Enhanced uncrewed aircraft system-based atmospheric vertical profiler and methods of use

Abstract

An uncrewed aerial system (UAS) is configured to measure one or more atmospheric conditions in a stationary position or during vertical movement through the Earth's lower atmosphere. The UAS has a fuselage with a longitudinal fuselage axis that intersects a vertical reference axis in a non-orthogonal relationship, a plurality of arms, a plurality of motorized rotors supported by a corresponding one of the plurality of arms, and an air sampling module. The air sampling module includes an air scoop with an intake having an intake opening and a longitudinal intake axis that extends through the intake, and a sensor chamber connected to the intake on a first end and having a discharge on a second end. The sensor chamber has a longitudinal sensor chamber axis that extends from the first end to the second end. The longitudinal sensor chamber axis is angularly offset from the longitudinal intake axis by a scoop intake angle. The air sampling module further includes one or more sensors located in the sensor chamber and a fan located in the sensor chamber proximate the discharge.

Description

ENHANCED UNCREWED AIRCRAFT SYSTEM-BASED ATMOSPHERIC VERTICAL PROFILER AND METHODS OF USE CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The present application claims the benefit of United States Provisional Patent Application Serial No. 63 / 677,336 filed July 30, 2024 entitled, Enhanced Uncrewed Aircraft System (UAS)-Based Atmospheric Vertical Profiler and Methods of Use, the disclosure of which is herein incorporated by reference.STATEMENT REGARDING FEDERALLY SPONSOREDRESEARCH OR DEVELOPMENT

[0002] This invention was made with government support under Contract Number NA21OAR4320204 awarded by the National Oceanic and Atmospheric Administration. The government has certain rights in the invention.BACKGROUND

[0003] It is widely recognized in the atmospheric sciences that the lowest 2-3 kilometers (km) of the atmosphere (the atmospheric boundary layer (“ABL”) or planetary boundary7layer (“PBL”)) are poorly sampled in time and space. The ABL directly interacts with the Earth’s surface and thus is critical in relation to human health and well-being. Currently, the only widespread, routine ABL measurements in the United States come from twice-daily balloon- borne radiosondes launched by the National Weather Service, which are insufficient for understanding complex ABL processes. Globally, ABL observations are even sparser.

[0004] The push for developing innovative meteorological instruments to address observational gaps in atmospheric sciences has intensified in recent years. This urgency is driven by the need to understand rapidly changing atmospheric processes and deliver accurate, timely weather forecasts. The growing demand for high-resolution atmospheric observations has led scientists to explore advanced engineering technologies. Affordable and accessible Uncrewed Aircraft Systems (UASs) have emerged and rapidly evolved during this period. Many researchers and institutions recognize that UASs hold significant promise for targeted in situ weather sampling, capable of meeting strict meteorological measurement standards. However, the UAS market has primarily focused on applications other than weather sampling, which may be unsuitable or suboptimal for environmental applications such as atmospheric studies. It is to addressing these deficiencies that the present disclosure is directed.BRIEF DESCRIPTION OF THE DRAWINGS

[0005] Several embodiments of the present disclosure are hereby illustrated in the appended drawings. It is to be noted however, that the appended drawings only illustrate several typical embodiments and are therefore not intended to be considered limiting of the scope of the inventive concepts disclosed herein. The figures are not necessarily to scale and certain features and certain views of the figures may be shown as exaggerated in scale or in schematic in the interest of clarity and conciseness. The patent or application file contains at least one drawing executed in color. Copies of this patent or patent application publication with color drawing(s) will be provided by the Office upon request and payment of the necessary fee.

[0006] FIGS. 1 A-l D provide several perspective views of the UAS of the present disclosure.

[0007] FIG. 2 shows a cross-sectional view of the sensor scoop of the UAS of FIG. 1.

[0008] FIG. 3 shows a temperature time series observed using UAS of FIG. 1 while hovering near a meteorological tower for reference.

[0009] FIG. 4 shows point cloud of temperature observations as a function of wind incidence angle (dots) collected with the UAS of FIG. 1 while rotating with a constant angular speed of 2 revolutions per minute.

[0010] FIG. 5 shows a tw o-dimensional histogram of Doppler lidar (DL) measured wind speed (VAD WSPD) versus with wind speed measured by the UAS of FIG. 1. using a quadratic-fit method.

[0011] FIG. 6 is a histogram of the difference betw een the UAS-measured wind speed and the lidar measured wind speed.

[0012] FIG. 7 shows a side view of the UAS of FIG. 1 depicting the angled fuselage with respect to the rotor disk and indicating several geometric relationships.

[0013] FIG. 8 shows a partial cross-sectional view of the front shell of the UAS of FIG. 1.

[0014] FIGS. 9A-9C show co-located wind profile comparisons which were measured simultaneously by the UAS of FIG. 1 (blue line), an earlier UAS model (orange line), and Doppler wind Lidar (black line).DETAILED DESCRIPTION

[0015] The present disclosure is directed to a specialized Uncrewed Aircraft System (UAS) 100 that is designed to collect reliable thermodynamic and kinematic measurements, while complementing conventional weather instruments like radiosondes, Doppler wind lidars, and meteorological towers when limitations arise. These data can have a significant impact on short-term forecasts during high-impact weather (e.g., severe weather, winter weather, fireweather) and can assist in the prediction and monitoring of their impacts (e.g., smoke plume modeling, icing conditions). The UAS 100 enables the establishment of a system for persistent, routine, and high-resolution monitoring of the planetary boundary layer (PBL) that can be used by forecasters and modelers to improve weather forecasts for the general public. For example, the UAS 100 can be used to extend atmospheric observations made by conventional meteorological services, like the Oklahoma Mesonet. The UAS 100 can also be programmed and used for other applications, including agricultural monitoring and greenhouse gas monitoring.

