Gamma Radiation Source Localization for Micro Aerial Vehicles with a Miniature Single-Detector Compton Event Camera

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Gamma Radiation Source Localization for Micro Aerial Vehicles with a Miniature Single-Detector Compton Event Camera

Baca, Tomas / Stibinger, Petr / Doubravova, Daniela / Turecek, Daniel / Solc, Jaroslav / Rusnak, Jan / Saska, Martin / Jakubek, Jan

Abstract

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.

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Document information

Title :

Gamma Radiation Source Localization for Micro Aerial Vehicles with a Miniature Single-Detector Compton Event Camera

Contributors:

Baca, Tomas (author) / Stibinger, Petr (author) / Doubravova, Daniela (author) / Turecek, Daniel (author) / Solc, Jaroslav (author) / Rusnak, Jan (author) / Saska, Martin (author) / Jakubek, Jan (author)

Published in:

2021 International Conference on Unmanned Aircraft Systems (ICUAS) ; 338-346

Publication date :

2021-06-15

Size :

2957074 byte

ISBN :

978-1-6654-1535-4

ISSN :

2575-7296

DOI :

https://doi.org/10.1109/ICUAS51884.2021.9476766