25 rotatably suspended (in this case indicated by a double arrow). The radioactivity detector 10 can do this by a servomotor 27 for example via a belt 26 to be turned around. The rotation, for example, by the control electronics 5 of the microcopter 2 controlled (alternatively or additionally also own electronics is possible).

The parameters selected here are 2 m altitude, with an airspeed of 1 m / s was selected. The flight time was 2500 s. In the case of currently available microcopters (and in particular also high-performance batteries), this can be realized without problems in one flight passage (or else in comparatively few flight passes). The average count rate due to ambient radiation at the selected altitude of 2 m was assumed to be 40 s ^-1 . The activity of the radioactive source ( visible through the cluster 23 ) was about 1 MBq. The radioactive source was a cobalt 60 source.

LIST OF REFERENCE NUMBERS

1

Radiation measuring drone

2

Mikrokopter

3

propeller

4

High Capacity Battery

5

control electronics

6

payload range

7

Radioactivity detector (first embodiment)

8th

detector crystal

9

aluminum can

10

Radioactivity detector (second embodiment)

11

layered detector

12

measuring electronics

13

flow chart

14

Programming flight plan

15

Approaching position

16

Record reading

17

Storage reading

18

Checking flight history

19

Loop (return)

20

Return flight drone

21

Read out reading

22

Point (measurement)

23

cluster

24

rods

25

axis of rotation

26

belt

27

servomotor

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited non-patent literature

• Zeitschrift "Strahlenschutzpraxis" 3/2011, pages 10-12, "Aeroradiometry in Switzerland" or in the same issue 3/2011 of "Strahlenschutzpraxis" on pages 29-32 [0005]

Claims (12)

Procedure ( 13 ) for the verification of an area ( 24 ) on contamination ( 23 ), characterized in that the verification of the area ( 24 ) air-supported and unmanned. Procedure ( 13 ) according to claim 1, characterized in that at least one check for radioactive contamination ( 23 ) he follows. Procedure ( 13 ) according to claim 1 or 2, characterized in that at least at times a low measuring height and / or a low flying height of preferably less than 50 m, 40 m, 30 m, 25 m, 20 m, 15 m, 10 m, 9 m, 8 m, 7 m, 6 m, 5 m, 4 m, 3 m, 2 m or 1 m is used. Procedure ( 13 ) according to one of the preceding claims, characterized in that the area to be inspected ( 24 ) by a variety of measurements ( 22 ), and in particular by flying off a geometric pattern, preferably by line-by-plane take-off, is detected. Procedure ( 13 ) according to one of the preceding claims, characterized in that the control of the measuring device ( 1 ) at least temporarily remotely controlled and / or at least temporarily preprogrammed ( 14 ) and / or at least temporarily autonomously and / or characterized in that the measured values are buffered at least partially and / or at least temporarily ( 17 ) and / or at least partially and / or at least temporarily transmitted, in particular wirelessly transmitted. Procedure ( 13 ) according to one of the preceding claims, characterized in that the position of the measuring location is detected and in particular together with the associated measured values ( 22 ) and / or transmitted and / or buffered and / or characterized in that the measured values ( 22 ) are detected at least temporarily time-resolved. Procedure ( 13 ) according to one of the preceding claims, characterized in that the measured values ( 22 ) are detected at least partially at a low speed, in particular a low transverse speed and / or at least partially at a substantially constant height. Unmanned aerial vehicle ( 1 ), comprising at least one measuring device ( 7 . 10 ) for preferably time-resolved measurement of contaminations ( 23 ), in particular radioactive contamination ( 23 ). Unmanned aerial vehicle ( 1 ) according to claim 8, characterized in that it acts as a slow-flying aircraft ( 1 ), in particular as a flight device ( 1 ) is designed with the ability at least temporarily substantially to be able to stand still. Unmanned aerial vehicle ( 1 ) according to claim 8 or 9, which is designed and arranged such that it at least temporarily a method ( 13 ) according to one of claims 1 to 7 performs. Unmanned aerial vehicle ( 1 ) according to one of claims 8 to 10, characterized by at least one position detection device, preferably by at least two or a plurality of position detection devices, in particular by at least one satellite navigation system device, by at least one inertial navigation system device, by at least one direction finding device and / or by at least one radio directional device. Use of a method according to any one of claims 1 to 7 and / or an unmanned aerial vehicle according to any one of claims 8 to 11 for performing a measurement in the context of a release procedure for a terrain in the legal sense.

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