使用四旋翼机估算风

IF 16.4 1区化学 Q1 CHEMISTRY, MULTIDISCIPLINARY

Accounts of Chemical Research Pub Date : 2022-01-01 DOI:10.1177/17568293211070824

G. Hattenberger, M. Bronz, Jean-Philippe Condomines

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引用次数: 3

摘要

这项工作的目的是仅基于标准导航传感器和运动方程来估计影响四旋翼无人机的平均风。它可以用于多种情况，包括大气研究、环境约束下的轨迹规划，或作为研究剪切层飞行的参考。为此，研制了一种球形的小型四旋翼无人机。飞行数据在室内和室外飞行测试期间通过遥测记录，并进行后处理。所提出的解决方案基于具有全局优化的校准程序来提取阻力模型，以及用于在线估计风速和风向的卡尔曼滤波器。最后，以受控室内环境下的实际飞行为例，演示了实时估计的机载实现。

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Estimating wind using a quadrotor

The aim of this work is to estimate the average wind influencing a quadrotor drone only based on standard navigation sensors and equations of motion. It can be used in several situation, including atmospheric studies, trajectory planning under environmental constraints, or as a reference for studying flights in shear layer. For this purpose, a small quadrotor drone with spherical shape has been developed. Flight data are recorded from telemetry during indoor and outdoor flight tests and are post-processed. The proposed solution is based on a calibration procedure with global optimization to extract the drag model and a Kalman Filter for online estimation of the wind speed and direction. Finally, an on-board implementation of the real-time estimation is demonstrated with real flights in controlled indoor environment.

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来源期刊

Accounts of Chemical Research 化学-化学综合

CiteScore

31.40

自引率

1.10%

发文量

312

审稿时长

2 months

期刊介绍： Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance. Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.