WO2014207492A1 - Procédé et système de collecte de données de mesure pour la détection spatiale de caractéristiques de l'atmosphère - Google Patents

Procédé et système de collecte de données de mesure pour la détection spatiale de caractéristiques de l'atmosphère Download PDF

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Publication number
WO2014207492A1
WO2014207492A1 PCT/HU2014/000054 HU2014000054W WO2014207492A1 WO 2014207492 A1 WO2014207492 A1 WO 2014207492A1 HU 2014000054 W HU2014000054 W HU 2014000054W WO 2014207492 A1 WO2014207492 A1 WO 2014207492A1
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WIPO (PCT)
Prior art keywords
flight
carrier unit
velocity
flight path
measurements
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PCT/HU2014/000054
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English (en)
Inventor
András MOLNÁR
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Óbudai Egyetem
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Publication of WO2014207492A1 publication Critical patent/WO2014207492A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01W—METEOROLOGY
    • G01W1/00—Meteorology
    • G01W1/08—Adaptations of balloons, missiles, or aircraft for meteorological purposes; Radiosondes

Definitions

  • the invention relates to a measurement data collection method and system for the spatial detection and display of atmospheric properties, particularly pollutants.
  • the concentration of air pollutants may be measured applying different types of carrier devices. Applying instrumentation mounted on lighter-than-air devices (balloons) systems with slow enough speed (required for sensors with long settling time) may be provided, but the applicability of balloons is significantly restricted by weather conditions. Balloons are most frequently applied in such a manner that their sensors continue gathering data during ascent until the balloon is destroyed at high altitude due to the expansion of its lifting gas.
  • This measurement method is generally applied in meteorology, with the measured data being primarily interpreted as a function of altitude. The method is not capable of performing measurements over a small area at a constant altitude, or of repeating the measurements with a short cycle time.
  • the balloon only ascends only to a predefined altitude, where it is not destroyed but is drifted by the wind reigning at the given altitude. In this case, measurements are carried out at the drift altitude and direction, implying that the method is incapable of accurately monitoring small areas. In addition to that, the drift altitude of the balloon also cannot be determined accurately prior to the flight. In a vast majority of cases, steerable lighter-than-air aircraft (airships) cannot be applied since they are extremely sensitive to wind. Another disadvantages of such vehicles are their large size and the high cost of their lifting gas. According to existing methods, meteorological observations may also be carried out utilising robotic aircraft (drones). Such aircraft have the advantage that measurements may be performed at locations with well-defined spatial coordinates.
  • multirotor carrier units are suitable for the above specified measurement goals. These are conventional helicopters and multirotor airborne devices. However, due to their advantages, multirotor carrier units are better suited for carrying out the measurements in a manner described above. In the following, helicopters and multirotor airborne devices are collectively referred to as multirotor carrier units.
  • a measurement system for detecting atmospheric pollution using a multirotor carrier unit is described for instance in the following article: .Tracking of atmospheric release of pollution using unmanned aerial vehicles", Smidl, V., Hofman, R., Atmospheric Environment, Volume 67, March 2013, Pages 425-436, ISSN: 13522310, DOI: 10.1016/j.atmosenv.2012.10.054.
  • the on-board control unit 13 comprises on-board electronics and software for flight stabilisation and autonomous flight.
  • the on-board control unit 13 has to provide that the carrier unit 10 is capable of autonomous flight along a pre-planned flight path stored in the on-board control unit 13.
  • the on-board electronics includes a reliable and fast (at least 5 Hz) positioning device 12, preferably a global positioning device (compatible for example with the GPS or the GLONASS system).
  • the accuracy of the system may be improved if the positioning device 12 makes use of multiple positioning systems at the same time. In this case, spatial position may be determined with higher accuracy, and thus the 3D pollution map generated by the invention will also be more accurate.
  • the intelligent sensor module 15 comprises sensors adapted for the pollutant(s) and property/properties to be measured, a microcontroller adapted for preprocessing and intermediate storage of measurement data, and a MODEM unit for data transfer.
  • the sensor module 15 receives the spatial position, the altitude computed from air pressure, and the velocity data directly from the on-board control unit 13 applied for controlling the flight of the carrier unit 10, and, by aggregating these data and the data measured by the sensors, generates data series having a structure described later on.
  • the sensor module 15 may for example carry out measurements of the following - 7 - atmospheric components, pollutants and properties: oxygen (O2), ozone (O 3 ), carbon dioxide (CO 2 ), carbon monoxide (CO), nitrogen dioxide (NO 2 ), nitric oxide (NO), temperature, water vapour, airborne dust, gamma radiation, UVA radiation, UVB radiation.
  • oxygen O2
  • ozone O 3
  • carbon dioxide CO 2
  • carbon monoxide CO
  • NO 2 nitrogen dioxide
  • NO nitric oxide
  • the sensor module 15 is mounted on the multirotor carrier unit 10 such that the sensors 1 1 thereof may be in direct, unobstructed contact with the surrounding air.
  • the sensor module 15 is disposed below the plane of the rotors of the carrier vehicle, and thereby the intensive air flow generated by the rotors also increases the air flow through the sensors.