[0016] In some embodiments, the present disclosure is directed to an uncrewed aerial system (UAS) configured to measure one or more atmospheric conditions in a stationary position or during vertical movement through the Earth's lower atmosphere. The UAS has a fuselage with a longitudinal fuselage axis that intersects a vertical reference axis in a non-orthogonal relationship, a plurality’ of arms, a plurality of motorized rotors supported by a corresponding one of the plurality of arms, and an air sampling module. The air sampling module includes an air scoop with an intake having an intake opening and a longitudinal intake axis that extends through the intake, and a sensor chamber connected to the intake on a first end and having a discharge on a second end. The sensor chamber has a longitudinal sensor chamber axis that extends from the first end to the second end. The longitudinal sensor chamber axis is angularly offset from the longitudinal intake axis by a scoop intake angle. The air sampling module further includes one or more sensors located in the sensor chamber and a fan located in the sensor chamber proximate the discharge.

[0017] In other embodiments, the present disclosure is directed at a method for collecting a vertical profile of atmospheric conditions. The method includes the steps of providing an uncrewed aerial system (UAS) configured to measure one or more atmospheric conditions in a stationary position or during vertical movement through the Earth's lower atmosphere. The UAS has a center of mass and includes a fuselage with a frame and a modular shell secured to the frame, where the fuselage has a longitudinal axis, a lateral axis, and a vertical axis centered on the center of mass of the UAS. The UAS also includes a plurality of arms extending outwardly from the frame and a plurality’ of motorized rotors (or rotor disks), where each motorized rotors is supported by one of the plurality of arms. The plurality of motorized rotors comprises an average angle relative to the ground yvhen the UAS is stationary and level with the ground, wherein the average angle is about zero. The UAS also includes a flight control module for controlling operation of the motorized rotors, stabilization, and navigation of theUAS when airborne. The UAS further incorporates an air sampling scoop removably attached to a front end of the shell. The air sampling scoop includes (1) an intake having an opening that faces forward and having a longitudinal intake axis, (2) an elongated sensor chamber having a longitudinal sensor chamber axis, wherein the longitudinal intake axis has a predetermined geometric inclination relative to the longitudinal sensor chamber axis, (3) a curved portion joining the intake portion to the elongated sensor chamber, (4) an exhaust portion oriented downwardly from the elongated sensor chamber, the exhaust portion comprising a ducted fan configured to draw air through intake portion and elongated sensor chamber forming an air flow, and (5) a plurality of atmospheric sensors in the elongated sensor chamber, which are in contact with the air flow therein, and wherein the intersection of the longitudinal intake axis and the longitudinal chamber axis form an acute intake angle.

[0018] The UAS also has a sensor data receiver / transmitter module in operative communication with the plurality’ of atmospheric sensors and a ground base station, and at least one operative component mounted on an external portion of the fuselage, wherein the at least one operative component has an inclination which is substantially parallel to the longitudinal axis of the intake portion of the air sampling scoop. The UAS further incorporates a front-end landing gear and a rear-end landing gear attached to the frame, wherein the front-end landing gear maintains the longitudinal axis of the fuselage elevated at an angle of 0.35| 0max|c± 10% relative to the ground when the UAS is in the stationary landed position.

[0019] The method continues with the steps of causing the UAS to fly vertically upwardly, using the plurality’ of atmospheric sensors to obtain measurements of the one or more atmospheric conditions as the UAS flies vertically upwardly, and transmitting the measurements to the base station.

[0020] Before further describing various embodiments of the present disclosure in more detail by way of exemplary description, examples, and results, it is to be understood that the embodiments of the present disclosure are not limited in structure and application to the details as set forth in the following description. The embodiments of the present disclosure are capable of being practiced or carried out in various ways not explicitly described herein. As such, the language used herein is intended to be given the broadest possible scope and meaning; and the embodiments are meant to be exemplary, not exhaustive. Also, it is to be understood that the phraseology and terminology employed herein is for the purpose of description and should not be regarded as limiting unless otherwise indicated as so. Moreover, in the following detailed description, numerous specific details are set forth in order to provide a more thoroughunderstanding of the disclosure. However, it will be apparent to a person having ordinary skill in the art that the embodiments of the present disclosure may be practiced without these specific details. In other instances, features which are well known to persons of ordinary' skill in the art have not been described in detail to avoid unnecessary complication of the description. While the present disclosure has been described in terms of particular embodiments, it will be apparent to those of skill in the art that variations may be applied to the apparatus and / or methods and in the steps or in the sequence of steps of the methods described herein without departing from the concept, spirit, and scope of the inventive concepts as described herein. All such similar substitutes and modifications apparent to those having ordinary skill in the art are deemed to be within the spirit and scope of the inventive concepts as disclosed herein.

[0021] All patents, published patent applications (including but not limited to, United States Patent No. 12,084, 181), and non-patent publications referenced or mentioned in any portion of the present specification are indicative of the level of skill of those skilled in the art to which the present disclosure pertains, and are hereby expressly incorporated by reference in their entirety to the same extent as if the contents of each individual patent or publication was specifically and individually incorporated herein.

