Patent Publication Number: US-2022221398-A1

Title: System and method for remote analyte sensing using a mobile platform

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to and the benefit of U.S. Provisional Patent Application No. 62/847,291 filed May 13, 2019 and entitled “MODULAR SENSOR CORE SYSTEMS AND METHODS” and U.S. Provisional Patent Application No. 62/855,743 filed May 31, 2019 and entitled “MODULAR SENSOR CORE VISUALIZATION SYSTEMS AND METHODS,” which are hereby incorporated herein by reference in their entirety. 
    
    
     TECHNICAL FIELD 
     The present invention relates generally to modular sensor cores and, more particularly, to systems and methods for analyte characterization and localization by modular sensor cores coupled to mobile sensor platforms. 
     BACKGROUND 
     Modern unmanned sensor platforms, such as unmanned aerial vehicles (UAVs), remotely operated underwater vehicles (ROVs), unmanned (water) surface vehicles (USVs), and unmanned ground vehicles (UGVs) are able to operate over long distances and in all environments; rural, urban, and even underwater. Operation of such systems typically includes real-time wireless transmissions between the unmanned platform and a remote base station, which often includes a display to efficiently convey telemetry, imagery, and other sensor data captured by the platform to an operator. The operator can often pilot or otherwise control an unmanned platform throughout an entire mission relying solely on received data from the unmanned platform. 
     Analyte sensor systems, such as sensor systems to detect hazardous chemical plumes in an environment, can benefit from handheld deployment or deployment on unmanned sensor platforms, but conventional analyte sensor systems are often unable to provide intuitive and contemporaneous visualization and/or characterization of such chemical plumes. Thus, there is a need for analyte sensor systems and technique to provide intuitive and contemporaneous visualization and/or characterization of hazardous chemical plumes. 
     SUMMARY 
     Analyte survey systems and related techniques are provided to improve the operation of handheld or unmanned mobile sensor or survey platforms. One or more embodiments of the described analyte survey systems may advantageously include a modular sensor core including a sensor assembly configured to provide analyte sensor data, a communication module configured to establish a wireless communication link with a base station associated with the modular sensor core and/or a coupled sensor platform, a position sensor to measure positions of a coupled mobile platform, a controller to control operation of the communication module, the position sensor, and/or the mobile platform, and one or more additional sensors to measure and provide sensor data corresponding to maneuvering and/or other operation of the mobile platform. 
     In various embodiments, such additional sensors may include a remote sensor system configured to capture sensor data of a survey area from which a two and/or three-dimensional spatial map of the survey area may be generated. For example, the mapping system may include one or more visible spectrum and/or infrared cameras and/or other remote sensor systems coupled to a mobile platform. The mobile platform may generally be a flight platform (e.g., a manned aircraft, a UAS, and/or other flight platform), a terrestrial platform (e.g., a motor vehicle), a water born platform (e.g., a watercraft or submarine), or a handheld platform. 
     In one embodiment, a system includes a logic device configured to communicate with a communication module and a sensor assembly of a modular sensor core coupled to a mobile platform, where the communication module is configured to establish a wireless communication link with a base station associated with the mobile platform, and the sensor assembly is configured to provide analyte sensor data as the mobile platform is maneuvered within a survey area. The logic device may be configured to receive the analyte sensor data as the mobile platform maneuvers within the survey area; receive position data corresponding to the analyte sensor data; and generate analyte survey information corresponding to the survey area based, at least in part, on a combination of the position data and the analyte sensor data. The logic device may also be configured to perform a bump check or calibration of the modular sensor core. The modular sensor core may include a relatively lightweight power supply to power sensor elements of the sensor assembly to allow the modular sensor core to be transported from a charging and/or calibration system to a mobile platform and not incur substantial delay in deployment. 
     In another embodiment, a method includes receiving analyte sensor data as a mobile platform maneuvers within a survey area; receiving position data corresponding to the analyte sensor data; and generating analyte survey information corresponding to the survey area based, at least in part, on a combination of the position data and the analyte sensor data. In an additional embodiment, a method includes mounting a sensor cradle to a sensor platform, removing the modular sensor core from a calibration system, securing the modular sensor core to the sensor cradle, and deploying the modular sensor core and/or the sensor platform. 
     The scope of the invention is defined by the claims, which are incorporated into this section by reference. A more complete understanding of embodiments of the present invention will be afforded to those skilled in the art, as well as a realization of additional advantages thereof, by a consideration of the following detailed description of one or more embodiments. Reference will be made to the appended sheets of drawings that will first be described briefly. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  illustrates a diagram of an analyte survey system in accordance with an embodiment of the disclosure. 
         FIG. 2  illustrates a diagram of mobile platforms of an analyte survey system in accordance with an embodiment of the disclosure. 
         FIG. 3  illustrates a diagram of a modular sensor core for an analyte survey system in accordance with an embodiment of the disclosure. 
         FIG. 4  illustrates a diagram of an enclosure bottom including a cradle attachment interface of a modular sensor core for an analyte survey system in accordance with an embodiment of the disclosure. 
         FIG. 5  illustrates a diagram of an enclosure cover including an integrated sample gas channel of a modular sensor core for an analyte survey system in accordance with an embodiment of the disclosure. 
         FIG. 6  illustrates a diagram of a sensor assembly of a modular sensor core for an analyte survey system in accordance with an embodiment of the disclosure. 
         FIG. 7  illustrates a diagram of a core controller of a modular sensor core for an analyte survey system in accordance with an embodiment of the disclosure. 
         FIG. 8  illustrates a diagram of a sample gas pump for a sensor assembly of a modular sensor core for an analyte survey system in accordance with an embodiment of the disclosure. 
         FIG. 9  illustrates a diagram of a sensor cradle for a modular sensor core of an analyte survey system in accordance with an embodiment of the disclosure. 
         FIG. 10  illustrates a diagram of a sensor cradle including an external sample gas snorkel for a modular sensor core of an analyte survey system in accordance with an embodiment of the disclosure. 
         FIG. 11  illustrates a diagram of a calibration system including a sensor cradle for a modular sensor core of an analyte survey system in accordance with an embodiment of the disclosure. 
         FIGS. 12-14  illustrate flow diagrams of various operations to provide analyte surveying using an analyte survey system in accordance with embodiments of the disclosure. 
         FIGS. 15A-15C and 16A-16C  illustrate display views rendered by a user interface for an analyte survey system in accordance with an embodiment of the disclosure. 
         FIG. 17  illustrates a diagram of an analyte survey system in accordance with an embodiment of the disclosure. 
         FIGS. 18-20  illustrate flow diagrams of various operations to provide analyte surveying using an analyte survey system in accordance with embodiments of the disclosure. 
     
    
    