  • the control electronics of the sensor module 15 is in direct contact with the on-board control unit 13 of the carrier unit 10 from where it receives air pressure, velocity, GPS, and inertial data. These data are assigned by the sensor module 15 to the data of the individual sensors.
  • the on-board - 8 - electronics of the multirotor carrier allows autonomous flight of the device, providing that the apparatus may be launched from a safe distance from polluted areas, and that measurements may be carried out in areas harmful to humans.
  • the ground-based flight control means 23 is preferably implemented in software, and is adapted for generating the flight plan (flight path) and uploading it to the airborne carrier unit 10, and for continuously monitoring the flight-related parameters during the course of the flight.
  • the ground-based flight control means 23 may be run on any suitable computer.
  • the ground-based software has a so-called offline map database, as in many cases there is no available Internet connection at the site where the invention is applied.
  • the ground-based flight control means 23 is preferably connected to a ground- based MODEM antenna that provides a real-time wireless connection to the airborne carrier unit 10.
  • the ground-based display means 24 is preferably implemented as a data analysis and visualisation software adapted for processing and displaying data retrieved from the carrier unit 10. It is primarily through the user interface of this software that the user receives information on the concentration and spatial distribution of the detected pollutants.
  • the measurement data may be displayed in two dimensions, or in a more advanced manner, in 3D.
  • the two-dimensional display has the advantage that it supplies quantitative data that are easy to evaluate, whereas the 3D model has the advantage of giving an overall image that better fits human thinking and therefore facilitates fast decision-making.
  • measurement duration should reach the settling time t s of the individual sensors 1 1 , i.e. the exposure time (waiting or holding time) for a given spatial region should reach the settling time t s . - 9 -
  • the settling time (required exposure time) of electrochemical sensors is higher compared to other measurement means (e.g. absorption sensors), but their size and mass are sufficiently small and thus they are especially suitable for application aboard small-sized airborne devices.
  • the applied sensors 1 1 have a known, usually non-linear characteristics (i.e. relationship between the exposure time and the measurement value). In addition to that, this function is also dependent on the measured concentration, implying that the sensor characteristics are accurately described by a plurality of curves. However, for practical purposes manufacturers usually specify one characteristics that describes the behaviour of the sensor 11 relatively well. For the applicable gas sensors a good example is the characteristics of the O 2 (oxygen) sensor used in our experiments, shown in Fig. 3, which can be well approximated with the following formula:
  • the settling time of the oxygen sensor required for accurate measurements is 14 sec.
  • Table 2 below shows, as a function of the velocity of the airborne carrier unit - 10 -
  • the minimum size of the spatial region flying through which the concentration of the O 2 can be measured provided that the concentration stays the same in the region.
  • the resolution of the measurement varies as a function of velocity (increases with increasing velocity).
  • the accuracy of the measurement - and thereby the spatial resolution with which the polluted area is scanned - may be improved by decreasing the velocity of the carrier device.
  • ycaicuiated is the concentration corresponding to an exposure time of 0.7t s , i.e. ycalculated — f(0.7t s ),
  • y gas is the actual concentration
  • f(x) is the function that approximates the characteristics of the sensor.
  • the measurement data collection method according to the invention is therefore adapted for the spatial detection of atmospheric properties, the method involving the application of a multirotor carrier unit 10 comprising at least one sensor 1 1 , a - 1 1 - positioning device 12, and an on-board control unit 13 allowing autonomous navigation.
  • a flight path is stored in the carrier unit 10, and the measurements are performed applying the sensor 1 1 while flying the carrier unit 10 along the flight path utilising the on-board control unit 13.
  • the velocity of the carrier unit 10 is adjusted during the measurements by means of the onboard control unit 13 such that the following condition is satisfied: f light ⁇ Q.l - t s
  • dh is the desired spatial resolution
  • t s is the settling time of the sensor 1 1.
  • the flight velocity over the given area should be chosen such that the sensor 1 1 stays for at least 70% of the required settling time t s in a spatial region corresponding to the required minimum spatial accuracy or spatial resolution (i.e., in case of common GPS systems, in a 6 m diameter sphere).
  • the required minimum spatial accuracy or spatial resolution i.e., in case of common GPS systems, in a 6 m diameter sphere.
  • the module has to cover a distance of 6 m in 9.8 s. This approximately corresponds to a velocity of 0.61 m/s, which is cca. 2.2 km/h.
  • a preferred embodiment is characterised by that the desired spatial resolution (d h ) is set to the limit of accuracy of the positioning device 12. Since a positioning more accurate than that would not be possible anyway, the entire operating range of the positioning device 12 is made use of.
  • the measured actual concentration should be displayed such that it falls to the middle of the segment corresponding to the measurement.
  • the flight path is preferably defined by so-called waypoints WP.
  • Each waypoint WP is assigned a list of parameters that is processed by the on-board control unit 13 and taken into account while executing the flight.
  • Waypoints are denoted "WPn" where "n” is the number of the waypoint, from 0 to m (m denotes the highest waypoint number).
  • the airborne carrier unit 10 is always located on a segment (WPn-1 ; WPn) connecting two of the waypoints WP.
