On-board Downwash Speed Estimation of Drone Rotor-Based State Observer
On-board Downwash Speed Estimation of Drone Rotor-Based State Observer
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DOI：
10.2322/tjsass.65.231
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发表时间：
2022
影响因子：
1.1
通讯作者：
H. Tokutake;Soshi Okada;S. Sunada;Y. Tanabe;K. Yonezawa
中科院分区：
文献类型：
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作者：
H. Tokutake;Soshi Okada;S. Sunada;Y. Tanabe;K. Yonezawa
无人机动力学受周围结构、阵风干扰和旋翼损伤等飞行环境不确定性的影响，导致飞行性能和安全性的恶化。无人机动力学实时建模在无人机飞行安全中起着重要作用。在这项研究中，在船上测量的下洗速度，这是一个重要的参数，在无人机动力学，使用超声波通过时间信息进行。在该方法中，超声波发射器和接收器被布置在转子下方，并且使用扩展卡尔曼滤波器来估计下洗中的通过时间，该扩展卡尔曼滤波器是针对所构建的超声波传播动力学模型而设计的。实验结果表明，该方法具有较强的鲁棒性，能够准确估计旋转旋翼下扰动气流的下洗速度。
Drone dynamics are a ff ected by fl ight condition uncertainties, such as the surrounding structure, gust disturbance, and rotor damage, resulting in the deterioration of fl ight performance and safety. Real-time modeling of drone dynamics plays an important role in fl ight safety. In this study, the on-board measurement of downwash speed, which is an important parameter in drone dynamics, was performed using ultrasonic passing-time information. In this method, ultrasonic transmitters and receivers were arranged below the rotor, and the passing time in the downwash was estimated using an extended Kalman fi lter, which was designed for the constructed ultrasonic propagation dynamics model. It was validated that the proposed method is su ffi ciently robust to accurately estimate the downwash speed in a disturbed fl ow under a rotating rotor.