     Embodiments of the present invention and their advantages are best understood by referring to the detailed description that follows. It should be appreciated that like reference numerals are used to identify like elements illustrated in one or more of the figures. 
     DETAILED DESCRIPTION 
     Analyte survey systems and related techniques are provided to improve the operational flexibility and reliability of sensor platforms. In particular, embodiments include a modular sensor core that can be easily secured and removed from a corresponding sensor cradle that can itself be mounted to and among various devices, including various types of mobile sensor platforms, calibration systems, fixed sensor platforms, and/or other devices without incurring downtime due to sensor element deactivation. 
     Modern unmanned sensor platforms, such as unmanned aerial vehicles (UAVs), remotely operated underwater vehicles (ROVs), unmanned (water) surface vehicles (USVs), and unmanned ground vehicles (UGVs) are able to operate over long distances and in all environments. Such systems typically rely on a portable power source that can limit their range of travel. Embodiments described herein provide relatively lightweight analyte sensor systems that typically increase the achievable range of such unmanned sensor platforms, which can be particularly helpful when attempting characterize a plume of analyte over time that is hazardous to humans. Embodiments described herein are also modular, which allows a sensor core to be used in a series of sensor platforms without incurring substantial downtime related to demounting and mounting of the sensor core between sensor platforms. Embodiments described herein are also provided with relatively lightweight internal power supplies configured to keep all sensor elements active so as not to incur substantial downtime related to a warm up time for any deactivated sensor element. 
     In various embodiments, analyte sensor data generated a modular sensor core, according to embodiments described herein, may be transmitted to a base station, either in real-time or after an operation, which may be configured to combine the analyte sensor data with a map or floor plan of a survey area to present the analyte sensor data in an analyte map, such as a heat map, that specifies analyte data (e.g., concentrations and/or other characteristics) over the spatial extents of the map or floor plan. Such map or floor plan may be two or three dimensional. The analyte map may be stored at the base station and, if the base station includes a display, be presented in real time as a graphical overlaid map to an operator/user. During operation, this may provide insight for positioning the unmanned sensor platform for stationary observation, for example, or, if operation is to be undertaken in the same area at a future time, such analyte map may provide information for route planning of future operations. 
       FIG. 1  illustrates a block diagram of analyte survey system  100  in accordance with an embodiment of the disclosure. In some embodiments, system  100  may be configured to fly over a scene, through a structure, or approach a target and image or sense the scene, structure, or target, or portions thereof, using gimbal system  122  to aim imaging system/sensor payload  140  at the scene, structure, or target, or portions thereof. Resulting imagery and/or other sensor data may be processed (e.g., by sensor payload  140 , platform  110 , and/or base station  130 ) and displayed to a user through use of user interface  132  (e.g., one or more displays such as a multi-function display (MFD), a portable electronic device such as a tablet, laptop, or smart phone, or other appropriate interface) and/or stored in memory for later viewing and/or analysis. In some embodiments, system  100  may be configured to use such imagery and/or sensor data to control operation of platform  110  and/or sensor payload  140 , as described herein, such as controlling gimbal system  122  to aim sensor payload  140  towards a particular direction or controlling propulsion system  124  to move platform  110  to a desired position in a scene or structure or relative to a target. 
     In additional embodiments, system  100  may be configured to use platform  110  to position modular sensor core  160  at the scene, structure, or target, or portions thereof. Resulting imagery and/or other sensor data may be processed (e.g., by modular sensor core  160 , platform  110 , and/or base station  130 ) and displayed to a user through use of user interface  132  (e.g., one or more displays such as a multi-function display (MFD), a portable electronic device such as a tablet, laptop, or smart phone, or other appropriate interface) and/or stored in memory for later viewing and/or analysis. In some embodiments, system  100  may be configured to use such imagery and/or sensor data to control operation of platform  110  and/or modular sensor core  160 , as described herein, such as controlling propulsion system  124  to move platform  110  to a desired position in a scene or structure or relative to a target. 
     In the embodiment shown in  FIG. 1 , analyte survey system  100  includes platform  110 , optional base station  130 , and at least one modular sensor core  160 . Platform  110  may be a mobile platform configured to move or fly and position modular sensor core  160  (e.g., relative to a designated or detected target). As shown in  FIG. 1 , platform  110  may include one or more of a controller  112 , an orientation sensor  114 , a gyroscope/accelerometer  116 , a global navigation satellite system (GNSS)  118 , a communications module  120 , a gimbal system  122 , a propulsion system  124 , a sensor cradle  128 , and other modules  126 . Operation of platform  110  may be substantially autonomous and/or partially or completely controlled by optional base station  130 , which may include one or more of a user interface  132 , a communications module  134 , and other modules  136 . In other embodiments, platform  110  may include one or more of the elements of base station  130 , such as with various types of manned aircraft, terrestrial vehicles, and/or surface or subsurface watercraft. 
     Sensor payload  140  and/or modular sensor core  160  may be physically coupled to platform  110  and be configured to capture sensor data (e.g., visible spectrum images, infrared images, narrow aperture radar data, analyte sensor data, and/or other sensor data) of a target position, area, and/or object(s) as selected and/or framed by operation of platform  110  and/or base station  130 . In some embodiments, one or more of the elements of system  100  may be implemented in a combined housing or structure that can be coupled to or within platform  110  and/or held or carried by a user of system  100 . 
     Controller  112  may be implemented as any appropriate logic device (e.g., processing device, microcontroller, processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), memory storage device, memory reader, or other device or combinations of devices) that may be adapted to execute, store, and/or receive appropriate instructions, such as software instructions implementing a control loop for controlling various operations of platform  110  and/or other elements of system  100 , for example. Such software instructions may also implement methods for processing infrared images and/or other sensor signals, determining sensor information, providing user feedback (e.g., through user interface  132 ), querying devices for operational parameters, selecting operational parameters for devices, or performing any of the various operations described herein (e.g., operations performed by logic devices of various devices of system  100 ). 
     In addition, a non-transitory medium may be provided for storing machine readable instructions for loading into and execution by controller  112 . In these and other embodiments, controller  112  may be implemented with other components where appropriate, such as volatile memory, non-volatile memory, one or more interfaces, and/or various analog and/or digital components for interfacing with devices of system  100 . For example, controller  112  may be adapted to store sensor signals, sensor information, parameters for coordinate frame transformations, calibration parameters, sets of calibration points, and/or other operational parameters, over time, for example, and provide such stored data to a user using user interface  132 . In some embodiments, controller  112  may be integrated with one or more other elements of platform  110 , for example, or distributed as multiple logic devices within platform  110 , base station  130 , and/or sensor payload  140 . 
     In some embodiments, controller  112  may be configured to substantially continuously monitor and/or store the status of and/or sensor data provided by one or more elements of platform  110 , sensor payload  140 , modular sensor core  160 , and/or base station  130 , such as the position and/or orientation of platform  110 , sensor payload  140 , and/or base station  130 , for example, and the status of a communication link established between platform  110 , sensor payload  140 , modular sensor core  160 , and/or base station  130 . Such communication links may be configured to be established and then transmit data between elements of system  100  substantially continuously throughout operation of system  100 , where such data includes various types of sensor data, control parameters, and/or other data. 
     Orientation sensor  114  may be implemented as one or more of a compass, float, accelerometer, and/or other device capable of measuring an orientation of platform  110  (e.g., magnitude and direction of roll, pitch, and/or yaw, relative to one or more reference orientations such as gravity and/or Magnetic North), gimbal system  122 , imaging system/sensor payload  140 , and/or other elements of system  100 , and providing such measurements as sensor signals and/or data that may be communicated to various devices of system  100 . Gyroscope/accelerometer  116  may be implemented as one or more electronic sextants, semiconductor devices, integrated chips, accelerometer sensors, accelerometer sensor systems, or other devices capable of measuring angular velocities/accelerations and/or linear accelerations (e.g., direction and magnitude) of platform  110  and/or other elements of system  100  and providing such measurements as sensor signals and/or data that may be communicated to other devices of system  100  (e.g., user interface  132 , controller  112 ). 
     GNSS  118  may be implemented according to any global navigation satellite system, including a GPS, GLONASS, and/or Galileo based receiver and/or other device capable of determining absolute and/or relative position of platform  110  (e.g., or an element of platform  110 ) based on wireless signals received from space-born and/or terrestrial sources (e.g., eLoran, and/or other at least partially terrestrial systems), for example, and capable of providing such measurements as sensor signals and/or data (e.g., coordinates) that may be communicated to various devices of system  100 . In some embodiments, GNSS  118  may include an altimeter, for example, or may be used to provide an absolute altitude. 
     Communications module  120  may be implemented as any wired and/or wireless communications module configured to transmit and receive analog and/or digital signals between elements of system  100 . For example, communications module  120  may be configured to receive flight control signals and/or data from base station  130  and provide them to controller  112  and/or propulsion system  124 . In other embodiments, communications module  120  may be configured to receive images and/or other sensor information (e.g., visible spectrum and/or infrared still images or video images) from sensor payload  140  and relay the sensor data to controller  112  and/or base station  130 . In further embodiments, communications module  120  may be configured to receive analyte sensor data and/or other sensor information from modular sensor core  160  and relay the sensor data to controller  112  and/or base station  130 . In some embodiments, communications module  120  may be configured to support spread spectrum transmissions, for example, and/or multiple simultaneous communications channels between elements of system  100 . Wireless communication links may include one or more analog and/or digital radio communication links, such as WiFi and others, as described herein, and may be direct communication links established between elements of system  100 , for example, or may be relayed through one or more wireless relay stations configured to receive and retransmit wireless communications. 
     In some embodiments, communications module  120  may be configured to monitor the status of a communication link established between platform  110 , sensor payload  140 , and/or base station  130 . Such status information may be provided to controller  112 , for example, or transmitted to other elements of system  100  for monitoring, storage, or further processing, as described herein. Communication links established by communication module  120  may be configured to transmit data between elements of system  100  substantially continuously throughout operation of system  100 , where such data includes various types of sensor data, control parameters, and/or other data, as described herein. 