[0022] Unless otherwise defined herein, scientific and technical terms used in connection with the present disclosure shall have the meanings that are commonly understood by those having ordinary skill in the art. Further, unless otherwise required by context, singular terms shall include pluralities and plural terms shall include the singular.

[0023] As utilized in accordance with the apparatus, methods and compositions of the present disclosure, the following terms, unless otherwise indicated, shall be understood to have the following meanings. The use of the word '‘a” or “an” when used in conjunction with the term “comprising” in the claims and / or the specification may mean “one,” but it is also consistent with the meaning of “one or more,” “at least one,” and “one or more than one.” The use of the term “or” in the claims is used to mean “and / or” unless explicitly indicated to refer to alternatives only or when the alternatives are mutually exclusive, although the disclosure supports a definition that refers to only alternatives and “and / or.” The use of the terms “at least one” or “plurality” will be understood to include one as well as any quantity more than one, including but not limited to. 2, 3, 4, 5, 6, 7, 8, 9, 10, 15, 20, 30, 40, 50, 100, or any integer inclusive therein, and / or any range described herein. The terms “at least one” or “plurality” may extend up to 100 or 1000 or more, depending on the term to which it is attached; in addition, the quantities of 100 / 1000 are not to be considered limiting, as higher limits may alsoproduce satisfactory results. In addition, the use of the term “at least one of x, y and z” will be understood to include x alone, y alone, and z alone, as well as any combination of x, y and z.

[0024] Where the specification or claims refer to “an additional’' element, that does not preclude there being more than one of the additional element. It is to be understood that where the claims or specification refer to “a” or “an” element, such reference is not to be construed that there is only one of that element. It is to be understood that where the specification states that a component, feature, structure, or characteristic “may,” “might,” “can” or “could” be included, that particular component, feature, structure, or characteristic is not required to be included.

[0025] As used in this specification and claims, the words “comprising” (and any form of comprising, such as “comprise” and “comprises”), “having” (and any form of having, such as “have” and “has”), “including” (and any form of including, such as “includes” and “include”) or “containing” (and any form of containing, such as “contains” and “contain”) are inclusive or open-ended and do not exclude additional, unrecited elements or method steps.

[0026] The term “or combinations thereof’ as used herein refers to all permutations and combinations of the listed items preceding the term. For example, “a, b, c, or combinations thereof’ is intended to include at least one of: a, b, c. ab, ac, be, or abc, and if order is important in a particular context, also ba. ca. cb, cba. bca, acb. bac, or cab. Continuing with this example, expressly included are combinations that contain repeats of one or more item or term, such as bb, aaa, aab, bbc, aaabcccc, ebbaaa, cababb, and so forth. The skilled artisan will understand that typically there is no limit on the number of items or terms in any combination, unless otherwise apparent from the context.

[0027] Throughout this application, the terms “about” and “approximately” are used to indicate that a value includes the inherent variation of error for the composition, the method used to administer the composition, or the variation that exists among the objects, or study subjects. As used herein the qualifiers “about” or “approximately” are intended to include not only the exact value, amount, degree, orientation, or other qualified characteristic or value, but are intended to include some slight variations due to measuring error, manufacturing tolerances, stress exerted on various parts or components, observer error, wear and tear, and combinations thereof, for example. The terms “about” or “approximately”, where used herein when referring to a measurable value such as an amount, a temporal duration, thickness, width, length, and the like, is meant to encompass, for example, variations of ± 20% or ± 10%, or ± 5%, or ± 1 %, or ± 0.1% from the specified value, as such variations are appropriate to perform the disclosedmethods and as understood by persons having ordinary skill in the art. As used herein, the term “substantially” means that the subsequently described event or circumstance completely occurs or that the subsequently described event or circumstance occurs to a great extent or degree. For example, the term “substantially” means that the subsequently described event or circumstance occurs at least 75% of the time, at least 80% of the time, at least 90% of the time, at least 95% of the time, or at least 98% of the time.

[0028] As used herein any reference to "one embodiment" or "an embodiment" means that a particular element, feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0029] As used herein, all numerical values or ranges include fractions of the values and integers within such ranges and fractions of the integers within such ranges unless the context clearly indicates otherwise. Thus, to illustrate, reference to a numerical range, such as 1-10 includes 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, as well as 1.1, 1.2, 1.3, 1.4, 1.5, etc., and so forth. Reference to a range of 1-30 therefore includes 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27. 28, 29, and 30, as well as sub-ranges within the greater range, e.g., for 1-30, sub-ranges include but are not limited to 1-10, 2-15, 2-25. 3-30. 10-20, and 20- 30. Reference to a range of 1-50 therefore includes 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 1 1, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, and 30, etc., up to and including 50. Reference to a series of ranges includes ranges which combine the values of the boundaries of different ranges within the series. Thus, to illustrate reference to a series of ranges, for example, a range of 1-1,000 includes, but is not limited to, 1-10, 2-15, 2-25, 3-30, 10-20, 20-30, 30-40, 40-50, 50-60, 60-75, 75-100, 100-150, 150-200, 200-250, 250-300, 300-400, 400-500, 500- 750, 750-1,000, and includes ranges of 1-20, 10-50, 50-100, 100-500, and 500-1,000. The range 1 mm to 10 m therefore refers to and includes all values or ranges of values, and fractions of the values and integers within said range, including for example, but not limited to, 5 mm to 9 m, 10 mm to 5 m, 10 mm to 7.5 m, 7.5 mm to 8 m, 20 mm to 6 m, 15 mm to 1 m, 31 mm to 800 cm, 50 mm to 500 mm, 4 mm to 2.8 m, and 10 cm to 150 cm. Any two values within the range of 1 mm to 10 m therefore can be used to set low er and upper boundaries of a range in accordance with the embodiments of the present disclosure.

