Rotor unmanned aerial vehicle real-time wind speed estimation method based on neural network

Abstract

The invention discloses a rotor unmanned aerial vehicle real-time wind speed estimation method based on a neural network. The method comprises carrying out a calibration experiment; calculating a total inertia force vector of each sampling moment under a body coordinate system; calculating the airspeed vector of the rotor unmanned aerial vehicle at each sampling moment under the body coordinate system; training and storing an artificial neural network by taking the airspeed vector of the rotor unmanned aerial vehicle at each sampling moment under the body coordinate system as output and takingthe input equivalent voltage of a rotor motor and the total inertia force vector at each sampling moment under the body coordinate system as input; calculating the total inertia force vector under the body coordinate system at the current moment, and taking the calculated total inertia force vector and the acquired input equivalent voltage of the rotor motor as input of the trained artificial neural network; and obtaining the estimated value of the airspeed vector of the rotor unmanned aerial vehicle under the body coordinate system at the current moment, and calculating the estimated value of the environment wind speed vector at the current moment. The method is suitable for the rotor unmanned aerial vehicle with any number of rotors, and the wind speed / wind direction can be simply, conveniently and accurately estimated.

Description

technical field [0001] The invention relates to a method for estimating real-time wind speed of a rotor unmanned aerial vehicle. In particular, it involves a neural network-based real-time wind speed estimation method for rotor UAVs. Background technique [0002] Rotor UAVs have the advantages of flexible movement and strong adaptability to the environment, and are often used for scientific research and target detection [1] , spraying pesticides [2] and odor source location [3] and other application scenarios. Rotor UAVs will be affected and affected by wind during flight. However, the wind is not only the main disturbance factor in the flight process of the rotor UAV, but also an important reference information in the UAV application. For example, the rotor UAV can realize the location of the odor source through the wind speed / wind direction information in the outdoor environment. The ground mobile robot obtains the environmental wind speed / wind direction information ...

AI Technical Summary

Problems solved by technology

However, the relationship between the rotational speed of the rotor motor and its input equivalent voltage is complex, and the above assumptions are not fully established.

If the approximate calculation is carried out according to this assumption, a systematic error will be introduced

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