Key Technology And System Development Of Stench Traceability Based On UAV

With the rapid development of China’s economy and science and technology,people are increasingly demanding the natural environment for survival,and odor pollution has become a prominent problem that plagues people’s quality of life.China’s research in the field of malodor has achieved certain results,including real-time monitoring of odorous substances,the diffusion of odorous substances,the analys is and prevention of odorous substances,and the identification of sources of odorous substances.However,there are few studies on the stinking source localization technology for sudden malodorous events.It is precisely because of the lack of research on the stinking and traceability technology that after a sudden odor incident,the environmental supervision department cannot timely locate the emergency response plan and quickly control the development of the odor pollution accident because it cannot locate the accident source in real time.This paper develops a malodor-based traceability system based on drones,which combines a malodorous gas sensor with a drone to control the drone to find a source of malodor through a traceability algorithm.The QGroundcontrol ground station is used to display the real-time position of the drone.When the drone searches for the stench source,the coordinates of the malodor source are directly obtained.This paper mainly made the following research:(1)Research on key technologies for stinking traceability.The 3D_Z_Spiral traceability algorithm is proposed.By continuously updating the threshold of the algorithm to control the drone to make Z-shaped flight,Spiral flight and 3D flight,it can find the source of malodor in the range of malodor and hover near the source of malodor.The control algorithm and communication protocol of the UAV are studied and analyzed.The UAV control algorithm and the traceability algorithm are combined to realize the one-button intelligent traceability mode.(2)Development of hardware for stinking traceability system.The six-rotor UAV for traceability was built and the UAV calibration,commissioning and flight test were completed.The on-board monitoring module for detecting gas data was developed,and ground debugging and calibration were completed.Commissioning and setting were completed.A data transmission module for transmitting messages and a ground station module for monitoring drone flight.(3)Development of malodor source system software.The compilation environment required for software development was built.Then,the development of traceability mode was completed based on PX4 source code in Ubuntu system.Finally,the SITL simulation of the developed PX4 flight control code was carried out to verify the function of traceability mode and the security of code.(4)The test of the stench traceability system.The Gaussian gas diffusio n model of single stench source and multi-odor source was established in Matlab,and the numerical simulation of the designed 3D_Z_Spiral traceability algorithm was carried out to verify the feasibility of the algorithm.In the outdoor design of single-smoke source and multi-smell source drone traceability experiment,the odour source is searched by the drone in the gas diffusion environment built outside,and the coordinates and concentration of the stench source are displayed on the ground station.