[0030] In addition, techniques, systems, subsystems, and methods described and illustrated in the various embodiments as discrete or separate may be combined or integrated with othersystems, modules, techniques, or methods without departing from the scope of the present disclosure. Other items shown or discussed as coupled or directly coupled or communicating with each other may be indirectly coupled or communicating through some interface, device, or intermediate component whether electrically, mechanically, or otherwise. Other examples of changes, substitutions, and alterations are ascertainable by one skilled in the art and could be made without departing from the spirit and scope disclosed herein.

[0031] The inventive concepts of the present disclosure will be more readily understood by reference to the following examples and embodiments, which are included merely for purposes of illustration of certain aspects and embodiments thereof, and are not intended to be limitations of the disclosure in any way whatsoever. Those skilled in the art will promptly recognize appropriate variations of the apparatus, compositions, components, procedures and method shown below.

[0032] The UAS 100 is a vertical profiler meteorological observation system featuring essential weather instrumentation, optimal sensor placement, and effective flight functions that favor undisturbed air sampling. The UAS 100 performs horizontally steady ascents and descents through different altitudes, collecting thermodynamic and kinematic data from the atmosphere. Data from the UAS 100 can be gathered and transferred in real time, to reduce measurement latency. The presently disclosed UAS 100 minimizes platform-induced errors of atmospheric measurements, and bridges the thermodynamic and kinematic data gaps in the planetary boundary’ layer (PBL). This UAS 100 provides a holistic w eather observation system in which the UAS 100 is not just a pay load carrier, but is also an integral part of the weather instrumentation system. The UAS 100 is equipped with necessary thermodynamic instrumentation, proven sensor placement, and flight functions optimized for weather sampling of the PBL. In addition to the above features, the presently disclosed UAS 100 includes features for enhancing wind speed tolerance and increasing flight endurance, which enable the UAS 100 to operate effectively in harsher weather conditions, such as severe storms.

[0033] The operation of the UAS 100 begins with an autonomous takeoff. Once airborne, the UAS 100 proceeds to execute a waypoint mission that has been pre-programmed and loaded into the UAS 100. Although the UAS 100 is optimized for vertical profiling of the atmosphere, it is also able to perform a variety of flight trajectories ranging from simple straight lines to complex spline curves,, as desired by the user or operator. In an earlier version, the UAS 100 w as optimized for vertical profile patterns to a pre-defined target altitude. This type of flight mission is preferred for temperature and humidity profiling of the atmosphere, the primarypurpose for which the UAS 100 was developed. During the flight, the UAS 100 collects and transmits atmospheric data down to the ground station in real-time as it ascends and descends through the atmosphere. Upon completion of the mission, the UAS 100 autonomously returns to the launch point and lands.

[0034] Turning to FIGS. 1A-1D, shown therein are front, perspective, top and side views, respectively, of the UAS 100. The UAS 100 leverages the successes of its predecessor while integrating new design concepts and improvements. Key innovations include optimized sensor housing, improved aerodynamic performance, and enhanced flight capabilities to ensure accurate and reliable weather data collection. The UAS 100 is generally configured as a rotary w ing drone that includes a frame 102, a plurality of arms 104 extending outward from the frame 102, a fuselage 106, and a plurality' of motorized rotors 108, where each of the plurality' of motorized rotors 108 is supported by a separate one of the plurality of arms 104. The frame 102 can be constructed form lightweight, but durable carbon fiber plates that are connected by aluminum standoffs. Although the UAS 100 depicted in FIGS. 1A-1D is a “quadcopter’ that includes four arms 104 and four motorized rotors 108, it will be appreciated that in other embodiments the UAS 100 has few er or greater numbers of arms 104 and rotors 108. For example, in some embodiments, the UAS 100 has 3, 5, 6, 7, 8, 9 or 10 arms 104 and rotors 108.

[0035] The fuselage 106 can be constructed through additive manufacturing (3D-prmting) using polycarbonate plastic. Polycarbonate plastic provides superior resistance and can withstand ambient temperatures up to approximately 80 Celsius before warping. The arms 104 consist of single-piece, hollow carbon-fiber tubes, through which wiring is internally routed to the motorized rotors 108. These tubes allow for rotational adjustment of the rotors 108, enabling changes in the inclination of the fuselage 106 relative to the propeller (rotor) plane. In exemplary embodiments, the motorized rotors 108 include a 3110-size 900KV brushless motor, driven by a high-performance electronic speed controller (ESC) capable of handling a maximum continuous current of 80 amps. To ensure effective cooling, the ESCs are positioned directly below their corresponding motor-mounted propellers, leveraging the propeller-induced airflow'. Each propeller has a size of 10x4.5in and can produce a maximum thrust of approximately 1.8 kgf when spinning at 14000 rpm. Many of the components within the UAS 100 can be procured from commercially available sources. For example, the Lynxmotion HQuad500 construction frame kit available from RobotShop Distribution, Inc. includes many of the generic components upon which the UAS 100 can be constructed. In some embodiments, the battery 116 is a rechargeable lithium polymer battery'.

