# US 12,216,105 B2 · Localization analytics algorithms and methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,216,105 B2 - Document ID: US12216105B2 - Status: Granted - Kind: B2 - Application number: 17/251,089 - Filed: 2019-06-19 - Published: 2021-08-12 - Granted: 2025-02-04 - Earliest claimed: 2018-06-19 - Assignees: SeekOps Inc. - Applicants: SeekOps Inc. - Inventors: Anders Andelman Nottrott; Brendan James Smith; Andrew David Aubrey - Web page: https://patentgrep.com/patent/US12216105B2 ## CPC - G01N 33/0047: {Organic compounds} - G01N 33/0067: {by measuring the rate of variation of the concentration} - G05D 1/225: operated by off-board computers - G05D 1/689: Pointing payloads towards fixed or moving targets (positioning towed, pushed or suspended implements G05D1/672) - B64U 10/14: with four distinct rotor axes, e.g. quadcopters - B64U 2101/26: for manufacturing, inspections or repairs - B64U 2101/30: for imaging, photography or videography - B64U 2101/35: for science, e.g. meteorology - B64U 2201/104: using satellite radio beacon positioning systems, e.g. GPS - B64U 2201/20: Remote controls - G05D 2105/80: for information gathering, e.g. for academic research - G05D 2109/254: {Flying platforms, e.g. multicopters} - G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract Systems, devices, and methods for receiving, by a ground control station (GCS) having a processor with addressable memory, a plurality of point source gas concentration measurements; receiving, by the GCS, a meteorological data corresponding to each point source concentration gas measurement; determining, by the GCS, if each point source gas concentration measurement is an elevated ambient gas concentration; generating, by the GCS, a back trajectory for each elevated ambient gas concentration; storing, by the GCS, the position of each generated back trajectory in a grid; determining, by the GCS, a probability of a gas source location corresponding to the stored positions in the grid; and generating, by the GCS, an overlay showing the probability of the gas source location. ## Claims ### Claim 1 A method, comprising: generating, by one or more in situ trace-gas concentration sensors disposed on a vehicle, a plurality of in situ point source trace-gas concentration measurements at a plurality of spatial positions, the one or more in situ trace-gas concentration sensors measuring trace-gas in situ; generating, by the vehicle, spatial position data corresponding to the plurality of spatial positions; generating, by a weather station, a meteorological data containing wind vector; receiving, by a ground control station (GCS) having a processor with addressable memory, the plurality of in situ point source trace-gas concentration measurements; receiving, by the GCS, the spatial position data of any one of the vehicle or the one or more in situ trace-gas concentration sensors corresponding to the received in situ point source trace-gas concentration measurements; receiving, by the GCS, the meteorological data corresponding to each in situ point source concentration trace-gas measurement; determining, by the GCS, if each in situ point source trace-gas concentration measurement is an elevated ambient trace-gas concentration; generating, by the GCS, a back trajectory for each elevated ambient trace-gas concentration based on the spatial position where the elevated ambient trace-gas concentration occurs and the meteorological data corresponding to the spatial position where the elevated ambient trace-gas concentration occurs; storing, by the GCS, the position of each generated back trajectory in a grid; summing, by the GCS, the stored positions of the generated back trajectories within each cell of the grid; determining, by the GCS, a probability of a trace-gas source location corresponding to the summed stored positions in the grid; and displaying, on a display in communication with the GCS, an overlay showing the probability of the trace-gas source location. ### Claim 2 (depends on 1) The method of claim 1, wherein the vehicle is one or more unmanned aerial vehicles (UAVs), and the one or more trace-gas concentration sensors are disposed on one or more unmanned aerial vehicles (UAVs). ### Claim 3 (depends on 2) The method of claim 2, wherein receiving the spatial position data further comprises: receiving, by the GCS, the spatial position data of the UAVs corresponding to the received in situ point source trace-gas source concentration measurements. ### Claim 4 (depends on 1) The method of claim 1, wherein the meteorological data comprises an instantaneous wind vector, an average wind vector, a wind vector component magnitude variance, and a wind vector component direction variance. ### Claim 5 (depends on 1) The method of claim 1 wherein the in situ point source trace-gas concentration measurement is a methane gas measurement. ### Claim 6 (depends on 1) The method of claim 1 wherein the generated back trajectory is generated using a stochastic particle trajectory model. ### Claim 7 (depends on 1) The method of claim 1, wherein storing the position of each generated back trajectory in a grid further comprises: summing, by the GCS, the stored position within each cell of the grid. ### Claim 8 (depends on 1) The method of claim 1 further comprising: normalizing, by the GCS, the stored position of each generated back trajectory in the grid. ### Claim 9 (depends on 8) The method of claim 8 further comprising: determining, by the GCS, a perimeter of the trace-gas source location based on the normalized stored position of each generated back trajectory. ### Claim 10 (depends on 1) The method of claim 1, wherein displaying the overlay is performed on a two-dimensional (2D) map. ### Claim 11 (depends on 1) The method of claim 1, wherein displaying the overlay is performed on a three-dimensional (3D) map. ### Claim 12 (depends on 1) The method of claim 1, wherein the grid is a two-dimensional (2D) grid. ### Claim 13 (depends on 1) The method of claim 1, wherein the grid is a three-dimensional (3D) grid. ### Claim 14 (depends on 1) The method of claim 1, before the step of determining an elevated ambient trace-gas concentration, further comprising: calculating, by the GCS, a background trace-gas concentration to determine if each in situ point source trace-gas concentration measurement is an elevated ambient trace-gas concentration, the step of calculating a background trace-gas concentration including: selecting data of the plurality of in situ point source trace-gas concentration measurements for a time period; converting a spatial coordinate frame to along a path distance of the selected data of the plurality of in situ point source trace-gas concentration measurements; filtering the selected data of the plurality of in situ point source trace-gas concentration measurements as a function of spatial coordinate using a filter to obtain the background trace-gas concentration. ### Claim 15 (depends on 14) The method of claim 14, wherein the filter is a sliding window median filter. ### Claim 16 (depends on 14) The method of claim 14, wherein the filter is a statistical filter. ### Claim 17 (depends on 14) The method of claim 14, wherein the step of determining an elevated ambient trace-gas concentration includes: subtracting the background trace-gas concentration from each of the plurality of in situ point source trace-gas concentration measurements to obtain a concentration enhancement; and applying a statistical filter to the concentration enhancement to identify spikes. ### Claim 18 (depends on 1) The method of claim 1, wherein the step of determining an elevated ambient trace-gas concentration includes: subtracting the background trace-gas concentration from each of the plurality of in situ point source trace-gas concentration measurements to obtain a concentration enhancement; and applying a statistical filter to the concentration enhancement to identify spikes. ### Claim 19 A system comprising: a vehicle configured to move through a plurality of spatial positions and generate spatial position data corresponding to the plurality of spatial positions; one or more in situ trace-gas concentration sensors disposed on the vehicle and configured to generate a plurality of in situ point source trace-gas concentration measurements at the plurality of spatial positions, the one or more in situ trace-gas concentration sensors measuring trace-gas in situ; a weather station generating a meteorological data containing wind vector; a ground control station (GCS) having a processor with addressable memory, the processor configured to: receive the plurality of in situ point source trace-gas concentration measurements; receive the spatial position data of any one of the vehicle or the one or more in situ trace-gas concentration sensors and corresponding to the received in situ point source trace-gas concentration measurements; receive the meteorological data corresponding to each in situ point source concentration trace-gas measurement; determine if each in situ point source trace-gas concentration measurement is an elevated ambient trace-gas concentration; generate a back trajectory for each elevated ambient trace-gas concentration based on the spatial position where the elevated ambient trace-gas concentration occurs and the meteorological data corresponding to the spatial position where the elevated ambient trace-gas concentration measurement occurs; store the position of each generated back trajectory in a grid; sum the stored positions of the generated back trajectories within each cell of the grid; and determine a probability of a trace-gas source location corresponding to the summed stored positions in the grid; a display configured to communicate with the GCS and generate an overlay showing the probability of the trace-gas source location. ### Claim 20 (depends on 19) The system of claim 19, further comprising: one or more unmanned aerial vehicles (UAVs), wherein the one or more in situ trace-gas concentration sensors are disposed on the one or more UAVs.