A Framework to Survey a Region for Gas Leaks Using an Unmanned Aerial Vehicle

To assist gas distribution companies to effectively monitor their infrastructure and locate gas leaks, this paper considers the use of an Unmanned AerialVehicle (UAV) carrying a methane sensor to survey a region for gas leaks. As the UAV collects in situ measurements, it gathers evidence regarding the presence or absence of leaks in the region. To relate the UAV measurement to a region on the ground, we propose to use Upwind Survey Regions (USRs). If the UAV collects a measurement of high gas concentration, the USR represents a region that is likely to contain the leak. Likewise, if the UAV collects a measurement of low gas concentration, the USR represents a region that is likely to be clear of gas leaks. We propose a framework to process the measurements and produce a survey map indicating areas that can be reliably cleared of gas leaks and areas that may contain gas leaks. Our framework is composed of two steps: (1) mapping UAV measurements into USRs on the ground; and (2) fusing the various mapped USRs to produce the survey map.We discuss how USRs can be estimated and we test our framework using both simulated and real UAV flights.