The idea of this research is to develop a method of airflow velocity measurement in underground mines having a network of long-distance crossing tunnels, where inspections of the ventilation system are required. Currently, this time-consuming procedure is conducted manually, but it has great importance when the mine configuration is subjected to changes. The method is based on the measurements of UAV trajectory deviation when it crosses the lateral air streams while moving along the tunnel. The signals of the gyroscope from the Inertial Measurement Unit (IMU) are used as indicators. The calibration of the proposed method has been conducted in laboratory conditions similar to real conditions. The minimal sensitivity of 0.3 m/s required by regulations is achievable for small drones, and the error is less than 5%. The maximum measured airflow velocity depends on the UAV model and its stabilization system. Recommendations are formulated for method implementation in practice.
Wróblewski et al. (Tue,) studied this question.