小型固定翼无人机多步长在线风场估计  

Multi-Step Wind Field Estimation Online of Small Fixed-Wing UAVs

作　　者：屈耀红[1] 于丽丽[1] 周迎[1] 袁冬莉[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《西北工业大学学报》2015年第5期750-756,共7页Journal of Northwestern Polytechnical University

基　　金：国家自然科学基金(61473229;60974146)资助

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120-150m／s飞行速度回旋飞行、飞行数据采样步长取为1s的情况下，步长数不大于5h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％。Based on the vector relationship of motion locations on small fixed wing UAV, a multi-step wind field es- timation method is proposed. And the impact of steps on estimation accuracy is tested with flight data. First, the es- timation model which is based on GPS/DR is obtained with the location information of UAV. Next, the optimal val- ue of steps speed posed obtained with testing flight in four different models. In the simulation, under the condition of 150m/s , 1 second sample step and no more than 5 steps, the wind information is estimated accurately with the pro- method and the measurement error of wind speed does not exceed 10%.

关 键 词：无人机 风场估计 步长 飞行试验 GPS/DR 飞行位置 

分 类 号：V19[航空宇航科学与技术—人机与环境工程]