A Flying Odor Compass to Autonomously Locate the Gas Source

摘要

The design of a flying odor compass is proposed for the localization of gas source. The compass is built on a quad-rotor helicopter and contains three gas sensors. A data processing method is proposed to estimate the direction which the odor comes from. The method adopts continuous wavelet transform and modulus maxima approaches to uncover the time difference information hidden in the gas sensor signals. Experiments have demonstrated the effectiveness of this design.