     In some embodiments, gimbal system  122  may be implemented as an actuated gimbal mount, for example, that may be controlled by controller  112  to stabilize sensor payload  140  relative to a target or to aim sensor payload  140  according to a desired direction and/or relative position. As such, gimbal system  122  may be configured to provide a relative orientation of sensor payload  140  (e.g., relative to an orientation of platform  110 ) to controller  112  and/or communications module  120  (e.g., gimbal system  122  may include its own orientation sensor  114 ). In other embodiments, gimbal system  122  may be implemented as a gravity driven mount (e.g., non-actuated). In various embodiments, gimbal system  122  may be configured to provide power, support wired communications, and/or otherwise facilitate operation of articulated sensor/sensor payload  140 . In further embodiments, gimbal system  122  may be configured to couple to a laser pointer, range finder, and/or other device, for example, to support, stabilize, power, and/or aim multiple devices (e.g., sensor payload  140  and one or more other devices) substantially simultaneously. 
     Propulsion system  124  may be implemented as one or more propellers, turbines, or other thrust-based propulsion systems, and/or other types of propulsion systems that can be used to provide motive force and/or lift to platform  110  and/or to steer platform  110 . In some embodiments, propulsion system  124  may include multiple propellers (e.g., a tri, quad, hex, oct, or other type “copter”) that can be controlled (e.g., by controller  112 ) to provide lift and motion for platform  110  and to provide an orientation for platform  110 . In other embodiments, propulsion system  110  may be configured primarily to provide thrust while other structures of platform  110  provide lift, such as in a fixed wing embodiment (e.g., where wings provide the lift) and/or an aerostat embodiment (e.g., balloons, airships, hybrid aerostats). In various embodiments, propulsion system  124  may be implemented with a portable power supply, such as a battery and/or a combustion engine/generator and fuel supply. 
     Other modules  126  may include other and/or additional sensors, actuators, communications modules/nodes, and/or user interface devices, for example, and may be used to provide additional environmental information related to operation of platform  110 , for example. In some embodiments, other modules  126  may include a humidity sensor, a wind and/or water temperature sensor, a barometer, an altimeter, a radar system, a proximity sensor, a visible spectrum camera or infrared camera (with an additional mount), an irradiance detector, and/or other environmental sensors providing measurements and/or other sensor signals that can be displayed to a user and/or used by other devices of system  100  (e.g., controller  112 ) to provide operational control of platform  110  and/or system  100 . 
     In some embodiments, other modules  126  may include one or more actuated and/or articulated devices (e.g., multi-spectrum active illuminators, visible and/or IR cameras, radars, sonars, and/or other actuated devices) coupled to platform  110 , where each actuated device includes one or more actuators adapted to adjust an orientation of the device, relative to platform  110 , in response to one or more control signals (e.g., provided by controller  112 ). In particular, other modules  126  may include a stereo vision system configured to provide image data that may be used to calculate or estimate a position of platform  110 , for example, or to calculate or estimate a relative position of a navigational hazard in proximity to platform  110 . In various embodiments, controller  130  may be configured to use such proximity and/or position information to help safely pilot platform  110  and/or monitor communication link quality, as described herein. 
     In various embodiments, sensor cradle  128  may be implemented as a latching mechanism that may be permanently mounted to platform  110  to provide a mounting position and/or orientation for modular sensor core  160  relative to a center of gravity of platform  110 , relative to propulsion system  124 , and/or relative to other elements of platform  110 . In addition, sensor cradle  128  may be configured to provide power, support wired communications, and/or otherwise facilitate operation of modular sensor core  160 , as described herein. As such, sensor cradle  128  may be configured to provide a power, telemetry, and/or other sensor data interface between platform  110  and modular sensor core  160 . 
     User interface  132  of base station  130  may be implemented as one or more of a display, a touch screen, a keyboard, a mouse, a joystick, a knob, a steering wheel, a yoke, and/or any other device capable of accepting user input and/or providing feedback to a user. In various embodiments, user interface  132  may be adapted to provide user input (e.g., as a type of signal and/or sensor information transmitted by communications module  134  of base station  130 ) to other devices of system  100 , such as controller  112 . User interface  132  may also be implemented with one or more logic devices (e.g., similar to controller  112 ) that may be adapted to store and/or execute instructions, such as software instructions, implementing any of the various processes and/or methods described herein. For example, user interface  132  may be adapted to form communication links, transmit and/or receive communications (e.g., infrared images and/or other sensor signals, control signals, sensor information, user input, and/or other information), for example, or to perform various other processes and/or methods described herein. 
     In one embodiment, user interface  132  may be adapted to display a time series of various sensor information and/or other parameters as part of or overlaid on a graph or map, which may be referenced to a position and/or orientation of platform  110  and/or other elements of system  100 . For example, user interface  132  may be adapted to display a time series of positions, headings, and/or orientations of platform  110  and/or other elements of system  100  overlaid on a geographical map, which may include one or more graphs indicating a corresponding time series of actuator control signals, sensor information, and/or other sensor and/or control signals. 
     In some embodiments, user interface  132  may be adapted to accept user input including a user-defined target heading, waypoint, route, and/or orientation for an element of system  100 , for example, and to generate control signals to cause platform  110  to move according to the target heading, route, and/or orientation, or to aim sensor payload  140  accordingly. In other embodiments, user interface  132  may be adapted to accept user input modifying a control loop parameter of controller  112 , for example. 
     In further embodiments, user interface  132  may be adapted to accept user input including a user-defined target attitude, orientation, and/or position for an actuated or articulated device (e.g., sensor payload  140 ) associated with platform  110 , for example, and to generate control signals for adjusting an orientation and/or position of the actuated device according to the target attitude, orientation, and/or position. Such control signals may be transmitted to controller  112  (e.g., using communications modules  134  and  120 ), which may then control platform  110  accordingly. 
     Communications module  134  may be implemented as any wired and/or wireless communications module configured to transmit and receive analog and/or digital signals between elements of system  100 . For example, communications module  134  may be configured to transmit flight control signals from user interface  132  to communications module  120  or  144 . In other embodiments, communications module  134  may be configured to receive sensor data (e.g., visible spectrum and/or infrared still images or video images, or other sensor data) from sensor payload  140 . In some embodiments, communications module  134  may be configured to support spread spectrum transmissions, for example, and/or multiple simultaneous communications channels between elements of system  100 . In various embodiments, communications module  134  may be configured to monitor the status of a communication link established between base station  130 , sensor payload  140 , and/or platform  110  (e.g., including packet loss of transmitted and received data between elements of system  100 , such as with digital communication links), as described herein. Such status information may be provided to user interface  132 , for example, or transmitted to other elements of system  100  for monitoring, storage, or further processing, as described herein. 
     Other modules  136  of base station  130  may include other and/or additional sensors, actuators, communications modules/nodes, and/or user interface devices used to provide additional environmental information associated with base station  130 , for example. In some embodiments, other modules  136  may include a humidity sensor, a wind and/or water temperature sensor, a barometer, a radar system, a visible spectrum camera, an infrared camera, a GNSS, and/or other environmental sensors providing measurements and/or other sensor signals that can be displayed to a user and/or used by other devices of system  100  (e.g., controller  112 ) to provide operational control of platform  110  and/or system  100  or to process sensor data to compensate for environmental conditions, such as an water content in the atmosphere approximately at the same altitude and/or within the same area as platform  110  and/or base station  130 , for example. In some embodiments, other modules  136  may include one or more actuated and/or articulated devices (e.g., multi-spectrum active illuminators, visible and/or IR cameras, radars, sonars, and/or other actuated devices), where each actuated device includes one or more actuators adapted to adjust an orientation of the device in response to one or more control signals (e.g., provided by user interface  132 ). 
     In embodiments where imaging system/sensor payload  140  is implemented as an imaging device, imaging system/sensor payload  140  may include imaging module  142 , which may be implemented as a cooled and/or uncooled array of detector elements, such as visible spectrum and/or infrared sensitive detector elements, including quantum well infrared photodetector elements, bolometer or microbolometer based detector elements, type II superlattice based detector elements, and/or other infrared spectrum detector elements that can be arranged in a focal plane array. In various embodiments, imaging module  142  may include one or more logic devices (e.g., similar to controller  112 ) that can be configured to process imagery captured by detector elements of imaging module  142  before providing the imagery to memory  146  or communications module  144 . More generally, imaging module  142  may be configured to perform any of the operations or methods described herein, at least in part, or in combination with controller  112  and/or user interface  132 . 
     In some embodiments, sensor payload  140  may be implemented with a second or additional imaging modules similar to imaging module  142 , for example, that may include detector elements configured to detect other electromagnetic spectrums, such as visible light, ultraviolet, and/or other electromagnetic spectrums or subsets of such spectrums. In various embodiments, such additional imaging modules may be calibrated or registered to imaging module  142  such that images captured by each imaging module occupy a known and at least partially overlapping field of view of the other imaging modules, thereby allowing different spectrum images to be geometrically registered to each other (e.g., by scaling and/or positioning). In some embodiments, different spectrum images may be registered to each other using pattern recognition processing in addition or as an alternative to reliance on a known overlapping field of view. 
     Communications module  144  of sensor payload  140  may be implemented as any wired and/or wireless communications module configured to transmit and receive analog and/or digital signals between elements of system  100 . For example, communications module  144  may be configured to transmit infrared images from imaging module  142  to communications module  120  or  134 . In other embodiments, communications module  144  may be configured to receive control signals (e.g., control signals directing capture, focus, selective filtering, and/or other operation of sensor payload  140 ) from controller  112  and/or user interface  132 . In some embodiments, communications module  144  may be configured to support spread spectrum transmissions, for example, and/or multiple simultaneous communications channels between elements of system  100 . In various embodiments, communications module  144  may be configured to monitor the status of a communication link established between sensor payload  140 , base station  130 , and/or platform  110  (e.g., including packet loss of transmitted and received data between elements of system  100 , such as with digital communication links), as described herein. Such status information may be provided to imaging module  142 , for example, or transmitted to other elements of system  100  for monitoring, storage, or further processing, as described herein. 
