从风引起的扰动到多旋翼UAS的低层大气风廓线
Wind profiling in the lower atmosphere from wind-induced perturbations to multirotor UAS
摘要：
我们提出了一个基于模型的方法来风速剖面使用运动扰动的多旋翼无人机系统（UAS）在悬停和稳定上升飞行。一个状态估计框架是适应于一组闭环刚体模型确定的现成的四旋翼。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范围在0和2米/秒。闭环模型采用系统辨识算法确定模型结构和估计模型参数。通过比较来自音速风速计和两个SoDAR的四旋翼和独立传感器测量值，在弗吉尼亚理工大学波特兰实验飞机系统实验室上方对风测量方法进行了实验验证。比较结果表明，四旋翼风估计与独立的风速测量结果非常一致。然而，风速剖面难以使用时间同步的SoDAR测量进行验证。对SoDAR的噪声强度和信噪比的分析证明，近距离四旋翼操作会破坏SoDAR的风测量。
英文摘要：
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.
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