三维空间的自适应气体源定位方法

Adaptive gas source localization method in three-dimensional space

现有气体源定位方法大多在在二维平面上开展研究,与气体扩散的三维特性不符,且无法兼具烟羽发现、烟羽跟踪以及气体源确认功能,为此提出一种三维空间的自适应气体源定位方法。利用改进烟花算法协调多无人机进行气体源定位,烟花爆炸产生火花的过程即对目标空间的搜索过程,改进烟花算法特殊的爆炸机制和选择策略使该方法可以自适应地进行烟羽发现、烟羽跟踪以及气体源确认,完成气体源的定位任务。采用高斯烟羽模型进行仿真验证,实验结果表明了所提方法能够在三维空间环境下快速准确地定位到气体源。

The existing gas source localization methods are mostly studied on the two-dimensional plane,which are inconsistent with the three-dimensional characteristics of gas diffusion without the functions of plume detection,plume tracking and gas source confirmation,so a three-dimensional space gas source location method was proposed.The improved fireworks coordinating unmanned aerial vehicle was used for gas source localization,and fireworks blast spark process was to search the target space.The special explosion mechanism and selection strategy of fireworks algorithm were improved to make the method adapt to smoke plume finding,plume tracking and gas source confirming,the gas source localization task was completed.The Gauss plume model was used to simulate and verify the proposed method.Experimental results show that the proposed method can locate the gas source quickly and accurately in the three-dimensional environment.