水环境中不规则形状物体风致漂移的多旋翼辅助测量
Multirotor-assisted measurements of wind-induced drift of irregularly shaped objects in aquatic environments
摘要：
随着社会各部门海事活动的增加，海洋危险溢漏和搜救事件更加普遍。然而，由于缺乏准确预测小物体位置的信息，应急反应时间仍然是一个因素。现有的漂移表征技术仅限于其漂移特性不受机载风和表层洋流传感器影响的物体。为了应对这一挑战，我们研究了多旋翼无人机系统（UAS）和嵌入式导航技术的应用，用于按需风速和表面流测量，以表征小物体的漂移特性。一个现成的四旋翼被用来测量风速在10米以上的表层附近的漂移对象。我们还利用UAS级姿态和航向参考系以及GPS天线来构建防水跟踪模块，以记录在水中漂浮的物体的位置和方向以及平移和旋转速度。在湖泊和海洋开发环境中进行的现场实验期间部署了四旋翼和防水跟踪模块，以表征模拟水中人的假人的偏航参数。背风参数被发现是一个数量级内使用传统的风和表层洋流观测得出的先前的估计。我们还确定多旋翼无人机和防水跟踪模块可以提供准确且高分辨率的环境信息，这对于了解方向变化如何影响水中漂浮的小型物体的顺风位移和转向特征至关重要。这些研究结果支持进一步开发和应用多旋翼无人机系统技术，以表征偏航特性，并了解物体顺风相对方位对其漂移特性的影响。
英文摘要：
Ocean hazardous spills and search and rescue incidents are more prevalent as maritime activities increase across all sectors of society. However, emergency response time remains a factor due to a lack of information to accurately forecast the location of small objects. Existing drifting characterization techniques are limited to objects whose drifting properties are not affected by on-board wind and surface current sensors. To address this challenge, we study the application of multirotor unmanned aerial systems (UAS), and embedded navigation technology, for on-demand wind velocity and surface flow measurements to characterize drifting properties of small objects. An off-the-shelf quadrotor was used to measure wind velocity at 10 m above surface level near a drifting object. We also leveraged UAS-grade attitude and heading reference systems and GPS antennas to build water-proof tracking modules that record the position and orientation, as well of translational and rotational velocities, of objects drifting in water. The quadrotor and water-proof tracking modules were deployed during field experiments conducted in lake and ocean environments to characterize the leeway parameters of manikins simulating a person in water. Leeway parameters were found to be an order of magnitude within previous estimates derived using conventional wind and surface current observations. We also determined that multirotor UAS and water-proof tracking modules can provide accurate and high-resolution ambient information that is critical to understand how changes in orientation affect the downwind displacement and jibing characteristics of small objects floating in water. These findings support further development and application of multirotor UAS technology for leeway characterization and understanding the effect of an object's downwind-relative orientation on its drifting characteristics.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