     Memory  146  may be implemented as one or more machine readable mediums and/or logic devices configured to store software instructions, sensor signals, control signals, operational parameters, calibration parameters, infrared images, and/or other data facilitating operation of system  100 , for example, and provide it to various elements of system  100 . Memory  146  may also be implemented, at least in part, as removable memory, such as a secure digital memory card for example including an interface for such memory. 
     Orientation sensor  148  of sensor payload  140  may be implemented similar to orientation sensor  114  or gyroscope/accelerometer  116 , and/or any other device capable of measuring an orientation of sensor payload  140 , imaging module  142 , and/or other elements of sensor payload  140  (e.g., magnitude and direction of roll, pitch, and/or yaw, relative to one or more reference orientations such as gravity and/or Magnetic North) and providing such measurements as sensor signals that may be communicated to various devices of system  100 . Gyroscope/accelerometer (e.g., angular motion sensor)  150  of sensor payload  140  may be implemented as one or more electronic sextants, semiconductor devices, integrated chips, accelerometer sensors, accelerometer sensor systems, or other devices capable of measuring angular velocities/accelerations (e.g., angular motion) and/or linear accelerations (e.g., direction and magnitude) of sensor payload  140  and/or various elements of sensor payload  140  and providing such measurements as sensor signals that may be communicated to various devices of system  100 . 
     Other modules  152  of sensor payload  140  may include other and/or additional sensors, actuators, communications modules/nodes, cooled or uncooled optical filters, and/or user interface devices used to provide additional environmental information associated with sensor payload  140 , for example. In some embodiments, other modules  152  may include a humidity sensor, a wind and/or water temperature sensor, a barometer, a radar system, a visible spectrum camera, an infrared camera, a GNSS, and/or other environmental sensors providing measurements and/or other sensor signals that can be displayed to a user and/or used by imaging module  142  or other devices of system  100  (e.g., controller  112 ) to provide operational control of platform  110  and/or system  100  or to process imagery to compensate for environmental conditions. 
     In various embodiments, modular sensor core/sensor payload  160  may be implemented as an analyte sensor configured to detect analytes in the environment surrounding platform  110 . In the embodiment shown in  FIG. 1 , modular sensor core  160  includes core controller  162 , communications module  164 , sensor assembly  166 , power supply  168 , and other modules  170 . In various embodiments, sensor assembly  166  may be implemented with one or more sensor elements configured to detect analytes in air proximate to platform  110  and/or modular sensor core  160 . In some embodiments, modular sensor core  160  may be implemented with a second or additional sensor assembly  166 , for example, which may be configured to detect various characteristics of analytes, such as ionizing radiation and/or other characteristics of analytes or other hazardous materials, as described herein. 
     Core controller  162  may be implemented as one or more of any appropriate logic device (e.g., processing device, microcontroller, processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), memory storage device, memory reader, or other device or combinations of devices) that may be adapted to execute, store, and/or receive appropriate instructions, such as software instructions implementing a control loop for controlling various operations of modular sensor core  160  and/or other elements of modular sensor core  160 , for example. Such software instructions may also implement methods for processing sensor signals, determining sensor information, providing user feedback (e.g., through user interface  132 ), querying devices for operational parameters, selecting operational parameters for devices, or performing any of the various operations described herein. 
     In addition, a non-transitory medium may be provided for storing machine readable instructions for loading into and execution by core controller  162 . In these and other embodiments, core controller  162  may be implemented with other components where appropriate, such as volatile memory, non-volatile memory, one or more interfaces, and/or various analog and/or digital components for interfacing with modules of modular sensor core  160  and/or devices of system  100 . For example, core controller  162  may be adapted to store sensor signals, sensor information, parameters for coordinate frame transformations, calibration parameters, sets of calibration points, and/or other operational parameters, over time, for example, and provide such stored data to a user using user interface  132 . In some embodiments, core controller  162  may be integrated with one or more other elements of modular sensor core  160 , for example, or distributed as multiple logic devices within platform  110 , base station  130 , and/or modular sensor core  160 . 
     In some embodiments, controller  112  may be configured to substantially continuously monitor and/or store the status of and/or sensor data provided by one or more elements of sensor assembly  166  of modular sensor core  160 , such as the position and/or orientation of platform  110 , modular sensor core  160 , and/or base station  130 , for example, and the status of a communication link established between platform  110 , modular sensor core  160 , and/or base station  130 . Such communication links may be configured to be established and then transmit data between elements of system  100  substantially continuously throughout operation of system  100 , where such data includes various types of sensor data, control parameters, and/or other data. 
     Communications module  164  of modular sensor core  160  may be implemented as any wired and/or wireless communications module configured to transmit and receive analog and/or digital signals between elements of system  100 . For example, communications module  164  may be configured to transmit analyte sensor data from sensor assembly  166  to communications module  120  of platform  110  (e.g., for further transmission to base station  130 ) or directly to communications module  134  of base station  130 . In other embodiments, communications module  164  may be configured to receive control signals (e.g., control signals directing operation of modular sensor core  160 ) from controller  112  and/or user interface  132 . In some embodiments, communications module  164  may be configured to support spread spectrum transmissions, for example, and/or multiple simultaneous communications channels between elements of system  100 . 
     Sensor assembly  166  may be implemented as one or more sensor element supports (e.g., printed circuit boards), sensor elements, sample gas pumps, and/or other modules configured to detect analytes in the environment proximate to and/or otherwise associated with platform  110  and/or modular sensor core  160 . 
     Power supply  168  may be implemented as any power storage device configured to provide enough power to each sensor element of sensor assembly  166  to keep all such sensor elements active and able to sense analytes while modular sensor core  160  is otherwise disconnected from external power (e.g., provided by platform  110  and/or base station  130 ). In various embodiments, power supply  168  may be implemented by a supercapacitor so as to be relatively lightweight and facilitate flight of platform  110  and/or relatively easy handheld operation of platform  110  (e.g., where platform  110  is implemented as a handheld sensor platform). 
     Other modules  170  of modular sensor core  160  may include other and/or additional sensors, actuators, communications modules/nodes, and/or user interface devices used to provide additional environmental information associated with modular sensor core  160 , for example. In some embodiments, other modules  170  may include a humidity sensor, a wind and/or water temperature sensor, a barometer, a GNSS, and/or other environmental sensors providing measurements and/or other sensor signals that can be displayed to a user and/or used by core controller  162  or other devices of system  100  (e.g., controller  112 ) to provide operational control of platform  110  and/or system  100  or to process analyte sensor data to compensate for environmental conditions, as described herein. 
     In general, each of the elements of system  100  may be implemented with any appropriate logic device (e.g., processing device, microcontroller, processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), memory storage device, memory reader, or other device or combinations of devices) that may be adapted to execute, store, and/or receive appropriate instructions, such as software instructions implementing a method for providing sensor data and/or imagery, for example, or for transmitting and/or receiving communications, such as sensor signals, sensor information, and/or control signals, between one or more devices of system  100 . 
     In addition, one or more non-transitory mediums may be provided for storing machine readable instructions for loading into and execution by any logic device implemented with one or more of the devices of system  100 . In these and other embodiments, the logic devices may be implemented with other components where appropriate, such as volatile memory, non-volatile memory, and/or one or more interfaces (e.g., inter-integrated circuit (I2C) interfaces, mobile industry processor interfaces (MIPI), joint test action group (JTAG) interfaces (e.g., IEEE 1149.1 standard test access port and boundary-scan architecture), and/or other interfaces, such as an interface for one or more antennas, or an interface for a particular type of sensor). 
     Sensor signals, control signals, and other signals may be communicated among elements of system  100  using a variety of wired and/or wireless communication techniques, including voltage signaling, Ethernet, WiFi, Bluetooth, Zigbee, Xbee, Micronet, or other medium and/or short range wired and/or wireless networking protocols and/or implementations, for example. In such embodiments, each element of system  100  may include one or more modules supporting wired, wireless, and/or a combination of wired and wireless communication techniques. In some embodiments, various elements or portions of elements of system  100  may be integrated with each other, for example, or may be integrated onto a single printed circuit board (PCB) to reduce system complexity, manufacturing costs, power requirements, coordinate frame errors, and/or timing errors between the various sensor measurements. 
     Each element of system  100  may include one or more batteries, capacitors, or other electrical power storage devices, for example, and may include one or more solar cell modules or other electrical power generating devices. In some embodiments, one or more of the devices may be powered by a power source for platform  110 , using one or more power leads. Such power leads may also be used to support one or more communication techniques between elements of system  100 . 
       FIG. 2  illustrates a diagram of mobile platforms  110 A and  110 B of analyte survey system  200  including embodiments of modular sensor core  160  and associated sensor cradle  128  in accordance with an embodiment of the disclosure. In the embodiment shown in  FIG. 2 , analyte survey system  200  includes base station  130 , optional co-pilot station  230 , mobile platform  110 A with articulated imaging system/sensor payload  140 , gimbal system  122 , modular sensor core  160 , and sensor cradle  128 , and mobile platform  110 B with articulated imaging system/sensor payload  140 , gimbal system  122 , modular sensor core  160 , and sensor cradle  128 , where base station  130  and/or optional co-pilot station  230  may be configured to control motion, position, orientation, and/or general operation of platform  110 A, platform  110 B, sensor payloads  140 , and/or modular sensor cores  160 . 
     In various embodiments, co-pilot station  230  may be implemented similarly relative to base station  130 , such as including similar elements and/or being capable of similar functionality. In some embodiments, co-pilot station  230  may include a number of displays so as to facilitate operation of modular sensor core  160  and/or various imaging and/or sensor payloads of mobile platforms  110 A-B, generally separate from piloting mobile platforms  110 A-Band, and to facilitate substantially real time analysis, visualization, and communication of sensor data and corresponding directives, such as to first responders in contact with a co-pilot or user of system  200 . For example, base station  130  and co-pilot station  230  may each be configured to render any of the display views described herein. 
       FIG. 3  illustrates a diagram of a modular sensor core  360  for analyte survey system  100  in accordance with an embodiment of the disclosure. In  FIG. 3 , modular sensor core  360  includes enclosure cover  310 , enclosure bottom  320 , and sensor assembly  166  including multiple sensor elements  366  and a sample gas pump  330 . Also shown are supercapacitor  368 , sample gas inlet  322 , enclosure bottom seal  324 , and wireless communications antenna  364  (e.g., coupled to communications module  164 ). 
     An example list of sensor elements  366  are (with example readouts in the second and third columns): 
     
