论文标题
从风引起的扰动到多电动UAS的较低大气中的风谱
Wind profiling in the lower atmosphere from wind-induced perturbations to multirotor UAS
论文作者
论文摘要
我们提出了一种基于模型的方法，使用多动物无人飞机系统（UAS）的运动扰动在悬停和稳定上升的飞行中。一个州估计框架适应了一组针对现成四极管标识的闭环刚体模型。对于悬停和稳定的上升飞行条件在0到2 m/s之间，用于风估计的四极管模型的表征。使用系统识别算法获得闭环模型，以确定模型结构并估计模型参数。通过比较来自声音气压计和两个SODAR的四极管和独立的传感器测量值，通过比较弗吉尼亚理工肯特兰实验飞机系统实验室对风测量方法进行了实验验证。比较结果表明，与独立的风速测量非常吻合的四项估计。但是，使用时间同步的SODAR测量结果很难验证风速曲线。对sodar的噪声强度和信噪比的分析证明，近距离二次操作会破坏SODARS的风测量。
We present a model-based approach to wind velocity profiling using motion perturbations of a multirotor unmanned aircraft system (UAS) in both hovering and steady ascending flight. A state estimation framework 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 SoDARs. Comparison results demonstrated quadrotor wind estimation in close agreement with the independent wind velocity measurements. Wind velocity profiles were difficult to validate using time-synchronized SoDAR measurements, however. 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.
