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A Wind Estimation Method with an Unmanned Rotorcraft for Environmental Monitoring Tasks

1
Institute of Robotics and Autonomous Systems, Tianjin Key Laboratory of Process Measurement and Control, School of Electrical and Information Engineering, Tianjin University, Tianjin 300072, China
2
National Computer Network Emergency Response Technical Team/Coordination Center of China, Beijing 100029, China
*
Author to whom correspondence should be addressed.
Sensors 2018, 18(12), 4504; https://doi.org/10.3390/s18124504
Received: 7 November 2018 / Revised: 16 December 2018 / Accepted: 18 December 2018 / Published: 19 December 2018
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Abstract

Wind velocity (strength and direction) is an important parameter for unmanned aerial vehicle (UAV)-based environmental monitoring tasks. A novel wind velocity estimation method is proposed for rotorcrafts. Based on an extended state observer, this method derives the wind disturbance from rotors’ speeds and rotorcraft’s acceleration and position. Then the wind disturbance is scaled to calculate the airspeed vector, which is substituted into a wind triangle to obtain the wind velocity. Easy-to-implement methods for calculating the rotorcraft’s thrust and drag coefficient are also proposed, which are important parameters to obtain the wind drag and the airspeed, respectively. Simulations and experiments using a quadrotor in both hovering and flight conditions have validated the proposed method. View Full-Text
Keywords: environmental monitoring; unmanned aerial vehicle; wind estimation; extended state observer environmental monitoring; unmanned aerial vehicle; wind estimation; extended state observer
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Wang, J.-Y.; Luo, B.; Zeng, M.; Meng, Q.-H. A Wind Estimation Method with an Unmanned Rotorcraft for Environmental Monitoring Tasks. Sensors 2018, 18, 4504.

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