       
         
           
               
               
               
               
             
               
                   
                   
               
             
            
               
                   
                 PID 
                 0.01 
                 ppm 
               
               
                   
                 O2 
                 20.2 
                 % vol O 2   
               
               
                   
                 LEL 
                 5.6 
                 % vol 
               
               
                   
                 SO2 
                 0.02 
                 ppm 
               
               
                   
                 CO 
                 0.01 
                 ppm 
               
               
                   
                 NO 
                 0.3 
                 ppm 
               
               
                   
                 H2S 
                 0.02 
                 ppm 
               
               
                   
                 CL2 
                 0.01 
                 ppm 
               
               
                   
                 TVOC 
                 0.1 
                 ppm 
               
               
                   
                 CO2 
                 430 
                 ppm. 
               
               
                   
                   
               
            
           
         
       
     
     Where PID refers to a photoionization detector, LEL refers to a lower explosive limit, TVOC refers to total volatile organic compounds, and all other sensor element types are named after the chemical formula of the analytes they detect. In various embodiments, core controller  162  may be configured to detect when a sensor element reports a particular value above a threshold value (e.g., a threshold % vol or ppm) and issue an audible or visual alert (e.g., highlighting the reported value in red) when the reported value exceeds the threshold value. In addition, each sensor element  366  may be sensitive to one or more distinct analytes. 
     Supercapacitor  368  may be implemented as a 90 F or otherwise capacity aerogel-based capacitor and may in some embodiments be charged by an approximate 5.5 VDC supply provided over an electrical interface for modular sensor core  360 . In general, supercapacitor  368  may be configured with sufficient capacity to supply power to each of sensor elements  366  in order to keep them active for a known period of time, such as 5-10 minutes. Typically, sensor elements may require 5 minutes or more warm up time before they are able to provide reliable calibrated analyte detection, and so supercapacitor  368  may be configured to keep them active while transporting modular sensor core  360  from a power source, such as a calibration system, to platform  110 , or otherwise between external sources of power, so that modular sensor core  360  may be deployed with minimal delay, such as in a time critical survey application to protect first responders. 
       FIG. 4  illustrates a diagram of enclosure bottom  320  including a cradle attachment interface (e.g., mounting flanges  440 , electrical interface  442 , and pneumatic interface  322 ) of modular sensor core  360  for analyte survey system  100  in accordance with an embodiment of the disclosure. In various embodiments, mounting flanges  440  may be configured to releasably couple mechanically to a sensor cradle, as described herein. Electrical interface  442  may be implemented as an environmentally sealable electrical interface configured to support power delivery from platform  110  and/or wired communications between platform  110  and modular sensor core  360 . Also shown in  FIG. 4  is environmental sensor orifice  442  configured to provide environmental access for an environmental sensor of modular sensor core  360 . In some embodiments, enclosure bottom  320  may additionally include louvered portion  426 , for example, which may be configured to provide additional surface area with which to emit heat (e.g., to a surrounding medium, such as air, to act as a heat sink) and/or to provide a substantially unblocked sample gas exhaust for sample gas pump  330  of modular sensor core  360 . In other embodiments, such sample gas exhaust may be routed through any available portion of cover  310  and/or bottom  320 . 
       FIG. 5  illustrates a diagram of enclosure cover  310  including an integrated sample gas channel  532  of modular sensor core  360  for analyte survey system  100  in accordance with an embodiment of the disclosure. In  FIG. 5 , enclosure cover  310  includes enclosure cover seal  524 , sample gas inlet  534 , sample gas pump interface  530 , multiple sample element receptacles  536  (e.g., relatively large) and  538  (e.g., relatively small) each with their own sample element seals  537  to ensure sample gas stays within sample gas channel  532  and sample element receptacles  536  and  538 . On general, sample gas channel  532  allows sample gas pump  330  to draw sample gas from sample gas inlet  534  across the tops of sample elements  366  of sensor assembly  166  to allow the various sample element  366  to detect one or more analytes and/or concentrations of such analytes in the sample gas. 
       FIG. 6  illustrates a diagram of a sensor assembly  600  of modular sensor core  360  for analyte survey system  100  in accordance with an embodiment of the disclosure. In various embodiments, sensor assembly  600  may be implemented similarly to sensor assembly  166  of  FIG. 1 . In  FIG. 6 , sensor assembly  600  includes a variety of sensor elements  166  releasably mounted to sensor support  667 . For example, sensor support  667  may be implemented as a printed circuit board (PCB) with a number of sockets each configured to receive and mechanically and releasably secure a corresponding sensor element  166 , as shown. Sensor support  667  may also include electrical connections between each sensor element  166  and power supply  168  and/or core controller  162 , thereby providing for powering sensor elements  166  and/or monitoring sensor signals provided by sensor elements  166 . Sensor support  667  may also include electrical connections between power supply  168  and electrical interface  632  of sample gas pump actuator  630 . 
     In various embodiments, power supply  168 , and in particular, power provided by supercapacitor  368 , may be coupled to sensor elements  166  and/or sample gas pump actuator  630  via sensor support  667  and controller support  662 , which may be implemented as a PCB. For example, supercapacitor  368  and/or core controller  162  may be mechanically coupled to controller support  662 , for example, and controller support  662  may be mechanically and/or electrically coupled to sensor support  667  so as to support powering sensor elements  166  by supercapacitor  368  (e.g., and various power regulation circuitry of power supply  168 ) and/or monitoring sensor signals provided by sensor elements  166  (e.g., by core controller  162 ). Also shown in  FIG. 7  is sample inlet orifice  622  in controller support  662 , for example, configured to provide access for sample gas inlets  322 / 534 . 
       FIG. 7  illustrates a diagram of a core controller  762  of sensor assembly  600  for modular sensor core  360  for analyte survey system  100  in accordance with an embodiment of the disclosure. In various embodiments, core controller  762  may be implemented similarly and/or with similar functionality as core controller  162 , communications module  164 , power supply  168 , and/or other modules  170  of modular sensor core  160  of  FIG. 1 . In  FIG. 7 , core controller  762  is mechanically and electrically coupled to controller support  662 . Also shown in  FIG. 7  are environmental sensor  772  and terminal blocks  742  mounted to controller support  662 , which may be configured to provide mechanical support for and electrical connections between environmental sensor  772 , terminal blocks  742 , core controller  762 , and supercapacitor  368 , as shown. In some embodiments, core controller  762  may be configured to monitor a ground state of one or more pins of terminal blocks  742  and only allow power and/or data to be provided over terminal blocks  742  after such pin(s) are detected as grounded, in order to reduce or eliminate a risk of electrical damage to platform  110  and/or modular sensor core  360 . 
       FIG. 8  illustrates a diagram of a sample gas pump  830  for sensor assembly  600  of modular sensor core  360  for analyte survey system  100  in accordance with an embodiment of the disclosure. In particular,  FIG. 8  shows two perspective exploded views  830  and  831  of the elements of sample gas pump  830 . In  FIG. 8 , sample gas pump  830  may be implemented as a piezoelectric pump configured to draw sample gas in through pump inlet  844  and exhaust sample gas through exhaust channel  846 . Sample gas pump  830  may include pump cover  838  configured to support or form pump inlet  844  (e.g., which may be configured to interface with pump interface  530  of cover  310 ) and house pump spring  836 , pump actuator  630 , and at least a portion of electrical interface  632 , including pump actuator electrodes  832 . Sample gas pump  830  may also include pump base  840  configured to support or form exhaust channel  846  and house or provide a seal channel for flow seal  850  and/or pump housing seal  842 . Pump base  840  may also be configured to form an exhaust chamber  847  in which exhaust nozzle  834  of pump actuator  830  may project. Pump spring  836  may be configured to secure pump actuator  630  between pump cover  838  and pump base  840  and to provide vibration isolation/shock resistance for pump actuator  630 . In some embodiments, exhaust nozzle  834 , exhaust channel  846 , and/or exhaust chamber  847  may be configured to interface with an exhaust tube configured to provide an outlet through cover  310  or bottom  320  for sample gas drawn into modular sensor core  360 . 
     In alternative embodiments, flow seal  850  may be formed from closed-cell silicone foam, for example, and be configured to provide both a pneumatic seal within sample gas pump  830  and vibration isolation configured to protect elements of sample gas pump  830  (e.g. pump cover  838 , pump actuator  630 , pump base  840 ) from damage caused by impacts to modular sensor core  360  and/or platform  110 . By incorporating such shock protection with flow seal  850 , sample gas pump  830  and its mounting within modular sensor core  360  may be made more compact, for example, and servicing sample gas pump  830  may be a less complex process. In various embodiments, flow seal  850  may be implemented as two closed-cell silicon foam rings, one disposed between pump actuator  630  and pump cover  838  (e.g., and/or spring  836 , which may in some embodiments be replaced by an element of flow seal  850 ), and one disposed between pump actuator  630  and pump base  840 . 
       FIG. 9  illustrates a diagram of sensor cradle  128  for modular sensor core  360  of analyte survey system  100  in accordance with an embodiment of the disclosure. In  FIG. 9 , sensor cradle  128  includes sealable electrical interface  942 , mechanical latches  940 , mechanical lock releases  944 , sealable pneumatic interface  922 , and pneumatic interface extender  924 . In various embodiments, mechanical lock releases  944  may be pressed towards a center of sensor cradle  128  to allow mounting flanges  440  of modular sensor core  360  to engage or disengage with mechanical latches  940 . In some embodiments, mounting flanges  440  and mechanical latches  940  may be configured to allow modular sensor core  360  to be pressed into sensor cradle  128  and snap or lock into sensor cradle  128  (and form a sealed pneumatic interface via pneumatic interface  922  and/or form a sealed electrical interface via electrical interface  942 ) without actuating mechanical lock releases  944 . In various embodiments, pneumatic interface extender  924  may be configured to sealably couple to an external tube or other interface to provide a conduit for gas samples to reach sealable pneumatic interface  922 . 
       FIG. 10  illustrates a diagram of sensor cradle  1028  including an external sample gas snorkel  1030  for modular sensor core  360  of analyte survey system  100  in accordance with an embodiment of the disclosure. As shown in  FIG. 10 , external sample gas snorkel  1030  may be couple to sensor cradle  1028  at pneumatic interface extender  924  to facilitate collecting sample gas at a desired distance and/or relative orientation to sensor cradle  1028 . External sample gas snorkel  1030  may be implemented as a carbon fiber tube (e.g., for lightweight applications), a metal tube (e.g., for heat or chemical resistance), a flexible tube, and/or other sample gas conduit and/or combinations thereof configured to hang from or couple to appendages of platform  110 , for example, so as to sample gas outside a prop wash of platform  110  and/or a safe distance from platform  110  and/or modular sensor core  360  so as to allow safe sampling of a hazardous gas plume or combustion area. In various embodiments, external sample gas snorkel  1030  may be implemented with a particular filter  1032  to reduce or eliminate a risk of airborne particulates entering and/or damaging modular sensor core  360 , sensor elements  166 , and/or sample gas pump  330 / 830 . 
     In various embodiments, modular sensor core  360  may weigh approximately 16 ounces, and sensor cradle  128  may weigh approximately 3 ounces. Other embodiments, including embodiments where modular sensor core  360  is modified to couple directly to platform  110  and/or with fewer sensor elements, may weigh a total of 2-25 ounces. 
       FIG. 11  illustrates a diagram of a calibration system  1110  including a sensor cradle  1128  for modular sensor core  360  of analyte survey system  100  and/or  1100  in accordance with an embodiment of the disclosure. In  FIG. 11 , calibration system  1110  includes display  1132  and various buttons/joystick selection devices  1133  (e.g., elements of user interface  132 ), sample cradle  1128  configured to couple to modular sensor core  360 , and optionally sample interface  1122 . In various embodiments, calibration system  1100  may be configured to provide power to modular sensor core  360  over sealable electrical interface  942  and/or to provide metered calibration gas samples over sealable pneumatic interface  922 , as controlled by user interface  1133 . 
     In some embodiments, calibration system  1110  may be configured to perform a bump check of one or more sensor elements of sensor assembly  166 , for example, where a bump gas sample including a particular analyte to which one or more sensor elements  366  are sensitive to is provided to modular sensor core  360  to cause those sensor elements  366  to register an analyte response, so as to ensure those sensor elements  366  are functioning. Such bump gas sample may include enough analyte to cause a measurable analyte response within the typical dynamic range of a calibrated sensor element. 
     In other embodiments, calibration system  1110  may be configured to perform a calibration check of one or more sensor elements of sensor assembly  166 , for example, where a metered gas sample including a particular analyte (e.g., provided according to a selected or known concentration and rate) to which one or more sensor elements  366  are sensitive to is provided to modular sensor core  360  to cause those sensor elements  366  to register a known analyte response, so as to ensure those sensor elements  366  are functioning and to calibrate those sensor elements  366  to the selected or known analyte concentration and/or rate. Such calibration may include adjusting an amplitude, frequency, and/or other signal characteristic of a sensor control signal provided to a particular sensor element  366 , for example, and/or to adjust an amplification and/or other sensor signal processing characteristic applied by core controller  162  to sensor signals provided by a particular sensor element  366 , so as to provide a known analyte response to the metered gas sample. 
