基于角度信息的未知放射源位置估计  

Location Estimation of Unknown Radioactive Sources Based on Angle Information

作　　者：郑玉来[1] 周意航 严东 郭文慧 ZHENG Yulai;ZHOU Yihang;YAN Dong;GUO Wenhui(China Institute of Atomic Energy,Beijing 102400,China;Southwest University of Science and Technology,Mianyang Sichuan 621000,China)

机构地区：[1]中国原子能科学研究院,北京102400 [2]西南科技大学,四川绵阳621000

出　　处：《信息与电脑》2024年第18期10-13,共4页Information & Computer

摘　　要：本研究为实现移动机器人替代人工搜寻放射源,提出了热点位置估计算法,阐述了辐射测量方案、贝叶斯模型及粒子滤波算法。针对单个未知放射源,探究了基于方向角的角度探测仿真算法,并对其进行了验证。进行可行性实验和实物实验发现,算法能快速引导机器人渐进式搜寻到放射源,保证定位误差符合标准,避免人员受超剂量辐射。In this study,in order to realize the mobile robot to replace the manual search for radioactive sources,the hotspot location estimation algorithm is proposed,and the radiation measurement scheme,Bayesian model and particle filtering algorithm are elaborated.The angle detection simulation algorithm based on directional angle is explored and validated for a single unknown radioactive source.Feasibility and physical experiments show that the algorithm can quickly guide the robot to search for the radioactive source in a progressive manner,ensure that the localization error meets the standard,and avoid the exposure of personnel to excessive doses of radiation.

关 键 词：位置估计 放射源搜寻 方向角 粒子滤波 

分 类 号：TL94[核科学技术—辐射防护及环境保护]