Wind Vector Estimation Based On A Quadrotor Unmanned Aerial Vehicle Platform

Quadrotor Unmanned Aerial Vehicle(UAV)wind estimation technology is a new research field in recent years.UAVs need wind information for many tasks,such as odor source localization and target location.UAV wind estimation is divided into direct and indirect ways.This thesis first analyzes the advantages and the disadvantages of the existing methods.On this basis,aiming at the problems existing in the UAV inlication angle dynamic model method,an improved measure is proposed to eliminate the inclination angle caused by the translational acceleration of UAV in the actual inclination angle of it.In addition,aiming at the problem of inaccurate modeling of existing methods,a wind estimation method based on UAV rotor aerodynamics is proposed in this thesis.Specific research work is as follows:Firstly,the overall dynamics model of quadrotor UAV and the aerodynamic model of the rotor are discussed.The two models are the theorical bases of the UAV dynamics model based wind estimation methods and the rotor aerodynamic model based wind estimation methods.Then,the existing UAV dynamics model based wind estimation method is improved and verified by computer simulation.The existing method is deeply analyzed,and the improvement measures of eliminating the UAV inclination angle caused by translational acceleration from its actual inclination are explained in detail.According to the improvement measures,the effectiveness of the improvement measures is verified by computer simulation.Finally,this thesis focuses on the wind estimation method based on rotor aerodynamics,and designs a hardware in the loop simulation system to carry out the verification experiments.The theoretical part of this method is refined from the blade element theory of rotor.That is to say,when the rotor speed is stable,the wind speed perpendicular to the rotor surface of the quadrotor is a quadratic function relationship with the lift of the rotor.In this thesis,the coefficients in the function are determined by means of calibration experiments.According to the existing experimental conditions,it is practical to use UAV hardware in the loop simulation system as experimental platform,which can simulate the six degree-of-freedom motion of UAV to a great extent.The experimental results show the effectiveness of the wind estimation method based on rotor aerodynamics,and the estimation accuracy is improved as compared with the wind estimation method based on UAV's dynamics model.