     In further embodiments, calibration system  1110  may be implemented as a portable user interface for modular sensor core  360 , for example, and be configured to determine and display sensor data corresponding to gas samples processed by modular sensor core  360 , such as analyte type, analyte concentration, and/or other analyte characteristics associated with and/or detectable by one or more of sensor elements  366  of sensor assembly  166 . In some embodiments, a metered or other type of gas source may be coupled to calibration system  1110  via sample interface  1122  to facilitate bump check and/or calibration of modular sensor core  360 . In particular embodiments, calibration system/portable user interface  1110  may be mounted to a pole and sample interface  1122  may be coupled to external sample gas snorkel  1030  in order to safely sample hazardous gas plumes while a user manually carries portable user interface  1110  and modular sensor core  360  in a handheld application. 
     In embodiments where calibration system  1110  is implemented as a portable user interface  1110  for modular sensor core  360 , portable user interface  1110  may lack sample interface  1122 , may include an internal battery or other power supply facilitating portable handheld use, and may omit any capability to perform a bump check or calibration of modular sensor core  360 . Such embodiments of portable user interface  1110  may be lighter and smaller than embodiments of calibration system  1110 , and such embodiments are smaller and lighter than conventional analyte sensor systems. 
     In further embodiments, portable user interface  1100  may be implemented as a fixed location installation system and be configured to continuously monitor the environment at the fixed location as analyte plumes proximate to modular sensor core  360  evolve over time. Corresponding analyte data may be transmitted to base station  130  live or be recorded and stored within modular sensor core  360  to be retrieved at a later date. 
       FIGS. 12-14  illustrate flow diagrams  1200 ,  1300 ,  1400  of various operations to provide analyte surveying using analyte survey system  100  in accordance with embodiments of the disclosure. In some embodiments, the operations of  FIGS. 12-14  may be implemented as software instructions executed by one or more logic devices or controllers associated with corresponding electronic devices, sensors, and/or structures depicted in  FIGS. 1-11 . More generally, the operations of  FIGS. 12-14  may be implemented with any combination of software instructions, mechanical elements, and/or electronic hardware (e.g., inductors, capacitors, amplifiers, actuators, or other analog and/or digital components). 
     It should also be appreciated that any step, sub-step, sub-process, or block of processes  1200 ,  1300 ,  1400  may be performed in an order or arrangement different from the embodiments illustrated by  FIGS. 12-14 . For example, in other embodiments, one or more blocks may be omitted from or added to each individual process. Furthermore, block inputs, block outputs, various sensor signals, sensor information, calibration parameters, and/or other operational parameters may be stored to one or more memories prior to moving to a following portion of a corresponding process. Although processes  1200 ,  1300 ,  1400  are described with reference to systems described in  FIGS. 1-11 , processes  1200 ,  1300 ,  1400  may be performed by other systems different from those systems and including a different selection of electronic devices, sensors, assemblies, mechanisms, platforms, and/or platform attributes. 
     Process  1200  of  FIG. 12  may generally correspond to a method for assembling analyte survey system  100 . 
     At block  1202 , a sensor cradle is mounted to a sensor platform. For example, a user or manufacturer of modular sensor core  360  may be configured to mount sensor cradle  128  to platform  110 , for example, or to calibration system/portable user interface  1110 . In some embodiments, such mounting may include coupling sealable electrical interface  942  to a power supply of platform  110  or to calibration system/portable user interface  1110 . At optional block  1204 , an external sample gas snorkel is coupled to a sensor cradle. For example, a user or manufacturer of modular sensor core  360  and/or platform  110  may be configured to mount external sample gas snorkel  1030  to platform  110 , for example, or to calibration system/portable user interface  1110 . 
     At block  1206 , a modular sensor core is secured to a sensor cradle. For example, a user or manufacturer of modular sensor core  360  and/or platform  110  may be configured to mount modular sensor core  360  to sensor cradle  128  of platform  110  and/or sensor cradle  1128  of calibration system/portable user interface  1110 . At optional block  1208 , mechanical safety measures are installed to secure a modular sensor code to a senor cradle or a platform. For example, a user or manufacturer of modular sensor core  360  and/or platform  110  may be configured to install mechanical safety measures, such as a mechanical strap, to secure modular sensor core  360  to sensor cradle  128  and/or platform  110 , for example, and/or to secure modular sensor core  360  to sensor cradle  1128  of calibration system/portable user interface  1110 . 
     Process  1300  of  FIG. 13  may generally correspond to a method for maintaining analyte survey system  100 . 
     At block  1302 , an exhausted sensor element with a modular sensor core is reported. For example, controller  162 , communication module  164 , user interface  132 , and/or communication module  132  may be configured to report an exhausted sensor element (e.g., one of sensor elements  366  of sensor assembly  166 ) among various elements of system  100 , including displaying an exhausted sensor element alert on user interface  132 . In some embodiments, controller  162  may be configured to detect an exhausted sensor element (e.g., a sensor element that is no longer sensitive to its designated analyte) by detecting or reporting a degraded or absent analyte response to a bump check or calibration of modular sensor core  160 , for example, or by detecting or reporting an analyte response for a first sensor element that is degraded or absent relative to a second sensor element, where both sensor elements are sensitive to a common analyte. 
     In block  1304 , a cover for a modular sensor core is removed. For example, a user or manufacturer of modular sensor core  360  and/or platform  110  may be configured to remove cover  310  of modular sensor core  360  to access sensor assembly  166 . In block  1306 , an exhausted sensor element is removed from a modular sensor core. For example, a user or manufacturer of modular sensor core  360  and/or platform  110  may be configured to remove the exhausted sensor element  366  identified in block  1302  from modular sensor core  360 . In block  1308 , a new sensor element is inserted into a modular sensor core. For example, a user or manufacturer of modular sensor core  360  and/or platform  110  may be configured to insert a new sensor element  366  into modular sensor core  360  to replace the exhausted sensor element  366  removed in block  1306 . In block  1310 , a cover for a modular sensor core is replaced. For example, a user or manufacturer of modular sensor core  360  and/or platform  110  may be configured to replace cover  310  of modular sensor core  360  to seal sensor assembly  166  and/or other elements of modular sensor core  360  against damage caused by environmental conditions, including moisture and/or heat. 
     In block  1312 , a new sensor element status is reported. For example, controller  162 , communication module  164 , user interface  132 , and/or communication module  132  may be configured to report a status of a new sensor element, including displaying new sensor element bump check response or calibration response on user interface  132 . In some embodiments, a calibration process may be performed prior to or as part of such reporting of the status of the new sensor element. Such calibration process may include one or more elements of process  1400  of  FIG. 14 , for example, including securing modular sensor core  360  to calibration system  1110 . 
     Process  1400  of  FIG. 14  may generally correspond to a method for maintaining and/or calibrating analyte survey system  100 . 
     At optional block  1402 , external power is provided to a calibration system. For example, a user or manufacturer of modular sensor core  360  and/or platform  110  may be configured to provide external power to calibration system  1100  to ensure calibration system  1100  can perform a bump check process and/or a calibration process, as described herein, and/or to charge supercapacitor  368  of modular sensor core  360 . 
     At block  1404 , a calibration system is initialized. For example, a user or manufacturer of modular sensor core  360  and/or platform  110 , or controller  112  of calibration system  1110 , may be configured to initialize calibration system  1110  by detecting that external power has been provided as in block  1402 , for example, or by detecting user selection of one or more of user interfaces  1132  or  1133 . 
     At block  1406 , a modular sensor core is secured to a calibration system. For example, a user or manufacturer of modular sensor core  360  and/or platform  110  may be configured to secure or couple modular sensor core  360  to sensor cradle  1128  of calibration system  1110 . After such coupling, controller  112  of calibration system  1110  may be configured to receive user selection from user interface  1133  corresponding to performing a bump check of modular sensor core  360 , for example, or corresponding to performing a calibration of modular sensor core  360 , and process  1400  may proceed to the appropriate block as shown. In various embodiments, calibration system  1110  may be configured to perform a bump check of modular sensor core  360  by default, such as after a predetermined time has passed after controller  112  has detected coupling of modular sensor core  360  to calibration system  1110 . 
     At block  1408 , a bump check of a modular sensor core is performed. For example, controller  112  and/or core controller  162  may be configured to perform a bump check of modular sensor core  360 . In some embodiments, calibration system  1110  may be configured to provide a bump gas sample (e.g., sourced over sample interface  1122 ) to modular sensor core  360  over sealable pneumatic interface  922 , receive corresponding analyte responses from one or more sensor elements  366  of modular sensor core  360  over sealable electrical interface  942 , and determine the one or more sensor elements  366  are operational or exhausted based, at least in part, on the corresponding analyte responses. In various embodiments, such status may be referred to as a bump check result of modular sensor core  360 . 
     At block  1410 , a bump check result of a modular sensor core is reported. For example, controller  112  and/or core controller  162  may be configured to report a bump check result of modular sensor core  360  generated in response to the bump check performed in block  1408 . In some embodiments, calibration system  1110  may be configured to report a bump check result corresponding to one or more sensor elements  366  of modular sensor core  360  by listing sensor elements  366  on display  1132  and visibly or textually indicating operational or exhausted ones of sensor elements  366 . In further embodiments, calibration system  1110  may be configured to report a bump check result corresponding to one or more sensor elements  366  of modular sensor core  360  by issuing an audible indicator corresponding to an all-operational or any-exhausted status of sensor elements  366 . 
     At optional block  1412 , a calibration of a modular sensor core is performed. For example, in embodiments where calibration system  1110  is configured to perform a calibration of one or more sensor elements  366  of modular sensor core  360 , configuration system  1110  may be configured to perform such calibration process by providing a metered gas sample (e.g., sourced over sample interface  1122 ) to modular sensor core  360  over sealable pneumatic interface  922 , receiving corresponding analyte responses from one or more sensor elements  366  of modular sensor core  360  over sealable electrical interface  942 , and determining one or more sensor control signal characteristics and/or sensor signal processing characteristics, and/or associated signal adjustments to calibrate the one or more sensor elements  366  based, at least in part, on the corresponding analyte responses. In various embodiments, such signal characteristics and/or adjustments may be referred to as a calibration result of modular sensor core  360 . The time needed to calibrate modular sensor core  360  using such process may vary from approximately 2-20 minutes, depending on the state and number of sensor elements  366  in sensor assembly  166 . 
     At optional block  1414 , a calibration result of a modular sensor core is reported. For example, in embodiments where calibration system  1110  is configured to perform a calibration of one or more sensor elements  366  of modular sensor core  360 , configuration system  1110  may be configured to report a calibration result of modular sensor core  360  generated in response to the calibration performed in block  1412 . In some embodiments, calibration system  1110  may be configured to report a calibration result corresponding to one or more sensor elements  366  of modular sensor core  360  by listing sensor elements  366  on display  1132  and visibly or textually indicating calibrated ones of sensor elements  366 . In further embodiments, calibration system  1110  may be configured to report a calibration result corresponding to one or more sensor elements  366  of modular sensor core  360  by issuing an audible indicator corresponding to an all-calibrated or any-non-calibrated status of sensor elements  366 . 
     At block  1418 , a modular sensor core is removed from a calibration system. For example, a user or manufacturer of modular sensor core  360  and/or platform  110  may be configured to remove or decouple modular sensor core  360  from sensor cradle  1128  of calibration system  1110 . After such coupling, controller  162  of modular sensor core  360  may be configured to use supercapacitor  368  to power sensor elements  366  until modular sensor core  360  is secured in and/or powered by sensor cradle  128  of platform  110 , to enable relatively quick deployment of modular sensor core on platform  110 . 
     By providing such systems and techniques for analyte surveying, embodiments of the present disclosure substantially improve the operational flexibility and reliability of unmanned sensor platforms. Moreover, such systems and techniques may be used to increase the operational safety of users of analyte surveying systems, including of unmanned mobile sensor platforms beyond that achievable by conventional systems. As such, embodiments provide analyte survey systems with significantly increased survey convenience and performance. 
     In accordance with embodiments described herein, analyte survey systems may benefit from a variety of visualization and analyte surveying techniques configured to improve the operational flexibility, reliability, and accuracy of such systems. In particular, embodiments may be configured to provide various display views allowing a user to access and selectively enable such features and capabilities, for example, and may be implemented according to various processes and/or control loops configured to ease pilot burden, protect operation of mobile platforms of such systems, and qualitatively and quantitatively evaluate potential exposure events more quickly and more reliably than conventional systems. 
