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Multi-information-fused real-time wind speed estimation method for multi-rotor aircraft

A multi-rotor aircraft, multi-information fusion technology, applied in the field of aircraft navigation, to achieve the effect of cost and load, cost and load advantages

Active Publication Date: 2017-06-23
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0006] In order to solve the technical problems raised by the above-mentioned background technology, the present invention aims to provide a multi-information fusion real-time wind speed estimation method for multi-rotor aircraft, aiming at the deficiencies of the existing wind speed estimation methods, making full use of the sensitivity of the dynamic model aerodynamic drag to wind speed characteristics, build a Kalman filter with inertial devices and GPS to achieve a more accurate real-time estimation of wind speed

Method used

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Embodiment Construction

[0049] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0050] A multi-information fusion real-time wind speed estimation method for multi-rotor aircraft, such as figure 1 shown, including the following steps:

[0051] Step 1: Collect airborne sensor data, including the output data of the three-axis accelerometer, the output data of the three-axis gyroscope, and the rotational speed data of each rotor.

[0052] Step 2: Based on the data obtained in step 1, construct a dynamic model of the multi-rotor aircraft, and obtain the relationship between the resistance of the multi-rotor aircraft and the wind speed.

[0053] The dynamic model of described multi-rotor aircraft:

[0054]

[0055] In the above formula, F H is the resistance of the multi-rotor aircraft, m is the mass of the aircraft, k is the drag coefficient, Ω iis the rotational speed of the i-th rotor of the aircraft, l is the tota...

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Abstract

The invention discloses a multi-information-fused real-time wind speed estimation method for a multi-rotor aircraft. The method comprises that data of an airborne sensor and rotating speed data of rotors are collected; a dynamic model of the multi-rotor aircraft is constructed, and a relation between resistance and wind speed of the multi-rotor aircraft is obtained; a state equation and a measurement equation of a multi-information-fused navigation system based on characteristics of the dynamic model of the multi-rotor aircraft, inertia sensor information and GPS information are established; and navigation information is updated via Kalman filtering, and the wind speed is estimated in real time. According to the invention, disadvantages of present wind speed estimation methods are overcome, the characteristic that the dynamic resistance of the dynamic model is sensitive to the wind speed is utilized fully, a Kalman filter is constructed on the basis of an inertia device and GPS, and the wind speed is estimated accurately in real time.

Description

technical field [0001] The invention belongs to the technical field of aircraft navigation, and in particular relates to a wind speed estimation method for multi-rotor aircraft. Background technique [0002] Multi-rotor aircraft has the characteristics of simple structure, small size, good maneuverability, vertical take-off and landing, etc., and has good adaptability to different environments. At present, it has been widely used in agricultural seeding, aerial photography, weather monitoring, urban anti-terrorism, rescue in disaster areas, military reconnaissance, etc., showing broad prospects. [0003] Unpredictable wind is the main disturbance factor for the stable flight of multi-rotor aircraft. The wind will increase the difficulty of flight control. When the wind speed is high, if the flight controller does not have good fault tolerance, the multi-rotor aircraft will be extremely unstable, and there may even be a risk of loss of control. In addition, the wind will al...

Claims

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Application Information

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IPC IPC(8): G01P5/00
CPCG01P5/00
Inventor 包胜赖际舟吕品石鹏袁诚樊刘仡
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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