  • the flight is executed by the airborne device according to the list of parameters corresponding to the given waypoint WPn, i.e. it flies at an altitude and with a velocity corresponding thereto.
  • Waypoints WP are preferably assigned the following list of parameters:
  • Fig. 5 the displayed image of a horizontally extending flight path 30 is shown.
  • the flight path 30 is to be preferably defined such that it covers the probable spread of the gaseous pollution 20.
  • the carrier unit 10 flies along the flight path 30, returning to the base 34 at the end. - 13 -
  • the flight path 30 illustrated in Fig. 6 contains two layers 31 .
  • the flight path 30 comprises altitude segments 33 that connect the layers 31 , as well as horizontal segments 32 coinciding with the planes of the individual layers 32.
  • the flight path 30 illustrated in Fig. 7 is defined by waypoints WP.
  • the carrier unit 10 After taking off at the base 34, the carrier unit 10 first flies along a high velocity segment 35 until reaching the area to be examined. At the first waypoint WP located at the end of the high velocity segment the velocity of the carrier unit 10 decreases, the carrier unit 10 proceeding along low-velocity segments 36 until reaching the last waypoint belonging to the area under examination. After leaving the last waypoint WP of the area under examination, the carrier unit 10 returns to the base 34 along a high velocity segment 35.
  • the flight path 30 shown in Fig. 8 comprises holding waypoints WPV located at the low-velocity segments. Thereby, measurement points are established along the flight path 30, the velocity of the carrier unit 10 being set to zero utilising the on-board control unit 13 at the measurement points during the measurements. It is equally true of Fig. 7 and Fig. 8 that they illustrate a flight path laying in a single horizontal layer 31. In order to fully cover the examined area, multiple such layers should be included, preferably one above the other.
  • the route is to be planned such that, with the help of the velocity parameter of the waypoints WP, a flight speed is set over the polluted area that, corresponding to the speed of the sensors 11 , allows for a sufficient exposure time to provide the desired resolution.
  • a holding time has to be inserted at the holding waypoints WPV. In that case, the airborne device is floated near the holding waypoint WPV, and, after the holding time has elapsed, it is flown to the next holding waypoint WPV where it is floated again.
  • this segment is preferably flown at the maximum safe velocity of the airborne device.
  • complex spatial examination of a given area may be performed quickly and in an efficient manner.
  • the ad-hoc base station consisting of a portable computer 22 or smartphone running the control software and a MODEM and antenna connected thereto for providing RF connection, is to be set up near the assumed polluted area.
  • the measurement flight path has to be planned utilising the software of the ground- based flight control means 23. During route planning the following considerations have to be taken into account:
  • the flight velocity above the polluted area should be adjusted to match the reaction time(s) of the applied sensor(s). This velocity is usually much lower than the speed the area is approached with.
  • the airborne device After completing the flight over the area, the airborne device should return to the takeoff location flying at its optimum speed.
  • the overall flight time should be planned shorter than the endurance time of the airborne device.
  • the measurement session has to be repeated multiple times such that the individual measurements are always taken in the same order, with the data series corresponding to one another being utilized for the evaluation.
  • the carrier unit 10 generates from the acquired data a data set having the following structure:
  • the timestamp parameter is applied during data processing for the identification of individual flights (repeated measurements), i.e. during data processing the timestamp corresponding to the first measurement is converted to the numeral 1 , the timestamp corresponding to the second measurement to 2, and the one corresponding to the m-th measurement to m.
  • the conversion results in the following data sets:
  • the visual representation of data series 1-m allows for evaluating the temporal spread of pollutants.
  • the system is preferably capable of real-time 2D or 3D display of the measurement data. This is to allow for modifying the planned flight path if it becomes necessary because of the spatial spread of the pollutants. Since in the vast majority of cases the pollution to be measured is not visible, the initial flight path is determined based on assumptions and previous experience. However, real-time data display provides the quick feedback necessary for deciding whether the pollution is really located within the planned flight area. It may happen that the pollution does appear within the examined area but its concentration is steadily growing towards one of the area's boundaries. In that case the flight path for the next flight should be modified such that it fully covers the polluted area.
  • Fig. 9 illustrates an exemplary representation of the measurement results.
  • the 2D representation of data essentially comprises a diagram plotted in an orthogonal coordinate system.
  • the coordinate axes correspond to geographical coordinate pairs, the measurements being performed applying the same coordinate pairs.
  • the measured concentration of a pollutant is preferably represented as a coloured circle (disc) having a size proportional to the measured value, plotted at the given measurement point.
  • Each measurement sequence represents measurements taken at a single given altitude, and thus as many diagrams of the type shown in the drawing are generated as the number of altitude layers 31 comprised by the measurement flight path.
  • the circles representing measured pollution collectively form a "cloud" in a layer 31 which gives a handy visual clue for how big the polluted spatial region is in the given layer.