     In various embodiments, system  100  may be configured to visualize and characterize a distributed hazardous gas threat through use of mobile platform  110  and sensors mounted to mobile platform  110  for sampling. In general, mobile platform  110  will relay analyte sensor data back to an operator at base station  130  and/or co-pilot station  230  where it will be rendered on or within a geospatial chart to help visualize and characterize the threat. For example, first responders typically need to assess hazardous situations and determine an extent of a related contamination or threat. Elements of system  100  can autonomously map the extents of the hazard gas and overlay resulting sensor data onto a geospatial chart, such that an operator can visualize the full extent of the hazard (e.g., a gas cloud) and proceed safely. Elements of system  100  can also use vision systems to recognize and relay information about warning placards and related information and report specific threats and locations visually. In embodiments where system  100  includes a handheld mobile platform, elements of system  100  can aggregate various data to provide critical and timely warnings and/or safety directives to the user of the handheld platform. 
     Embodiments may overlay 2D or 3D analyte sensor data onto on geospatial maps as icons or colored highlights or blobs so that users can visualize the extent of a dangerous gas plume. Embodiments may optionally include a second screen/additional base stations so that sensor data can be viewed/operated by user other than the UAV/UGV pilot. Embodiments may use image recognition techniques to read NFPA diamonds and DOT chemical placards using an online or built-in database and relay pertinent hazard information and/or safety directives to users of system  100 . 
     In addition to analyte sensor data provided by embodiments of modular sensor core  160 , which are essentially in-situ analyte sensor data, mobile platform  110  may include embodiments of imaging module  142  configured to provide remote analyte sensor data, such as by gas imaging. For example, imaging module  142  may be implemented as a visible spectrum, infrared, and/or multi-spectrum (e.g., visible and infrared, visible and thermal, or visible, infrared, and ultraviolet) imaging module configured to detect the presence of gaseous analytes and/or estimate the concentrations of particular gaseous analytes, based on their emission and/or absorption spectra. Moreover, mobile platform  110  may be implemented with multiple imaging modules each configured to image a scene according to different spectra (e.g., which may be partially overlapping), and system  100  may be configured to combine or blend such imagery to generate multi-spectral imagery that can be used to help guide mobile platform  110  about a hazardous survey area and/or aim gimbal system  122 . As such, system  100  may be configured to perform analyte detection according to a variety of different detection protocols associated with the individual types of analyte sensor data and/or combinations of different types of analyte sensor data. 
       FIGS. 15A-C  illustrate display views  1500 ,  1502 ,  1504  rendered by a user interface (e.g., user interface  132  of base station  130  and/or co-pilot station  230 ) for analyte survey system  100  or  200  in accordance with an embodiment of the disclosure. In the embodiment shown in  FIG. 15A , display view  1500  includes geospatial chart  1510  surrounded by various selector/indicator groups (e.g., header  1512 , payload controller menus  1514  and  1516 , video feed  1518 , and platform telemetry indicator  1520  configured to visualize and/or quantify analyte detections and operate mobile platform  110  and/or elements of mobile platform  110 . For example, header  1512  may include one or more selectors and/or indicators configured to receive user selection of a particular selector to enable, disable, or select active sensor payloads (e.g., imaging module  142 , modular sensor core  160 ) for display of corresponding georeferenced sensor data within geospatial chart  1510 , for example, or to indicate an operational status of mobile platform  110  and/or various elements of mobile platform  110 . 
     Payload controller menu  1514  may include one or more selectors or buttons configured to receive user selection of a particular selector to control function of imaging module  142 , modular sensor core  160 , and/or other sensors of mobile platform  110 . Payload controller menu  1516  may also include one or more selectors or buttons configured to receive user selection of a particular selector to control function of imaging module  142 , modular sensor core  160 , and/or other sensors of mobile platform  110 , such as a zoom level, an aperture, a sample gas pump rate, and/or other functions or operational states of sensors of mobile platform  110 . Video feed  1518  may be configured to show images or video captured by imaging module  142  (e.g., visible spectrum, infrared spectrum, and/or multi-spectrum images or video) to facilitate piloting of mobile platform  110  or provide situational awareness to a pilot or co-pilot of system  100  or  200 . Platform telemetry indicator  1520  may be configured to indicate various types of telemetry associated with a position, orientation, or motion of mobile platform  110 , gimbal system  122 , modular sensor core  160 , and/or other elements of mobile platform  110 . 
     In a specific embodiment, a selector within header  1512  or payload controller menus  1514  or  1516  may be implemented as an automatic drift detection mode selector configured to place mobile platform  110  in an automatic drift detection mode. Once placed in such mode, mobile platform  110  may be configured to control propulsion system  124  to allow mobile platform to drift horizontally and/or vertically according to a local wind impacting mobile platform  110  for a specified period of time (e.g., a drift period associated with the automatic drift detection mode). During such automatic drift detection mode, mobile platform  110  may be configured to determine a first estimated drift velocity due to such wind, yaw mobile platform  110  ninety degrees, measure a second horizontally orthogonal estimated drift velocity due to such wind, and to determine a local wind velocity based on the first and second estimated drift velocities. 
     For example, to determine an estimated drift velocity, mobile platform  110  may be configured to measure an initial drift position of mobile platform  110  (e.g., using GNSS  118 ), to allow mobile platform  110  to drift for a preselected period of time or until mobile platform  110  approaches a maneuvering obstacle or hazard, and to measure a final drift position after such preselected time has elapsed, and to determine the estimated drift velocity based on the vector difference between the initial and final drift positions. In various embodiments, the local wind velocity may be the average of the first and second estimated drift velocities. Upon determining the local wind velocity, mobile platform  110  may be configured to exit the automatic drift detection mode and/or hover in place until provided a subsequent maneuvering or analyte detection directive, as described herein. 
     In the embodiment shown in  FIG. 15A , geospatial chart  1510  includes mobile platform indicator  110  and analyte plume overlay  1530  rendered over a base map or chart  1511 . In various embodiments, system  100  may be configured to determine a shape, extent, and/or other characteristics of analyte plume overlay  1530  within geospatial chart  1510  based, at least in part, on analyte sensor data provided by modular sensor core  160  and orientation and/or position data provided by orientation sensor  114 , GNSS  118 , and/or other orientation and/or position or motion sensors of mobile platform  110  or elements of mobile platform  110  as mobile platform maneuvers within the area shown in geospatial chart  1510 . For example, system  100  may be configured to determine a concentration distribution associated with the analyte plume, based on analyte sensor data and/or environmental conditions provided by mobile platform  110 , and render analyte plume overlay  1530  according to a color mapping to indicate relative concentrations, such as hot colors (e.g., red) to indicate relatively high concentrations of an analyte, and cold colors (e.g., blue) to indicate relatively low concentrations of an analyte. Such color mapping may be based on relative toxicity of the analyte, for example (e.g., high toxicity analytes are red at relatively low absolute concentrations/ppms), and/or on relative hazard to organics, structures, and/or machinery. 
     In some embodiments, system  100  may be configured to determine various characteristics of analyte plume overlay  1530 , as displayed within geospatial chart  1510 , based on environmental conditions associated with a survey area corresponding to base map or chart  1511 . For example, system  100  may be configured to determine a position of a potential source  1532  of the analyte plume corresponding to analyte plume overlay  1530  based on concentrations of the corresponding analyte measured within geospatial chart  1510  (e.g., by imaging module  142  and/or modular sensor core  160 ), a determined wind velocity (e.g., measured according to an automatic drift detection mode), ambient temperature, ambient humidity, and/or other environmental conditions affecting spatial evolution of the analyte plume and/or detection of the analyte plume by modular sensor core  160  and/or mobile platform  110 . 
     In another embodiment, system  100  may be configured to determine multiple types of analytes are present within a particular survey area, for example, and render each type of analyte according to a different overlay layer presented in display view  1500 , each of which may be selective enabled and/or disabled by a user. Segregated types of analytes may include, for example, flammable analytes, caustic analytes (e.g., hydrogen sulfide), halogenated compounds, odorless suffocation risks, and/or other differentiated types of analytes. 
     In various embodiments, mobile platform  110  may be configured to adjust its course based on analyte sensor data provided by imaging module  142  and/or modular sensor core  160 , for example, and/or based on various environmental conditions measured by sensors mounted to mobile platform  110  or by external systems and communicated to system  100  (e.g., such as regional weather data provided by an online database over a wireless network linked to base station  130  or co-pilot station  230 ). As such, mobile platform  110  may be configured to autonomously avoid entering hazardous analyte plumes (e.g., hazardous concentrations of an analyte within a particular analyte plume) or environments (e.g., significant downdrafts or otherwise undesirable environmental conditions and/or hazardous analyte plumes within such undesirable environmental conditions). For example, sending a UAV/UGV into a hazardous environment can put mobile platform  110  at risk of damage or contamination requiring replacement or decontamination. By adding intelligent hazard avoidance based on analyte and environmental sensors carried on-vehicle, hazard exposure can be limited through automatic course adjustment, thereby protecting mobile platform  110  and it associated sensor suite. 
     Embodiments described herein may provide for autonomous reaction to analyte and/or environmental sensor data. For example, controller  112  and/or a controller of base station  130  or co-pilot station  230  may be configured to receive analyte and/or environmental sensor data from mobile platform  110  and/or from sensors mounted to mobile platform  110  and to determine course adjustments to avoid detected hazardous analyte plumes and/or environmental conditions. Examples of course adjustments may include halt, climb, and/or reverse course to retreat from a dangerous environment. Such course adjustments may be relayed to a user of base station  130 , for example, or may be implemented directly/autonomously by mobile platform  110 . Such autonomous response is intended to preserve the integrity of mobile platform  110  and avoid carrying contamination into other non-contaminated areas. Situations that may prompt these responses include: when a flammable gas sensor element of modular sensor core  160  indicates relatively high concentrations of explosive gases; when a sensor element of modular sensor core  160  indicates relatively high concentrations of a toxic gas; when an oxygen gas sensor element of modular sensor core  160  indicates relatively high or low concentrations of O2 gas; and/or when one or more environmental sensors of mobile platform  110  e.g., other modules  126 ) indicate damaging high temperatures (such as temperatures associated with flight over a fire). 
     In general, hazard avoidance course corrections may interrupt manual flight/control or an automatically planned flight/course. A pilot/user may be provided various selectors within a display view, for example, to be able to abort autonomous operations if desired should it be deemed inappropriate for the situation. For example, in the embodiment shown in  FIG. 15B , display view  1502  includes many of the same features of display view  1500  but with hazard warning menu  1522  rendered centrally within display view  1502  as an overlay over geospatial chart  1510 . 
     In various embodiments, system  100  may be configured to trigger rendering of hazard warning menu  1522  as mobile platform  110  enters a relatively high concentration or hazardous portion of the analyte plume corresponding to analyte plume overlay  1530 , as determined by a position of mobile platform  110  within geospatial chart  1510 , for example, and/or based on analyte sensor data provided by imaging module  142  and/or modular sensor core  160 . Hazard warning menu  1522  may include alert text indicating the type of hazard (e.g., analyte based or environmental condition based) and one or more selectors allowing a user to cause mobile platform  110  to enter an auto-retreat mode (e.g., where mobile platform  110  autonomously adjusts its course to move away from the detected hazard), allowing a user to cancel and ignore the hazard warning (e.g., so as to provide critical egress guidance to first responders), and/or other selectors associated with other navigation options for system  100 . 
     In some embodiments, hazard warning menu  1522  may include an expedited escape selector configured to cause mobile platform  110  to enter an expedited escape mode where mobile platform  110  controls propulsion system  124  to provide maximum vertical thrust and abruptly increase an altitude of mobile platform  110 . In an alternative embodiment, hazard warning menu  1522  may include a selector allowing a user to cause mobile platform  110  to enter an assisted hazard navigation mode, for example, where mobile platform  110  allows a pilot to manually adjust a course of mobile platform  110  in any direction that does not position mobile platform within a relatively high concentration or hazardous portion of an analyte plume. For example, mobile platform  110  may be configured to attenuate any manual user control signals attempting to maneuver mobile platform  110  towards and/or into such hazardous portion. 
     In some embodiments, hazard warning menu  1522 , header  1512 , and/or selector/indicator groups of display view  1500  or  1502  may include an analyte concentration contour mapping selector configured to cause mobile platform  110  to enter an analyte concentration contour mapping mode where mobile platform  110  uses analyte sensor data provided by imaging module  142  and/or modular sensor core  160  to determine one or more analyte concentration boundaries and/or corresponding contour lines within a survey area represented in geospatial chart  1510 . For example, mobile platform  110  may be configured to move mobile platform  110  within the survey area and about the analyte plume corresponding to analyte plume overlay  1530  to generate sufficient analyte sensor data in order to determine an analyte concentration contour map. 
