Alexander Schnerring , Rafal Broda , Adrian Winter , Michael Nieslony , Julian J. Krauth , Marc Röger , Sonja Kallio , Robert Pitz-Paal
{"title":"基于无人机的太阳能塔式电站实时状态监测仿真环境","authors":"Alexander Schnerring , Rafal Broda , Adrian Winter , Michael Nieslony , Julian J. Krauth , Marc Röger , Sonja Kallio , Robert Pitz-Paal","doi":"10.1016/j.solener.2025.113803","DOIUrl":null,"url":null,"abstract":"<div><div>The development and testing of unmanned aerial vehicle (UAV)-based condition monitoring systems is time consuming, costly and poses safety risks. While numerous examples show that simulation environments are well suited to support the development process, existing environments fall short of simulating quantities specific to the condition monitoring of solar tower power plants. To bridge this gap, we present a simulation environment that provides quantities necessary to investigate such systems in simulation, prior to their application in real solar tower power plants. The presented environment models the state of the solar field and computes observations of the field and reflections of a point light source, as seen from a virtual camera. In addition, it allows for the navigation of a simulated UAV in the virtual solar field in response to realistic UAV control signals. The simulated concentrator corner points were found to match the concentrator corner points determined by a bundle adjustment measurement up to an <span><math><mrow><mtext>RMSE</mtext><mo>=</mo><mn>23</mn><mo>.</mo><mn>7</mn><mspace></mspace><mstyle><mi>m</mi><mi>m</mi></mstyle></mrow></math></span> before and <span><math><mrow><mtext>RMSE</mtext><mo>=</mo><mn>4</mn><mo>.</mo><mn>6</mn><mspace></mspace><mstyle><mi>m</mi><mi>m</mi></mstyle></mrow></math></span> after accounting for translational, rotational and scale errors. The simulated reflections of a point light source were found to match the measured reflections up to an <span><math><mtext>RMSE</mtext></math></span> of <span><math><mrow><mn>2</mn><mo>.</mo><mn>25</mn><mspace></mspace><mstyle><mi>m</mi><mi>r</mi><mi>a</mi><mi>d</mi></mstyle></mrow></math></span> in X-direction and <span><math><mrow><mn>2</mn><mo>.</mo><mn>09</mn><mspace></mspace><mstyle><mi>m</mi><mi>r</mi><mi>a</mi><mi>d</mi></mstyle></mrow></math></span> in Y-direction in the concentrator coordinate system. After eliminating errors in the camera position estimate, concentrator orientations and mirror surface slope errors, the remaining <span><math><mtext>RMSE</mtext></math></span> is <span><math><mrow><mn>0</mn><mo>.</mo><mn>35</mn><mspace></mspace><mstyle><mi>m</mi><mi>r</mi><mi>a</mi><mi>d</mi></mstyle></mrow></math></span> in X-direction and <span><math><mrow><mn>0</mn><mo>.</mo><mn>22</mn><mspace></mspace><mstyle><mi>m</mi><mi>r</mi><mi>a</mi><mi>d</mi></mstyle></mrow></math></span> in Y-direction. We conclude that the proposed simulation environment is a valuable tool for the development of UAV-based condition monitoring systems of solar tower power plants.</div></div>","PeriodicalId":428,"journal":{"name":"Solar Energy","volume":"300 ","pages":"Article 113803"},"PeriodicalIF":6.0000,"publicationDate":"2025-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A simulation environment for UAV-based real-time condition monitoring of solar tower power plants\",\"authors\":\"Alexander Schnerring , Rafal Broda , Adrian Winter , Michael Nieslony , Julian J. Krauth , Marc Röger , Sonja Kallio , Robert Pitz-Paal\",\"doi\":\"10.1016/j.solener.2025.113803\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>The development and testing of unmanned aerial vehicle (UAV)-based condition monitoring systems is time consuming, costly and poses safety risks. While numerous examples show that simulation environments are well suited to support the development process, existing environments fall short of simulating quantities specific to the condition monitoring of solar tower power plants. To bridge this gap, we present a simulation environment that provides quantities necessary to investigate such systems in simulation, prior to their application in real solar tower power plants. The presented environment models the state of the solar field and computes observations of the field and reflections of a point light source, as seen from a virtual camera. In addition, it allows for the navigation of a simulated UAV in the virtual solar field in response to realistic UAV control signals. The simulated concentrator corner points were found to match the concentrator corner points determined by a bundle adjustment measurement up to an <span><math><mrow><mtext>RMSE</mtext><mo>=</mo><mn>23</mn><mo>.