[0036] Suitable batteries 116 include 6000 mAh (130 Wh) 6S LiPo batteries for high- performance applications. The 6S LiPo battery is capable of delivering a maximum continuous discharge current of 168 A, evenly distributed among the four rotors 108. In this battery configuration, the UAS 100 is capable of reliable operation during storms and other extreme weather conditions, in which the UAS 100 may be required to penetrate wind layers with speeds up to approximately 30 meters / second before automatically activating its retum-to-launch failsafe mechanism. In this high-performance configuration, the increased power draw by the UAS 100 may limit its maximum attainable altitude to about 1500 meters above ground level (AGL).

[0037] In other embodiments, the battery 116 is a 9000 mAh (194 Wh) 6S Lilon battery capable of providing a maximum discharge current of 90 A. Although approximately 10% heavier than the LiPo battery, this Lilon battery' stores 50% more energy, resulting in approximately 30% longer flight endurance. This increased endurance allows the UAS 100 to achieve higher altitudes — potentially exceeding 2000 m AGL — which may require beyond visual line of sight (BVLOS) authorization. However, this operating mode necessitates flying in lower-wind conditions to ensure optimal performance.

[0038] The UAS 100 further includes a flight control module 110 that includes a computer programmable flight control board 112, a communications module 114. and a battery 116. The communications module 114 includes a Global Navigation Satellite System (GNSS) unit 118 and a radio transmission unit 120 for receiving and transmitting data from a remote controller. The flight control board 112 controls the independent and coordinated operation of the motorized rotors 108 to adjust the movement, orientation and position of the UAS 100 during flight. The flight control board 112 is computer programmable and capable of executing complex autonomous flight routines. Suitable flight control boards 112 include the Pixhawk CubeBlack autopilot board available from Hex Technology. The autopilot flight control software can be loaded onto the flight control board 112 and used to control the primary flight functions of the UAS 100. Suitable custom-programmable flight control software includes the ArduPilot software, which can be licensed under the GNU General Public License (GPLv3). In exemplary' embodiments, the flight control software permits fully automated, semiautomated and user-operated (manual) flight modes. Custom firmware enhances key capabilities from the UAS 100, such as automated waypoint mission planning, environment- aware failsafe logic (e.g., wind limits), the wind vane flight mode (WVFM), and compact custom telemetry messages. The radio transmission unit 120 provides a robust, real-time linkwith a range of up to around 20 kilometers to the ground control station (GCS). Suitable radio transmission units 120 include the HereLink 2.4GHz radio system. Enhanced visualization software is used at the GCS to display and analyze telemetry' and sensor data from the UAS 100.

[0039] The UAS 100 includes an air sampling module 122 with a sensor package 124 for obtaining atmospheric and meteorological measurements. The air sampling module 122 is configured to provide air flow from the atmosphere to the sensor package 124 for sampling without disturbance from the UAS 100. The air sampling module 122 includes an air scoop 126 that is part of a front shell 128 of the fuselage 106. A sensor compartment 130 is also located within the front shell 128. The sensor compartment 130 is configured to facilitate the exchange or replacement of various sensors within the sensor package 124. This modularity allows for the integration of new sensor technologies and customization based on specific research needs.

[0040] Turning to FIG. 2, shown therein is a cross-sectional depiction of the front shell 128, illustrating the air scoop 126 and the sensor compartment 130. The air scoop 126 has atubular or cylindrical sensor chamber 132 with a sensor chamber discharge 134. A longitudinal sensor chamber axis 136 extends lengthwise through the center of the sensor chamber 132. The air scoop 126 further includes a cylindrical or tubular intake 138 upstream from the sensor chamber 132. The intake 138 has an opening 140 and a longitudinal intake axis 142. The intake 138 connects to the sensor chamber 132 at a scoop intake angle measured between the longitudinal sensor chamber axis 136 and the longitudinal intake axis 142, where the longitudinal sensor chamber axis 136 is substantially vertical with reference to a horizontal ground plane.

[0041] The scoop intake angle is defined as 70% ± 5% of either the: (i) maximum tilt angle at which the UAS 100 can stay aloft without altitude loss; or (ii) a pre-defined maximum pitch angle set by the user (referred to as 0max). The angle 0max may be in a range of, for example, 30° to 50°, or in a range of, for example, 35° to 45°, or about 40°. The scoop intake angle is determined w ith respect to the vertical axis of the UAS 100 in the body reference frame, which is perpendicular to the ground when the UAS 100 is hovering steadily in no wind. In FIG. 2, the primary' vertical axis for the UAS 100 coincides with the longitudinal sensor chamber axis 136. The scoop intake angle ensures that the intake 138 of the air scoop 126 is oriented to optimize the intake of atmospheric air while the yvhile the UAS 100 is pitched foryvard yvhile flying forward or holding stationary and compensating for a headwind.

[0042] The sensor package 124 includes one or more atmospheric sensors 144. The sensors 144 can include thermohygrometer sensors, pressure sensors, radiation sensors, light detection sensors, or atmospheric sensors. The sensors 144 are positioned within the sensor chamber 132 in a sensor region 146. In some embodiments, the sensors 144 are located in the sensor compartment 130 and the sampled air reaches the sensors 144 through sample apertures 148 in the wall of the sensor chamber 132. In other embodiments, the sensors 144 include probes that extend from the sensor compartment 130 into the sensor chamber 132. The placement of the atmospheric sensors 144 in the front-most section of the UAS 100 ensures that the sensors 144 are exposed to the least amount of thermodynamic interference from the fuselage 106 and rotors 108.

