Radioactive source localization in urban environments with sensor networks and the Internet of Things

The use of radiation detectors as an element in the so-called “Internet of Things” has recently become viable with the available of low-cost, mobile radiation sensors capable of streaming geo-referenced data. New methods for fusing the data from multiple sensors on such a network is presented. The traditional simple and ordinary Kriging methods present a challenge for such a network since the assumption of a constant mean is not valid in this application. A variety of Kalman filters are introduced in an attempt to solve the problem associated with this variable and unknown mean. Results are presented on a deployed sensor network.