利用无人机系统和便携式无人机的定位和测绘平台LAMP进行实时三维辐射测绘
3-D Radiation Mapping in Real-Time with the Localization and Mapping Platform LAMP from Unmanned Aerial Systems and Man-Portable Configurations
摘要：
实时、米级分辨率的伽马射线测绘与放射性材料的探测和测绘相关，并适用于从核退役、废物管理和环境补救到国土安全、应急响应和国际保障的各种应用。我们提出的定位和映射平台（LAMP）作为一个模块化的，上下文和辐射探测器传感器套件，它执行伽马射线映射在三维（3-D）和实时，机载无人机（UAV）或便携式配置。部署用于伽马射线测绘的无人驾驶航空系统（UAS）可能是有利的，因为UAS提供了一种有效测量大面积区域并改善对某些环境（例如多层结构）的可达性的手段。此外，可以通过自主导航来增加测量鲁棒性，并且可以减少由于远程测量而对用户的辐射暴露。LAMP通过场景数据融合（SDF）[1]实现米分辨率伽马射线映射，场景数据融合是一种通过体素化的3-D极大似然期望最大化（MLEM）融合辐射和场景数据的能力，以实时生成放射源分布的3-D地图。当LAMP在无人机上飞行时，其结果在机载LAMP上计算，并从系统流传输到用户，用户可以在平板电脑上实时查看3D地图。我们目前的结果表明，SDF的概念，包括一组无人机飞行133 Ba源定位在伯克利，加利福尼亚州的一个试验场和手持测量在福岛县，日本的放射性铯（137，134 Cs）的分布从福岛第一核电站事故释放的映射。用于每个测量的重建参数是相同的，这表明相同的算法可以用于点源或分布源。
英文摘要：
Real-time, meter-resolution gamma-ray mapping is relevant in the detection and mapping of radiological materials, and for applications ranging from nuclear decommissioning, waste management, and environmental remediation to homeland security, emergency response, and international safeguards. We present the Localization and Mapping Platform (LAMP) as a modular, contextual and radiation detector sensor suite, which performs gamma-ray mapping in three dimensions (3-D) and in real time, onboard an unmanned aerial vehicle (UAV) or in a man-portable configuration. The deployment of an unmanned aerial system (UAS) for gamma-ray mapping can be advantageous, as the UAS provides a means of measuring large areas efficiently and improving accessibility to some environments, such as multi-story structures. In addition, it is possible to increase measurement robustness through autonomous navigation, and to reduce radiation exposure to users as a result of the remote measurement. LAMP enables meter-resolution gamma-ray mapping through Scene Data Fusion (SDF) [1], a capability that fuses radiation and scene data via voxelized 3-D Maximum Likelihood Expectation Maximization (MLEM) to produce 3-D maps of radioactive source distributions in real-time. Results are computed onboard LAMP while it is flying on the UAV and streamed from the system to the user, who can view the 3-D map on a tablet in real-time. We present results that demonstrate the SDF concept, including a set of UAS flights where a 133Ba source is localized at a test site in Berkeley, CA and a handheld measurement in Fukushima Prefecture, Japan where the distribution of radiocesium(137,134Cs) released from the accident of the Fukushima Daiichi Nuclear Power Plant is mapped. The reconstruction parameters used for each measurement were identical, indicating that the same algorithm can be used for both point or distributed sources.
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