[0043] In these exemplary embodiments, the sensors 144 are located deep enough in the sensor chamber 132 to shield the sensors 144 from direct contact with sunlight or particles in the atmosphere. As illustrated in FIG. 2, the lengths of the intake 138 and sensor chamber 132 must ensure that the top-most sensor 144 is hidden from view when looking from the intake. Placing the uppermost sensor 144 in a position within the sensor chamber 132 helps to prevent sun radiation from heating the sensors when the UAS 100 is pointed toward the sun. In this way, the air scoop 126 shields the sensors 144 from direct solar radiation to mitigate measurement errors caused by solar radiation and sensor self-heating. The intake 138 and the exterior of the air scoop 126 are preferably manufactured from, or coated with, high albedo (high light reflectivity), while low albedo (low light reflectivity) materials are recommended for the inside of the sensor chamber 132. The strategic use of light reflective and light absorptive materials mitigates measurement contamination by reducing heat conduction from solar radiation through the walls of the air scoop 126.

[0044] The air scoop 126 includes an exhaust fan 150. The fan 150 is preferably located in a position proximate to the sensor chamber discharge 134. The fan 150 is configured to pull air through the air scoop 126 for measurement by the sensors located in the sensor chamber 132. When activated, the fan 150 ensures that the sensors 144 receive a constant flow of ambient air and without regions of airflow stagnation within the air scoop 126. In some embodiments, the speed and throughput of the fan 150 is variable and adjustable based on weather conditions, the orientation of the UAS 100 with respect to the wind, and the flight speed of the UAS 100.

[0045] The UAS 100 features an elongated and thin fuselage 106 designed to reduce air resistance and improve flight efficiency. This aerodynamic profile further enhances the performance of the UAS 100 in various w eather conditions, allowing it to maintain flightstability and high wind tolerance during data collection. The fuselage 106 has a longitudinal fuselage axis 152 extending lengthwise through the center of the fuselage 106 and a lateral fuselage axis 154 extending sideways through the fuselage 106, and a vertical axis 156 centered on the center of mass of the UAS 100. The vertical axis 156 is a reference axis that remains perpendicular to a horizontal ground plane. When viewed from the side in FIG. 7, the fuselage 106 approximates a rhombus shape that has been tilted upward with respect to a horizontal reference surface. In this way, the longitudinal fuselage axis 152 intersects the vertical axis 156 in a non-orthogonal relationship. That is, the front of the fuselage 106 is tilted upward and positioned above the rear of the fuselage, while the rotors 108 remain aligned on substantially vertically axes. The upwardly tilted fuselage 106 enhances aerodynamic performance and wind estimation accuracy by increasing exposed area at low wind speeds and streamlining the UAS 100 at high wind speeds, thereby enhancing overall wind tolerance and measurement sensitivity. In some embodiments, the longitudinal fuselage axis 152 is approximately the same as the longitudinal intake axis 142.

[0046] The UAS 100 performs vertical ascents and descents at a constant speed through the Earth’s atmosphere, collecting thermodynamic and kinematic observations of its surrounding air. In some modes of operation, as explained below, the UAS 100 estimates wind direction and reorients to face into the wind, thereby encountering headwinds. The aerodynamic profile of the UAS 100 along the longitudinal fuselage axis 152 has been improved to reduce air resistance, increase maximum w ind tolerance, and enhance overall performance. The UAS 100 must also pitch forward to adjust the thrust vector produces by the rotors 108 to compensate for any undesired horizontal displacement caused by wind.

[0047] To improve the aerodynamic performance and wind estimation accuracy performance of the UAS 100, the following features were incorporated into the UAS 100. First, as noted above, the UAS 100 incorporates abetter arrangement of the internal electronics, which enables a thinner fuselage 106 that produces less drag. Second, a mechanical modification was implemented which causes the longitudinal fuselage axis 152 to be tilted nose-up relative to the ground (horizontal reference plane) at an angle of about O.35 |0max|° ± 1%, or ± 2%, or ± 3%, or ± 4%, or ± 5%, or ± 6%, or ± 7%, or ± 8%, or ± 9%, or ± 10%, while the rotors 108 remain approximately parallel to the ground, as illustrated in FIG. 7. At low wind speeds, this configuration increases the exposed area of the UAS 100 to the w ind, thereby enhancing the sensitivity of low wind speed measurements. At high wind speeds, the UAS 100 apparatus pitches forward, aligning the longitudinal fuselage axis 152 closer to horizontal and reducingthe frontal area exposed to the wind, thereby becoming more streamlined. This reduces power consumption when flying against the wind and decreases the noise in high wind speed measurements, leading to more accurate wind estimates and increased wind tolerance. Third, components mounted externally on top or the lateral sides of the UAS 100 are also oriented such that their respective longitudinal axes approximate the longitudinal fuselage axis 152 or longitudinal intake axis 142. For example, the externally mounted GNSS unit 118 is oriented such that its longitudinal axis is substantially parallel to the intake longitudinal axis as shown in FIG. 7 to reduce air resistance.

[0048] Studies with previous designs revealed that UAS-based wind estimations are less sensitive and highly non-linear at low wind speeds, while at high wind speeds, they become linear but noisier, as depicted in FIGS. 5-6. The histograms are binned to 0.5 m s'1. The dotted red line is the one-to-one line and the black line is the least-squares regression. The slope (m), intercept (b). number of points (N), Pearson correlation (Corr), mean difference between the UAS 100 and the Doppler lidar (DL), standard deviation (sigma), mean absolute error (MAE), and median difference are shown at the top. The UAS 100 compares well with the Doppler lidar at all wind speeds with this method, in particular high wind (> 6 m / s).

