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Boomerang Onboard or RC - Exploration of wind fields

 
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Mustafa Umut Sarac
MTA-Dropper


Anmeldungsdatum: 19.09.2018
Beiträge: 77
Wohnort: Istanbul - Turkey

BeitragVerfasst am: 05.11.2018, 18:08    Titel: Boomerang Onboard or RC - Exploration of wind fields Antworten mit Zitat

Exploration of wind fields
An interesting problem in soaring is that of a vehicle attempting to
simultaneously explore and exploit an unknown wind field using soaring. This introduces a requirement for on-line mapping as the vehicle must now also attempt to create a map of the field whilst using
that map to generate feasible and energy-gaining paths. This task is
complicated by the fact that generally the wind cannot be remotely
observed by a small UAV with common on-board sensors. Further,
wind fields vary spatially and temporally so observations are only
locally valid for a limited period of time.
We consider the case of a UAV with the ability to estimate the local
wind vector using an air data sensor and an inertial sensor. We assume that the air data sensor measures the speed and direction of
airflow relative to the centre of mass of the aircraft, and the inertial
sensor measures the acceleration and speed of the vehicle in a fixed
inertial frame. Whilst airspeed and inertial measurement units are
common on UAVs, air angle measurements are not. One method for
estimating air angles is an alpha-beta vane system which records the
wind direction around two perpendicular axes each using a lightweight
wind vane and potentiometer [23]. An alternative system is a multihole pressure sensor which estimates the air angles by calculating
the pressure at different orientations to the wind and solving for the
wind direction [59]. It is difficult to determine the accuracy required
from these types of sensor for accurate wind reconstruction, and this
is part of ongoing work. The collection of truth data is also difficult,
though some work had been performed towards quantifying the accuracy available from typical sensors available on small UAVs
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