  • the spatio- temporal spread of pollutants may be represented. This information is useful for giving - at the pollution site - a successful estimate of the size of the polluted area, as well as of the foreseen danger posed by the pollution.
  • the 3D representation illustrated in Fig. 10 is a logical extension of the 2D representation.
  • the third coordinate axis corresponds to the altitude values.
  • Data are displayed in a manner similar to the 2D representation, except that the magnitude of the measured pollution is displayed as a coloured sphere having a radius r that is proportional to the measured value.
  • the 3D data representation allows the application of only a single, three-dimensional diagram instead of displaying multiple layers separately.
  • the invention may be advantageously applied in situations where dangerous gas pollution has occurred over a small area, or in pollution situations where dangerous gases or vapours have been emitted into the atmosphere.
  • the visual representation provided by the invention helps experienced rescue professionals (who are not specialists in the fields gas dynamics or gas diffusion) take subjective decisions that are based on experience. Complementing this personal experience, the visualisation of the presence of such pollutants that otherwise would be invisible allows rescue professionals to take more accurate and more effective decisions and actions.
  • the measurement device and the ground service station are small and lightweight, and thus the system is highly mobile. Thereby, the device may be quickly transported by motor vehicle to the vicinity of the pollution site, where the measurements may be started immediately. Performing the measurements, the instantaneous values related to the pollution may be detected directly. By taking repeated measurements the spread of the pollution may also be detected. Repeated measurements also allow for the reliable detection of the intensity of the pollution source. Increasing pollutant concentrations indicate increasing source intensity, while decreasing pollutant concentrations may indicate the depletion of the pollution source, or the success of the countermeasures. By applying multiple sensors at the same time, multiple pollutants or multiple pollution sources located in the same area may be tracked. Multiple-sensor measurements allow the simultaneous detection of primary and secondary pollution sources (i.e. pollution resulting from the leaking of a dangerous material, and from a reaction of the leaking material with certain compounds contained in the soil).
  • primary and secondary pollution sources i.e. pollution resulting from the leaking of a dangerous material, and from a reaction of the leaking material with certain compounds contained in
  • data are preferably displayed in real time, which is a significant difference compared to solutions involving the post-processing of - 18 - measurement data.
  • Real-time measurements provide instantaneous user feedback, which makes it possible to modify the measurement flight path "on the fly".
  • Airspeed is usually determined on airborne devices by measuring the dynamic pressure of the airflow past the device body. Compared to static pressure this may be a higher (in case of pitot tubes), or a lower (in case of venturi tubes) pressure value.
  • the minimum airspeed that can be measured reliably is around 20-30 km/h.
  • flight velocity is usually an order of magnitude lower than that, and thus conventional velocity measurement methods cannot be applied.
  • airspeed and actual wind direction is established by the carrier unit 10 based on the angle between the vector of the direction of travel computed from subsequent GPS coordinates, and the direction in which the airborne device is pointing/flying.
  • wind direction and wind strength are determined based on the direction of travel of the carrier unit 10, as well as on the spatial coordinates provided by the positioning device 12. For low speeds this method yields relatively accurate results, and it is of course insensitive to rotors and other devices generating disturbing airflow.
  • the flight path may be modified during flight by the operator by changing the coordinates or other parameters of the waypoints using the ground-based control and monitoring software, and after making the modifications, "uploading" the new flight path to the airborne device via the RF link maintained between the airborne device and the ground station by issuing a specific command. After reaching the current waypoint, the airborne device will continue its flight following the modified flight path towards the next waypoint thereof.
  • the position of the waypoints it is possible to change the flight path, the flight altitude, as well as the flight velocity at the different segments.
  • the other scenario for modification is when it becomes obvious during the measurement that the planned flight path will not cover the polluted area to a sufficient extent. The operator may then modify the flight path accordingly.
  • This latter scenario usually occurs with initial measurements, where the real goal is to detect the presence of pollution. Quantitative measurements are usually performed only afterwards.
  • the carrier unit 10 usually does not comprise an on-board computer running an operating system. Due to the application of a computer that does not have an operating system, the device is generally operative a few hundred ms after it is turned on. Before takeoff, the device has to wait for a GPS lock, which usually happens in 1-2 minutes depending on the type.
  • the system according to the invention may also be configured in a so-called "offline" manner, i.e. the flight path may be planned and uploaded to the airborne device on the way to the pollution site, in the transport vehicle. Thereby, the device may be assembled and readied for takeoff in 5-10 minutes after arriving on site.
  • offline i.e. the flight path may be planned and uploaded to the airborne device on the way to the pollution site, in the transport vehicle.
  • the device may be assembled and readied for takeoff in 5-10 minutes after arriving on site.