[0049] Experiments were conducted to determine the effectiveness of the new airframe design of the UAS 100. The results of this experiment are depicted in FIGS. 9A-9C, which show colocated wind profile comparisons which were measured simultaneously by the UAS 100 (CS SWX / blue line), the previous model weather drone (CS 3D / orange line), and Doppler wind Lidar (black line). The Doppler wind lidar could only measure wind from 100 meters and above, and it w as used as the ground truth for calibration and reference. It can be clearly seen that the low wind measurements of the prior art w eather drone (CS 3D) have high variability, indicating high nonlinear behavior, while the high wand measurements are contaminated with noise. These results show' that the new airframe design of the UAS 100 significantly mitigates these unwanted effects.

[0050] Another advancement over prior art weather drone systems is the ability of the UAS 100 to operate in a "w ind vane flight mode” or “WVFM.” In the wind vane flight mode of operation, the UAS is programmed to rotate into the prevailing wind, thereby maintaining quasi-stable conditions that facilitate accurate atmospheric measurements. During the wind vane flight mode method of operation, the UAS 100 accurately determines the wind direction and speed. By positioning the atmospheric sensors 144 at the most upwind section of the fuselage 106, the sensors 144 are provided undisturbed air, thereby reducing errors caused bythe self-heating and propeller wash of the UAS 100. The ability of the UAS 100 to automatically orient itself such that the intake 138 and opening 140 are positioned as the most upwind portion of the UAS 100 significantly improves the accuracy of measurements made by the sensors 144.

[0051] FIGS. 3-4 show that the WVFM enables the UAS 100 to maintain accurate thermodynamic measurements within a wind incidence span of ±50 degrees relative to the heading of the UAS 100, highlighting the necessity of this mode for reliable data collection. This mode of operation also enables the UAS 100 to achieve a top speed of 35.6 meters / second and to withstand wind gusts up to 35 meters / second, reaching hurricane-force wind levels. Studies were conducted on windy days to determine the optimal horizontal wind incidence angle range for reliable thermodynamic measurements of the UAS 100. Data from the Washington, Oklahoma Mesonet tower was used as a reference for atmospheric conditions. The UAS 100 was programmed to hover at the same height as the tower sensors, maintaining a horizontal separation of 10 meters. In Case Study 1, Initially, the UAS 100 was programmed to maintain its orientation into the wind to keep the sensors 144 in undisturbed air upwind of the UAS fuselage 106 while the sensors 144 measure the temperature of the air entering the air scoop 122 (CS Temperature). Halfway into the flight, the UAS 100 was commanded to rotate 180 degrees with respect to the wind vector and place the sensors 144 on the downwind end of the UAS 100. When the UAS 100 is facing the wind, the mean temperature recorded by the sensors (Mean Temperature @ 0 Deg) very closely matched the ambient temperature measured by the Oklahoma Mesonet tower. When the UAS 100 was rotated such that the air sampling module 122 is located on the downwind end of the UAS 100, the temperature measurements made by the UAS (Mean Temperature @ 180 Deg) was significantly higher than the control, ambient temperature. The increase in temperature is evidence of heat being advected from the fuselage 106 of the UAS 100 and across the sensors 144, as illustrated in FIG. 3.

[0052] In Case Study 2. the UAS 100 was programmed to rotate about its vertical axis at a constant angular velocity of 2 revolutions per minute while temperature measurements were made by the air sampling module 122. This allowed measurement of the air temperature distribution around the UAS 100 as a function of wind incidence. A point cloud of temperature observations was generated and plotted, as depicted in FIG. 4. The mean ambient temperature (Ambient Temperature / horizontal dashed line) and wind direction (Mean Wind Direction / solid vertical line) were computed using observations from a nearby meteorological tower during the flight. The blue line represents the average temperature over 15 revolutions, clearlyshowing the maxima and minima of the temperature field around the UAS 100. The lowest temperatures occur near the headwind direction, where the curve flattens and centers close to the mean wind direction. The vertical dashed lines represent 3 times the standard deviation of the measured wind direction from the tower. The solid curved line is the average temperature across the temperature observations of the UAS 100. These case studies confirm the effectiveness of the UAS 100 during the WVFM mode of operation. Based on the observed temperature footprint around the UAS 100, a wind incidence span of ±50 degrees with respect to the UAS 100 heading was estimated to be the optimal operating range in which the atmospheric data collected by the UAS 100 is accurate and reliable.

[0053] While the present disclosure has been described herein in connection with certain embodiments so that aspects thereof may be more fully understood and appreciated, it is not intended that the present disclosure be limited to these particular embodiments. On the contrary, it is intended that all alternatives, modifications, and equivalents are included within the scope of the present disclosure as defined herein. Thus the embodiments described above, which include particular embodiments, will serve to illustrate the practice of the inventive concepts of the present disclosure, it being understood that the particulars shown are by way of example and for purposes of illustrative discussion of particular embodiments only and are presented in the cause of providing what is believed to be the most useful and readily understood description of methods and procedures as well as of the principles and conceptual aspects of the present disclosure. Changes may be made in the apparatus, components, systems, and methods described herein, or in the steps or the sequence of steps of the methods described herein, without departing from the spirit and scope of the present disclosure. Further, while various embodiments of the present disclosure have been described in exemplary claims herein below, it is not intended that the present disclosure be limited to these particular exemplary claims.

