Real-Time Gamma Radioactive Source Localization by Data Fusion of 3D-LiDAR Terrain Scan and Radiation Data from Semi-Autonomous UAV Flights

Rapid and accurate reconnaissance in the event of radiological and nuclear (RN) incidents or attacks is vital to launch an appropriate response. This need is made stronger by the increasing threat of RN attacks on soft targets and critical infrastructure in densely populated areas. In such an event,...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Vol. 22; no. 23; p. 9198
Main Authors: Schraml, Stephan, Hubner, Michael, Taupe, Philip, Hofstätter, Michael, Amon, Philipp, Rothbacher, Dieter
Format: Journal Article
Language:English
Published: Switzerland MDPI AG 26.11.2022
MDPI
Subjects:
3D-LiDAR terrain modelling
Algorithms
Altitude
data fusion
Dosimetry
Flying-machines
Gamma rays
hazard detection
Localization
Measurement
measurements of CBRN agents
Methods
Nuclear accidents
Nuclear accidents & safety
Nuclear energy
Nuclear power plants
Optical radar
optimization
Optimization techniques
Photogrammetry
Radiation
Radiation, Background
real-time gamma source localization
Remote sensing
Sensors
Topography
Unmanned aerial vehicles
Austria
New Jersey
data fusion
hazard detection
optimization
measurements of CBRN agents
3D-LiDAR terrain modelling
real-time gamma source localization
ISSN:1424-8220, 1424-8220
Online Access:Get full text
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Summary:Rapid and accurate reconnaissance in the event of radiological and nuclear (RN) incidents or attacks is vital to launch an appropriate response. This need is made stronger by the increasing threat of RN attacks on soft targets and critical infrastructure in densely populated areas. In such an event, even small radioactive sources can cause major disruption to the general population. In this work, we present a real-time radiological source localization method based on an optimization problem considering a background and radiation model. Supported by extensive real-world experiments, we show that an airborne system using this method is capable for reliably locating category 3–4 radioactive sources according to IAEA safety standards in real time from altitudes up to 150 m. A sensor bundle including a LiDAR sensor, a Gamma probe as well as a communication module was mounted on a UAV that served as a carrier platform. The method was evaluated on a comprehensive set of test flights, including 28 flight scenarios over 316 min using three different radiation sources. All additional gamma sources were correctly detected, multiple sources were detected if they were sufficiently separated from each other, with the distance between the true source position and the estimated source averaging 17.1 m. We also discuss the limitations of the system in terms of detection limit and source separation.
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ISSN:1424-8220
1424-8220
DOI:10.3390/s22239198