     For example, in the embodiment shown in  FIG. 15C , display view  1504  includes many of the same features of display view  1500 , and additional includes analyte concentration boundaries  1546 - 1550  bounding respective analyte concentration segments  1540 - 1544 , as shown. For example, mobile platform  110  may approach or enter relatively high analyte concentration segment  1540 , receive analyte sensor data from modular sensor core  160  indicating a hazardous concentration of the corresponding analyte, and trigger rendering of hazard warning menu  1522  on base station  130  or co-pilot station  230 . A pilot or co-pilot may select an analyte concentration contour mapping selector to cause mobile platform  110  to enter an analyte concentration contour mapping mode, and mobile platform  110  may autonomously maneuver mobile platform  110  about the analyte plume to determine the extents of analyte concentration segments  1540 - 1544  and/or the spatial contours of analyte concentration boundaries  1546 - 1550 , as shown. 
     More generally, a pilot or co-pilot may select an analyte concentration contour mapping selector at any time, regardless of whether mobile platform  110  has entered any portion of the analyte plume corresponding to analyte plume overlay  1530 . Such autonomous contour mapping provides substantially quicker analyte concentration contour mapping than manual techniques, for example, and a resolution of such mapping may be adjusted to increase spatial definition and reduce mapping speed, or vice versa. In related embodiments, mobile platform  110  may be configured with a concentration finder mode, where upon selection of such mode, mobile platform  110  may be configured to maneuver mobile platform  110  about the analyte plume corresponding to analyte plume overlay  1530  to find a highest or lowest analyte concentration within the survey area shown in geospatial chart  1510 . 
     In various embodiments, analyte concentration contour mapping and/or other operational modes of mobile platform  110  may be performed in a plane, such as at a selected altitude, for example, or may be performed volumetrically (e.g., in three dimensions), such as to generate three-dimensional analyte concentration contours. For example,  FIGS. 16A-C  illustrate display views  1600 ,  1602 ,  1604  rendered by a user interface (e.g., user interface  132  of base station  130  and/or co-pilot station  230 ) for analyte survey system  100  or  200  in accordance with an embodiment of the disclosure. In particular, display views  1600 ,  1602 ,  1604  provide three dimensional views of analyte plumes within a survey area  1630 . As shown in  FIG. 16A , survey area  1630  is disposed above a parking lot  1640  between multiple buildings  1642  and adjacent a highway  1644 , all shown in three-dimensional geospatial chart  1610 . In display view  1600 , survey area/point cloud  1630  includes three analyte plume overlays/point clouds  1632 ,  1634 , and  1636  corresponding to three analyte plumes within the survey area. In particular, analyte plume point clouds  1632  and  1636  correspond to one type of analyte, and analyte plume point cloud  1634  corresponds to a different type of analyte. 
     Also shown in display view  1600  are various selectors and/or indicators configured to receive user selection of a particular selector to adjust a perspective or other characteristic of display view  1600 , geospatial chart  1610 , and/or point clouds  1630 - 1636 , for example, or to indicate a status of geospatial chart  1610  and/or point clouds  1630 - 1636 , for example. In particular, header  1612  may include selectors configured to allow a user to change a zoom level or view perspective of display view  1600 , time evolution controller  1614  may include selectors configured to allow a user to render any one or more of point clouds  1630 - 1636  according to a selected time stamp or to animate one or more of point clouds  1630 - 1636  according to a selected time period and/or rate (e.g., to show how each analyte plume evolves over time), and timeline indicator  1616  may be configured to indicate a particular time or range of times corresponding to a time stamp and/or animation of point clouds  1630 - 1636 . Display view  1602  of  FIG. 16B  shows a zoomed in perspective of survey area  1630  and analyte plume overlays/point clouds  1632 - 36 , and display view  1604  of  FIG. 16C  shows a top-down perspective of survey area  1630  and analyte plume overlays/point clouds  1632 - 36 . 
     In the embodiments shown in  FIGS. 16A-C , points within survey area  1630  are colored a neutral color to indicate that the corresponding area has been sampled but no hazardous analyte has been detected. Points within analyte plumes  1630  are colored hot (e.g., red) to indicate relatively high analyte concentrations and colored cold (e.g., blue) to indicate relatively low analyte concentrations. In other embodiments, different analytes may be assigned different colors, for example, and other characteristics of the point clouds (e.g., saturation, opacity, point diameter, and/or other characteristics) may be used to convey concentration to a user. Portions of display views  1600 - 1604  without points have not been sampled. 
     In some embodiments, system  100  may be configured to compensate for sensor time lag associated with modular sensor core  160  when linking a particular analyte sensor element response to a position within the survey area depicted by geospatial charts  1510  and/or  1610 . For example, sample gas pump  330  may be set to a particular pump rate such that an analyte in a 1 cc sample ingested by modular sensor core  160  (e.g., potentially through sample gas snorkel  1030 ) may not be registered by a sensor element of modular sensor core  160  for a particular time period, such as 1 second (e.g., a sensor time lag associated with modular sensor core  160 ). Mobile platform  110  and/or other elements of system  100  may be configured to monitor and log motion of mobile platform  110  and/or various environmental conditions (e.g., a local wind velocity) and compensate for such sensor time lag by linking analyte sensor data spatially and temporally to position data associated with mobile platform  110  (e.g., provided by GNSS  118 ). By providing such temporal compensation, embodiments are able to survey an particular survey area and/or analyte plume much faster than conventional systems, due to the reduced and/or eliminated sample dwell time at each sample position within the survey area. 
     As noted herein, embodiments may be configured to capture images of various types of chemical placards and related information, process the images to determine associated analyte characteristics, and determine analyte situation report and/or safety directives associated with the indicated analyte.  FIG. 17  illustrates a diagram of analyte survey system  1700  in accordance with an embodiment of the disclosure. In  FIG. 17 , analyte survey system  1700  includes base station  130  with user interface/display  132 , mobile platform  110  (e.g., implemented with articulated imaging system/sensor payload  140 , gimbal system  122 , modular sensor core  160 , and sensor cradle  128 ), where base station  130  (and/or an optional co-pilot station) may be configured to control motion, position, orientation, and/or general operation of mobile platform  110  and/or elements of mobile platform  110 . 
     In the embodiment shown in  FIG. 17 , mobile platform  110  is surveying tanker truck  1710  to evaluate a hazard state associated with tanker truck  1710 . For example, mobile platform  110  may be configured to scan imaging module  142  along view  1720  to capture images of chemical placard  1714  (e.g., NFPA diamonds and/or DOT placards) and process such images (e.g., using image recognition techniques) to determine the type of analyte contained in tank  1712 . System  100  may be configured to reference NIOSH or other similar databases to determine chemical properties of the analyte identified on chemical placard  1714 , including but not limited to, boiling point, flash point, density, molecular weight, IDHL, LEL, LD50, etc., and to present such information (or portions thereof) on display  132  of base station  130 . Mobile platform  110  may also be configured to scan imaging module  142  along view  1722  to capture images of license plate  1716  or other identifying information and process such images to determine and/or cross reference ownership, contents, and/or legal status of tanker truck  1710  (e.g., by accessing a federal, state, or other online or built-in database or manifest as appropriate). System  100  may be configured to process the same or similar imagery of tanker truck  1710  to recognize the type of tanker or vehicle and estimate the potential volume of analyte carried in tank  1712 . 
     In some embodiments, imaging module  142  may be implemented with a thermal imaging sensor and system  100  may be configured to process radiometric thermal images of tanker truck  1710  and/or a surrounding survey area to identify potential flashpoints (e.g., positions with in the survey area) based on the analyte identified in chemical placard  1714 . Such thermal images may also be processed to identify remaining liquid levels within tank  1712 . Mobile platform  110  may be configured to relay sensor data and/or processed imagery and related information to base station  130  and/or a co-pilot station, for example, and system  100  may be configured to generate safety directives accordingly, such as to recommend a safe perimeter given the composition and/or estimated volume of the analyte and associated environmental conditions, such as identified flashpoints near or in tanker truck  1710 . 
       FIGS. 18-20  illustrate flow diagrams of various operations to provide analyte surveying using an analyte survey system in accordance with embodiments of the disclosure. 
     Process  1800  of  FIG. 18  may generally correspond to a method for surveying a survey area using analyte survey system  100 . 
     At block  1802 , analyte sensor data from a mobile platform in a survey area is received. For example, controllers  112  and/or  162 , communication module  164 , user interface  132 , communication module  132 , and/or other elements of system  100  may be configured to receive analyte sensor data from modular sensor core  160  and/or imaging module  142  as mobile platform  110  maneuvers within a survey area. 
     In block  1804 , position data corresponding to analyte sensor data is received. For example, system  100  may be configured to receive position data corresponding to the analyte sensor data received in block  1802 . In block  1806 , analyte survey information is generated. For example, system  100  may be configured to generate analyte survey information corresponding to the survey area based, at least in part, on a combination of the position data and the analyte sensor data received in blocks  1802  and  1804 . 
     In block  1808 , a display view including analyte survey information is rendered. For example, system  100  may be configured to render a display view comprising the analyte survey information generated in block  1806  in a display of user interface  132 . In block  1810 , entry into a hazardous portion of an analyte plume is detected. For example, system  100  may be configured to detect entry of mobile platform  110  into a hazardous portion of an analyte plume based, at least in part, on the analyte survey information generated in block  1806 . In block  1812 , a course of a mobile platform is adjusted. For example, system  100  may be configured to adjust a course of mobile platform  110  to avoid the hazardous portion of the analyte plume detected in block  1810 . 
     Process  1900  of  FIG. 19  may generally correspond to a method for determining a local wind velocity within a survey area using analyte survey system  100 . 
     At block  1902 , mobile platform  110  enters an automatic drift detection mode. For example, system  100  may be configured to detect user selection of the automatic drift detection mode and communicate the selection to mobile platform  110 . In block  1904 , a first estimated drift velocity is determined. For example, system  100  may be configured to control propulsion system  124  of mobile platform  110  to allow mobile platform  110  to drift with a wind impacting mobile platform  110  and to determine the first estimated drift velocity associated with the wind impacting the mobile platform based on measurements of such drift. In block  1906 , a second estimated drift velocity is determined. For example, system  100  may be configured to control propulsion system  124  of mobile platform  110  to yaw mobile platform  110  approximately ninety degrees and then allow mobile platform  110  to drift with the wind impacting mobile platform  110  and to determine the second estimated drift velocity associated with the wind impacting the mobile platform based on measurements of such drift. In block  1908 , a local wind velocity is determined. For example, system  100  may be configured to determine a local wind velocity based, at least in part, on the first and second estimated drift velocities determined in blocks  1904  and  1906 . 
     Process  2000  of  FIG. 20  may generally correspond to a method for determining an analyte concentration contour map associated with a survey area using analyte survey system  100 . 
     At block  2002 , mobile platform  110  enters an analyte concentration contour mapping mode. For example, system  100  may be configured to detect user selection of the analyte concentration contour mapping mode and communicate the selection to mobile platform  110 . In block  2004 , mobile platform  110  is maneuvered to sample a survey area. For example, system  100  may be configured to control propulsion system  124  of mobile platform  110  to maneuver mobile platform  110  within a survey area to generate analyte survey information, similar to process  1800  of  FIG. 18 . In block  2006 , one or more analyte concentration boundaries are determined. For example, system  100  may be configured to determine one or more analyte concentration boundaries based, at least in part, on the analyte survey information generated in block  2004 . In block  2008 , a display view including the analyte concentration boundaries is rendered. For example, system  100  may be configured to render a display view comprising the analyte concentration boundaries determined in block  2006  in a display of user interface  132 . 
     Where applicable, various embodiments provided by the present disclosure can be implemented using hardware, software, or combinations of hardware and software. Also, where applicable, the various hardware components and/or software components set forth herein can be combined into composite components comprising software, hardware, and/or both without departing from the spirit of the present disclosure. Where applicable, the various hardware components and/or software components set forth herein can be separated into sub-components comprising software, hardware, or both without departing from the spirit of the present disclosure. In addition, where applicable, it is contemplated that software components can be implemented as hardware components, and vice-versa. 
     Software in accordance with the present disclosure, such as non-transitory instructions, program code, and/or data, can be stored on one or more non-transitory machine readable mediums. It is also contemplated that software identified herein can be implemented using one or more general purpose or specific purpose computers and/or computer systems, networked and/or otherwise. Where applicable, the ordering of various steps described herein can be changed, combined into composite steps, and/or separated into sub-steps to provide features described herein. 
     Embodiments described above illustrate but do not limit the invention. It should also be understood that numerous modifications and variations are possible in accordance with the principles of the present invention. Accordingly, the scope of the invention is defined only by the following claims.