Unmanned aerial vehicle gas sensing and AIS information vector fused ship tail gas tracking method

Abstract

The invention discloses a ship tail gas tracking method based on unmanned aerial vehicle airborne gas sensing and AIS information vector fusion, and the method comprises the steps: carrying out the real-time sampling, recording the concentration of gas near an unmanned aerial vehicle, calculating the concentration distribution gradient of various gases in tail gas in a short time through combining the position information of the unmanned aerial vehicle, and guiding the unmanned aerial vehicle to move in a direction with a large concentration value; obtaining AIS dynamic or static data irregularly, simulating tail gas emission distribution (source position, distribution coefficient and the like) of a target ship, providing rough navigation information, and therefore, it is ensured that an unmanned aerial vehicle flies towards a monitoring target all the time; and processing information fusion between the local concentration gradient measured in real time and global distribution of AIS emission prediction, generating a ship exhaust tracking vector, and providing a real-time decision for the unmanned aerial vehicle to implement a monitoring task. According to the invention, the unmanned aerial vehicle is utilized to realize full-autonomous and online sampling, collection and analysis of the tail gas of the underway ship, and the system has relatively strong local airflow interference resistance and is very suitable for ultra-large-scale maritime scenes.

Description

technical field [0001] The invention belongs to the field of water environment supervision and maritime security, and more specifically relates to a ship exhaust tracking method based on fusion of UAV gas sensing and AIS information vector. Background technique [0002] The high content of nitrogen oxides, sulfur oxides and particulate matter produced by shipping has a significant impact on the global atmospheric environment, and the monitoring of ship exhaust emissions has become one of the main tasks of the maritime and environmental protection departments. However, the monitoring of ship exhaust emissions is extremely challenging, because ships in service are usually located far from the shore and exhaust emissions are seriously affected by the surrounding airflow. The patent with the publication number CN109991371A discloses a UAV-based ship exhaust tracking method. By presetting the flight mission parameters, the UAV is controlled to fly to the ship under test and reach...

AI Technical Summary

Problems solved by technology

However, the monitoring of ship exhaust emissions is extremely challenging, because ships in service are usually located far from the shore and exhaust emissions are seriously affected by the surrounding airflow

The patent with the publication number CN109991371A discloses a UAV-based ship exhaust tracking method. By presetting the flight mission parameters, the UAV is controlled to fly to the ship under test and reach the expected intersection position in advance, and fine-tune the UAV and the detected ship. Measure the relative height and horizontal position of the ship, and track and monitor the exhaust of the ship. However, this method is affected by local unstable airflow in super-large-scale maritime scenes.

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