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  • Engineering & Computer Science (AREA)
  • Environmental & Geological Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Ecology (AREA)
  • Environmental Sciences (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Abstract

La présente invention concerne un procédé de collecte de données de mesure pour détecter spatialement les propriétés de l'atmosphère, qui comprend les étapes suivantes : - l'utilisation d'une unité porteuse (10) multirotor, l'unité porteuse (10) comprenant au moins un capteur (11), un dispositif (12) de positionnement et une unité (13) de commande embarquée permettant une navigation autonome, - la mémorisation d'une trajectoire (30) de vol dans l'unité porteuse (10) et - la réalisation de mesures au moyen du capteur (11), tout en faisant voler l'unité porteuse (10) le long de la trajectoire (30) de vol au moyen de l'unité (13) de commande embarquée. Selon l'invention, - pendant les mesures, la vitesse de l'unité porteuse (10) est commandée au moyen de l'unité (13) de commande embarquée, de sorte que la condition suivante soit vraie : où Vflight est la vitesse de vol, dh est la résolution spatiale souhaitée et ts est la durée de fonctionnement du capteur (11). L'invention concerne également un système qui applique le procédé.
PCT/HU2014/000054 2013-06-28 2014-06-26 Procédé et système de collecte de données de mesure pour la détection spatiale de caractéristiques de l'atmosphère WO2014207492A1 (fr)

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CN105486349A (zh) * 2015-12-29 2016-04-13 中国科学院上海微系统与信息技术研究所 一种空间三维多参数分布测试系统及其实施方法
CN106932540A (zh) * 2017-04-13 2017-07-07 北京七维航测科技股份有限公司 空气质量监测装置及方法
WO2017188762A3 (fr) * 2016-04-27 2018-08-02 한화지상방산(주) Dispositif mobile pour détection de contamination, système et procédé de détection de contamination, et support d'enregistrement lisible par ordinateur
CN110286390A (zh) * 2019-06-11 2019-09-27 中国科学院合肥物质科学研究院 一种指定路径风速测量方法、装置及测风雷达标定方法
CN113297528A (zh) * 2021-06-10 2021-08-24 四川大学 一种基于多源大数据的no2高分辨率时空分布计算方法

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105486349A (zh) * 2015-12-29 2016-04-13 中国科学院上海微系统与信息技术研究所 一种空间三维多参数分布测试系统及其实施方法
WO2017188762A3 (fr) * 2016-04-27 2018-08-02 한화지상방산(주) Dispositif mobile pour détection de contamination, système et procédé de détection de contamination, et support d'enregistrement lisible par ordinateur
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CN106932540A (zh) * 2017-04-13 2017-07-07 北京七维航测科技股份有限公司 空气质量监测装置及方法
CN110286390A (zh) * 2019-06-11 2019-09-27 中国科学院合肥物质科学研究院 一种指定路径风速测量方法、装置及测风雷达标定方法
CN113297528A (zh) * 2021-06-10 2021-08-24 四川大学 一种基于多源大数据的no2高分辨率时空分布计算方法
CN113297528B (zh) * 2021-06-10 2022-07-01 四川大学 一种基于多源大数据的no2高分辨率时空分布计算方法

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