Wind Profiling in the Lower Atmosphere from Wind-Induced Perturbations to Multirotor UAS
Wind Profiling in the Lower Atmosphere from Wind-Induced Perturbations to Multirotor UAS
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DOI：
10.3390/s20051341
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发表时间：
2020-03-01
期刊：
影响因子：
3.9
通讯作者：
Woolsey, Craig A.
中科院分区：
文献类型：
--
作者：
Gonzalez-Rocha, Javier;De Wekker, Stephan F. J.;Woolsey, Craig A.
本文提出了一种基于模型的方法，利用多旋翼无人机系统在悬停和稳定上升飞行中的运动摄动来估计水平风速分量的垂直剖面。将风估计所采用的状态估计框架适应于一组现成的四旋翼飞行器的闭环刚体模型。用于风估计的四旋翼模型的特点是悬停和稳定上升的飞行条件在0到2米/秒之间。利用系统辨识算法确定模型结构，估计模型参数，得到闭环模型。在弗吉尼亚理工大学肯特兰实验飞机系统实验室上，通过比较四旋翼和独立传感器的声音风速计和两个SoDAR仪器的测量结果，验证了风测量方法。对比结果表明，四旋翼风估计与独立风速测量结果非常吻合。然而，使用时间同步的SoDAR测量很难验证水平风速剖面。对sodar噪声强度和信噪比的分析表明，近距离四旋翼操作会破坏sodar的风力测量，这在以前没有报道过。
We present a model-based approach to estimate the vertical profile of horizontal wind velocity components using motion perturbations of a multirotor unmanned aircraft system (UAS) in both hovering and steady ascending flight. The state estimation framework employed for wind estimation was adapted to a set of closed-loop rigid body models identified for an off-the-shelf quadrotor. The quadrotor models used for wind estimation were characterized for hovering and steady ascending flight conditions ranging between 0 and 2 m/s. The closed-loop models were obtained using system identification algorithms to determine model structures and estimate model parameters. The wind measurement method was validated experimentally above the Virginia Tech Kentland Experimental Aircraft Systems Laboratory by comparing quadrotor and independent sensor measurements from a sonic anemometer and two SoDAR instruments. Comparison results demonstrated quadrotor wind estimation in close agreement with the independent wind velocity measurements. However, horizontal wind velocity profiles were difficult to validate using time-synchronized SoDAR measurements. Analysis of the noise intensity and signal-to-noise ratio of the SoDARs proved that close-proximity quadrotor operations can corrupt wind measurement from SoDARs, which has not previously been reported.