Claims

It is claimed:

1. An uncrewed aerial system (UAS) configured to measure one or more atmospheric conditions in a stationary position or during vertical movement through the Earth’s lower atmosphere, the UAS having a center of mass and comprising: a fuselage having a longitudinal fuselage axis, wherein the longitudinal fuselage axis intersects a vertical reference axis in a non-orthogonal relationship; a plurality of arms; a plurality of motorized rotors, wherein each motorized rotor is supported by a corresponding one of the plurality of arms; and an air sampling module, wherein the air sampling module comprises: an air scoop comprising: an intake having an intake opening and a longitudinal intake axis that extends through the intake; and a sensor chamber connected to the intake on a first end and having a discharge on a second end, wherein the sensor chamber has a longitudinal sensor chamber axis that extends from the first end to the second end, and wherein the longitudinal sensor chamber axis is angularly offset from the longitudinal intake axis by a scoop intake angle; one or more sensors located in the sensor chamber; and a fan located in the sensor chamber proximate the discharge.

2. The uncrewed aerial system (UAS) of claim 1, wherein the scoop intake angle is defined as about 90° - 70% of a maximum tilt angle at which the UAS can stay aloft without altitude loss.

3. The uncrewed aerial system (UAS) of claim 1, wherein the scoop intake angle is defined as about 70% of a pre-defined maximum pitch angle (0max), where Omax ranges from 30° to 50°.

4. The uncrewed aerial system (UAS) of claim 3, wherein the scoop intake angle is about 90° - 0.7(9 max).

5. The uncrewed aerial system (UAS) of claim 3, wherein 0max is in a range of 35° to 45°.

6. The uncrewed aerial system (UAS) of claim 3, wherein the longitudinal fuselage axis intersects a horizontal reference plane at an angle of about (O.35)(0max).

7. The uncrewed aerial system (UAS) of claim 1, wherein the longitudinal intake axis is substantially parallel to the longitudinal fuselage axis.

8. The uncrewed aerial system (UAS) of claim 1, wherein the one or more sensors is positioned inside the sensor chamber in proximity to the discharge.

9. The uncrewed aerial system (UAS) of claim 1, wherein the one or more sensors are positioned inside the sensor chamber in locations that are not visible when looking through the intake.

10. The uncrewed aerial system (UAS) of claim 1, wherein the one or more sensors are selected from the group consisting of temperature sensors, humidity sensors, and thermohygrometer sensors.

11. A method of collecting a vertical profile of atmospheric conditions, comprising: providing an uncrewed aerial system (UAS) configured to measure one or more atmospheric conditions in a stationary position or during vertical movement through the Earth’s lower atmosphere, the UAS having a center of mass and comprising: a fuselage comprising a frame and a modular shell secured to the frame, wherein the fuselage has a longitudinal axis, a lateral axis, and a vertical axis centered on the center of mass of the UAS; a plurality' of arms extending outwardly from the frame; a plurality of motorized rotor disks, wherein each motorized rotor disk is supported by one of the plurality of arms, and wherein the plurality' of motorized rotor disks comprises an average angle relative to the ground when the UAS is stationary and level with the ground, wherein the average angle is about zero; a flight control module for controlling operation of the motorized rotors, stabilization, and navigation of the UAS when airborne; an air sampling scoop removably attached to a front end of the shell, and comprising (1) an intake portion having an opening that faces forwardand having a longitudinal intake axis, (2) an elongated sensor chamber having a longitudinal chamber axis, wherein the longitudinal intake axis has a predetermined geometric inclination relative to the longitudinal chamber axis, (3) a curved portion joining the intake portion to the elongated sensor chamber, (4) an exhaust portion oriented downwardly from the elongated sensor chamber, the exhaust portion comprising a ducted fan configured to draw air through intake portion and elongated sensor chamber forming an air flow, and (5) a plurality of atmospheric sensors in the elongated sensor chamber, which are in contact with the air flow therein, and wherein the intersection of the longitudinal intake axis and the longitudinal chamber axis form an acute scoop intake angle, wherein the acute scoop intake angle is 90° - O.7(0max); a sensor data receiver / transmitter module in operative communication with the plurality of atmospheric sensors and a ground base station; at least one operative component mounted on an external portion of the fuselage, wherein the at least one operative component has an inclination which is substantially parallel to the longitudinal axis of the intake portion of the air sampling scoop; and a front-end landing gear and a rear end landing gear attached to the frame, w herein the front-end landing gear maintains the longitudinal axis of the fuselage elevated at an angle of 0.3519max|° ± 10% relative to the ground when the UAS is in the stationary landed position; causing the UAS to fly vertically upwardly; using the plurality7of atmospheric sensors to obtain measurements of the one or more atmospheric conditions as the UAS flies vertically upwardly; and transmitting the measurements to the base station.

12. The method of claim 11, therein the atmospheric conditions comprise wind vector, air temperature, humidity7, and air pressure.

13. The method of claim 11, wherein the step of providing an uncrewed aerial system (UAS) further comprises providing a UAS with at least one operative component mounted on an external portion of the fuselage, wherein the at least one operative componenthas an inclination which is substantially parallel to the longitudinal axis of the intake portion of the air sampling scoop.

14. The method of claim 13, wherein the at least one operative component is a Global Navigation Satellite System (GNSS) unit.

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