Simulation of Gamma Radiation Mapping Using an Unmanned Aerial System

摘要

This paper investigates the potential of employing unmanned aerial systems (UASs) for gamma radiation mapping and source localization. Such an approach appears to be advantageous compared to terrestrial radiation mapping – which is, generally, time-intensive – and aerial mapping, whose most prominent drawback consists in the overall cost. The central problem arises mainly from the fact that radiation intensity decreases with the square of the distance, and thus the UAS should fly as close to the ground as possible. This condition, however, often cannot be satisfied due to the height differences of the terrain and vegetation. The simulations performed within the research examine several scenarios, all based on a real mission where gamma radiation mapping was carried out by a terrestrial robot. The results of this experiment are compared with other UAS-based radiation mapping simulations, mostly executed at different flight altitudes and relying on diverse source locations. A novel approach where the flight altitude of the UAS varies based on the terrain shape is also examined and tested on real data. The results show that the presented technique has proved highly beneficial, especially in a difficult topographical relief.