</mo><mn>7</mn><mspace></mspace><mstyle><mi>m</mi><mi>m</mi></mstyle></mrow></math></span> before and <span><math><mrow><mtext>RMSE</mtext><mo>=</mo><mn>4</mn><mo>.</mo><mn>6</mn><mspace></mspace><mstyle><mi>m</mi><mi>m</mi></mstyle></mrow></math></span> after accounting for translational, rotational and scale errors. The simulated reflections of a point light source were found to match the measured reflections up to an <span><math><mtext>RMSE</mtext></math></span> of <span><math><mrow><mn>2</mn><mo>.</mo><mn>25</mn><mspace></mspace><mstyle><mi>m</mi><mi>r</mi><mi>a</mi><mi>d</mi></mstyle></mrow></math></span> in X-direction and <span><math><mrow><mn>2</mn><mo>.</mo><mn>09</mn><mspace></mspace><mstyle><mi>m</mi><mi>r</mi><mi>a</mi><mi>d</mi></mstyle></mrow></math></span> in Y-direction in the concentrator coordinate system. After eliminating errors in the camera position estimate, concentrator orientations and mirror surface slope errors, the remaining <span><math><mtext>RMSE</mtext></math></span> is <span><math><mrow><mn>0</mn><mo>.</mo><mn>35</mn><mspace></mspace><mstyle><mi>m</mi><mi>r</mi><mi>a</mi><mi>d</mi></mstyle></mrow></math></span> in X-direction and <span><math><mrow><mn>0</mn><mo>.</mo><mn>22</mn><mspace></mspace><mstyle><mi>m</mi><mi>r</mi><mi>a</mi><mi>d</mi></mstyle></mrow></math></span> in Y-direction. We conclude that the proposed simulation environment is a valuable tool for the development of UAV-based condition monitoring systems of solar tower power plants.</div></div>\",\"PeriodicalId\":428,\"journal\":{\"name\":\"Solar Energy\",\"volume\":\"300 \",\"pages\":\"Article 113803\"},\"PeriodicalIF\":6.0000,\"publicationDate\":\"2025-08-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Solar Energy\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0038092X25005663\",\"RegionNum\":2,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ENERGY & FUELS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Solar Energy","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0038092X25005663","RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENERGY & FUELS","Score":null,"Total":0}
A simulation environment for UAV-based real-time condition monitoring of solar tower power plants
The development and testing of unmanned aerial vehicle (UAV)-based condition monitoring systems is time consuming, costly and poses safety risks. While numerous examples show that simulation environments are well suited to support the development process, existing environments fall short of simulating quantities specific to the condition monitoring of solar tower power plants. To bridge this gap, we present a simulation environment that provides quantities necessary to investigate such systems in simulation, prior to their application in real solar tower power plants. The presented environment models the state of the solar field and computes observations of the field and reflections of a point light source, as seen from a virtual camera. In addition, it allows for the navigation of a simulated UAV in the virtual solar field in response to realistic UAV control signals. The simulated concentrator corner points were found to match the concentrator corner points determined by a bundle adjustment measurement up to an before and after accounting for translational, rotational and scale errors. The simulated reflections of a point light source were found to match the measured reflections up to an of in X-direction and in Y-direction in the concentrator coordinate system. After eliminating errors in the camera position estimate, concentrator orientations and mirror surface slope errors, the remaining is in X-direction and in Y-direction. We conclude that the proposed simulation environment is a valuable tool for the development of UAV-based condition monitoring systems of solar tower power plants.
期刊介绍:
Solar Energy welcomes manuscripts presenting information not previously published in journals on any aspect of solar energy research, development, application, measurement or policy. The term "solar energy" in this context includes the indirect uses such as wind energy and biomass