Gamma Radiation Source Localization for Micro Aerial Vehicles with a Miniature Single-Detector Compton Event Camera
| Autor: | Baca, Tomas, Stibinger, Petr, Doubravova, Daniela, Turecek, Daniel, Solc, Jaroslav, Rusnak, Jan, Saska, Martin, Jakubek, Jan |
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| Rok vydání: | 2020 |
| Předmět: | |
| Zdroj: | 2021 International Conference on Unmanned Aircraft Systems (ICUAS), IEEE |
| Druh dokumentu: | Working Paper |
| DOI: | 10.1109/ICUAS51884.2021.9476766 |
| Popis: | A novel method for localization and estimation of compact sources of gamma radiation for Micro Aerial Vehicles (MAVs) is presented in this paper. The method is developed for a novel single-detector Compton camera, developed by the authors. The detector is extremely small and weighs only 40 g, which opens the possibility for use on sub-1 kg class of drones. The Compton camera uses the MiniPIX TPX3 CdTe event camera to measure Compton scattering products of incoming high-energy gamma photons. The 3D position and the sub-nanosecond time delay of the measured scattering products are used to reconstruct sets of possible directions to the source. The proposed method utilizes a filter for fusing the measurements and estimating the radiation source position during the flight. The computations are executed in real-time onboard and allow integration of the detector info into a fully-autonomous system. Moreover, the real-time nature of the estimator potentially allows estimating states of a moving radiation source. The proposed method was validated in simulations and demonstrated in a real-world experiment with a Cs137 radiation source. The approach can localize a gamma source without estimating the gradient or contours of radiation intensity, which opens possibilities for localizing sources in a cluttered and urban environment. Comment: Accepted to 2021 International Conference on Unmanned Aircraft Systems (ICUAS), IEEE |
| Databáze: | arXiv |
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