论文标题
带有微型单探测器康普顿事件摄像头的微型航空车的伽马辐射源定位
Gamma Radiation Source Localization for Micro Aerial Vehicles with a Miniature Single-Detector Compton Event Camera
论文作者
论文摘要
本文提出了一种新颖的方法，用于微型航空车辆（MAV）的紧凑型辐射来源（MAV）。该方法是为由作者开发的新型单探测器康普顿相机开发的。检测器非常小，重40 g，这为无人机级以下的无人机提供了可能性。康普顿摄像头使用Minipix TPX3 CDTE事件摄像机来测量传入的高能量伽玛光子的康普顿散射产品。测得的散射产物的3D位置和子纳秒次时间延迟用于重建可能的方向集。提出的方法利用过滤器融合测量并估计飞行过程中的辐射源位置。这些计算是实时执行的，并允许将检测器信息集成到完全自主系统中。此外，估计器的实时性质可能允许移动辐射源的估计状态。该方法在模拟中得到了验证，并在具有CS137辐射源的现实世界实验中证明了这一方法。该方法可以在不估计辐射强度的梯度或轮廓的情况下定位伽马源，这为在混乱和城市环境中定位来源打开了可能性。
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.
