Emergency Monitoring And Tracing Of Atmospheric Pollution Based On UAV

In the context of rapid economic development and rapid development of science and technology in China,the atmospheric environmental risks brought by human production and business activities are increasingly aggravated,and frequent atmospheric pollution events have caused serious environmental and social impacts.Therefore,after the occurrence of atmospheric pollution accident,it is of great practical significance to quickly determine the location of the pollution source and assess its environmental impact in time,which is conducive to the formulation of effective emergency treatment of atmospheric pollution accident and the traceability plan of air pollutants.In view of the sudden atmospheric pollution accidents that happen more and more frequently,this paper aims to research and develop an atmospheric pollution emergency monitoring and traceability system based on unmanned aerial vehicle(UAV)monitoring platform,based on the advantages of timeliness and flexibility of UAV.The system by building a UAV real-time emergency monitoring platform to monitor,access to a wide range of smoke plume accident information,and USES six wing UAVs as hardware platform,carry onboard monitoring module and traceability control module and the data transmission module,the use of mountain climbing algorithm and grid detection algorithm to trace of odor pollution source,traced using ground station display stench UAV real-time position and obtain the coordinates of the source.This paper mainly does the following research:(1)Research on atmospheric pollution emergency monitoring and traceability algorithm.In zigzag through calendar calculation method,the smoke plume center upwind algorithm,etc,on the basis of active roots,in this paper,combining with the characteristics of atmospheric monitoring and traceability practical mountain climbing algorithm and grid monitoring roots traced algorithm is proposed,the algorithm by comparing UAV monitoring within the scope of the size of the adjacent point point and the pollutant concentration value,take the larger of the two values,to continuously update the UAV monitoring of atmospheric pollutants concentration values,to ensure UAV flight towards higher values of the pollutant concentration,until to the smell of the air pollutant source.Moreover,matlab was used to build atmospheric pollution field source,and the rationality and feasibility of mountain climbing algorithm and grid monitoring tracing algorithm were verified.(2)Hardware development of atmospheric pollution emergency monitoring and traceability system.Built for atmospheric pollution emergency monitoring and traceability of six UAV rotorcraft,loading on the UAV data transmission module,airborne monitoring module,algorithm and traced back the control module and ground control station and other hardware equipment,and calibration,the system hardware debugging,complete and implement UAV intelligent detection of source control,air pollutants and UAV and data transmission between ground stations,and other functions.(3)Software development of atmospheric pollution emergency monitoring and traceability system.In the Linux operating system structures,flight control PX4 of the open source development environment,the realization of ground station,the data transmission module and between the UAV control,which can realize station sends out control instructions,the data transmission module receives and then transfer to UAV,UAV according to the instructions received corresponding flight mode switch or flight status changes,and ground station can receive UAV traceability of the real-time location and pollution sources of geographic location.Moreover,SIL simulation was carried out on the developed PX4 flight control code to verify the function of the traceability mode and the security of the code.(4)Traceability algorithm simulation and system experiment test.In practice,the traceability effect of UAV after loading modules such as airborne module and traceability algorithm is tested,and the test results show that the UAV has good traceability effect.