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论文:2015,Vol:33,Issue(5):750-756 |
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引用本文： |
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屈耀红, 于丽丽, 周迎, 袁冬莉. 小型固定翼无人机多步长在线风场估计[J]. 西北工业大学学报 |
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Qu Yaohong, Yu Lili, Zhou Ying, Yuan Dongli. Multi-Step Wind Field Estimation Online of Small Fixed-Wing UAVs[J]. Northwestern polytechnical university |
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| 小型固定翼无人机多步长在线风场估计 |
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| 屈耀红, 于丽丽, 周迎, 袁冬莉 |
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| 西北工业大学 自动化学院, 陕西 西安 710072 |
| 摘要: |
| 基于小型固定翼无人机飞行运动位置矢量关系,提出了一种多步长推算的风场估计方法,并通过飞行试验数据定量分析了步长数对估计精度的影响。该方法利用无人机飞行位置信息得到基于GPS/DR的风矢量场估计模型,接着通过飞行试验得到无人机在4种不同运动模态下飞行时,此风场估计方法获取风信息的步长数的最佳阈值。仿真结果表明,无人机以120~150 m/s飞行速度回旋飞行、飞行数据采样步长取为1 s的情况下,步长数不大于5 h的多步长风场估计方法可以最准确地估计出风信息,其测量风速误差不超过10%。 |
| 关键词:
无人机
风场估计
步长
飞行试验
GPS/DR
飞行位置
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| Multi-Step Wind Field Estimation Online of Small Fixed-Wing UAVs |
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| Qu Yaohong, Yu Lili, Zhou Ying, Yuan Dongli |
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| Department of Automatic Control, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| Based on the vector relationship of motion locations on small fixed wing UAV, a multi-step wind field estimation method is proposed. And the impact of steps on estimation accuracy is tested with flight data. First, the estimation model which is based on GPS/DR is obtained with the location information of UAV. Next, the optimal value of steps is obtained with testing flight in four different models. In the simulation, under the condition of 150m/s speed, 1 second sample step and no more than 5 steps, the wind information is estimated accurately with the proposed method and the measurement error of wind speed does not exceed 10%. |
| Key words:
computer simulation
errors
estimation
experiments
fixed wings
flight dynamics
global positioning system
matrix algebra
measurement errors
optimization
trajectories
unmanned aerial vehicles (UAV)
vectors
flight position
flight test
GPS/DR
step
wind field estimation
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| 收稿日期: 2015-03-31
修回日期:
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| DOI: |
| 基金项目: 国家自然科学基金(61473229、60974146)资助 |
| 通讯作者:
Email： |
| 作者简介: 屈耀红(1971—),西北工业大学副教授,主要从事无人机风场估计与空中加油技术研究。
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