CN109374924A - A kind of lateral wind field estimation method of cross based on quadrotor drone inclination angle - Google Patents
A kind of lateral wind field estimation method of cross based on quadrotor drone inclination angle Download PDFInfo
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- CN109374924A CN109374924A CN201811249554.XA CN201811249554A CN109374924A CN 109374924 A CN109374924 A CN 109374924A CN 201811249554 A CN201811249554 A CN 201811249554A CN 109374924 A CN109374924 A CN 109374924A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P13/00—Indicating or recording presence, absence, or direction, of movement
- G01P13/02—Indicating direction only, e.g. by weather vane
- G01P13/025—Indicating direction only, e.g. by weather vane indicating air data, i.e. flight variables of an aircraft, e.g. angle of attack, side slip, shear, yaw
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
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Abstract
The lateral wind field estimation method of the cross that the present invention relates to a kind of based on rotor wing unmanned aerial vehicle inclination angle, when quadrotor is in wind field environment, in order to realize the hovering in designated position, quadrotor needs to keep inclination angle, and lift is made to offset the influence of wind resistance in horizontal lateral component.To the functional relation that the inclination angle and horizontal lateral wind by preparatory quadrotor obtained by calibrating are disturbed, and then estimate that the horizontal lateral wind of wind field environment locating for aircraft under floating state disturbs information.Sensing data, including gyroscope, GPS receiver, accelerograph etc. of the present invention according to existing standard automatic pilot do not need to increase additional meteorological survey wind devices, such as air speed measuring apparatus.It can fast and accurately realize online Wind field measurement, technical support can be provided for activities such as aerospace and forest fire protections.
Description
Technical field
The lateral wind field estimation method of the cross that the present invention relates to a kind of based on quadrotor drone inclination angle, can be aerospace
And the activity such as forest fire protection provides technical support, belongs to atmospheric science technical field.
Background technique
In terms of Wind field measurement, true atmospheric wind information is with time and spatial variations.It is complete in order to obtain
Spatio-temporal region wind field information, the Wind field measurement means being widely used have: anemobiagraph is surveyed wind, pilot balloon observation, wind profile radar and is surveyed
The methods of wind.In a wide range of, the real-time engineer application for surveying wind, the valuableness of above-mentioned tradition continental rise instrument for wind measurement equipment and platform according to
The drawbacks such as property are relied just to embody out.However, the gyroplane marketization speed in unmanned plane is constantly accelerated, and fly with low latitude
Row, spot hover, can be in hazardous environment the features such as flight.The wind detection method can not depend on additional sensor, according to rotor
The variation that attitudes vibration of the machine in wind field calculates winds retrieval will realize that fixed point surveys wind in real time, and guarantee higher
Measurement accuracy.
In existing flight test of unmanned aerial vehicle and wind field acquisition methods, it can not accomplish to carry out the wind field information of measurement
It uses in real time, the estimation to unmanned plane wind field can be generally realized using recorded data after experiment.This kind of method loses
Timeliness, and it is more complicated, application effect is simultaneously bad.
Summary of the invention
Technical problems to be solved
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of horizontal side based on quadrotor drone inclination angle
To wind field estimation method, high-altitude wind field information can be accurately obtained in real time, mentioned for activities such as aerospace and forest fire protections
For technical support.
Technical solution
The lateral wind field estimation method of a kind of cross based on quadrotor drone inclination angle, it is characterised in that steps are as follows:
Step 1: establishing the relationship at quadrotor drone inclination angle and horizontal lateral wind speed size
Quadrotor is in wind field environment, in order to realize the hovering in designated position, quadrotor is needed
Inclination angle Φ is kept, lift T is made to offset the influence of wind resistance D in horizontal lateral component；Statistically analyze different wind speed size feelings
Under condition, the size at quadrotor drone inclination angle, the function that calibration obtains the inclination angle of quadrotor and horizontal lateral wind is disturbed
Relationship；The specific method is as follows:
1.1, quadrotor inclination angle and wind speed size functional relation are demarcated
Inclination angle and wind speed size data are counted, sampled point trend is estimated, describes to tilt using quadratic function
Angle Φ and wind speed VwFunctional relation, expression formula is as follows:
Wherein, a, b, c are unary linear regression equation regression parameter, and a, b, c are according to different wind speed VwCorresponding difference
Inclination angle Φ is determined using least-squares parameter identification method；
Multiple groups measurement point data may be expressed as:
Multiple groups measurement point data relationship formula is simplified are as follows: y=Ψ x, then parameter x=(a, b, c) to be identifiedTCalculating it is public
Formula are as follows:
X=(ΨTΨ)-1ΨTy
1.2, inclination angle Φ is obtained
The inclination angle of rotor craft can use attitude angle information and be calculated, specific projectional technique is as follows: selection
" east northeast " it is used as navigational coordinate system, i.e., under navigational coordinate system, xnAxis is directed toward direct north；ynAxis be directed toward due east direction and with
xnAxis is vertical；According to the right-hand rule, z is definednPerpendicular to ground and it is directed toward the earth's core；Under body coordinate system, xbAxis is vertical along body
Axis is directing forwardly；ybAxis is directed toward right flank along body horizontal axis；According to the right-hand rule, z is definedbAxis is in body symmetrical plane, with xb
Axis is vertical and is directed toward organism bottom；DefinitionIt is under navigational coordinate system along znThe unit vector of axis positive direction, under body coordinate system
Along zbThe unit vector of axis positive direction is expressed as under navigational coordinate systemInclination angle Φ is the folder between the two vectors
Angle, whereinIt may be expressed as:
Wherein, φ, θ, ψ are respectively the roll angle, pitch angle and yaw angle of quadrotor drone, are all by gyroscope etc.
Airborne sensor measurement determination；
According to the dot product principle of vector, the relationship between inclination angle and the two vectors is expressed as:
BecauseInclination angle Φ is indicated are as follows:
Cos Φ=cos θ cos φ
Step 2: obtaining horizontal lateral wind speed and direction
The size of the horizontal lateral wind speed of wind field locating for quadrotor indicates are as follows:
The direction of horizontal lateral wind speedIt should be with vectorIn OnxnynThe direction of the projection of plane is consistent, then after normalizing
The lateral wind direction vector of cross are as follows:
Beneficial effect
The lateral wind field estimation method of a kind of cross based on quadrotor drone inclination angle proposed by the present invention, beneficial effect is such as
Under:
(1) present invention carries out Wind field measurement using quadrotor drone, with low-latitude flying, spot hover, can endanger
In dangerous environment the features such as flight；It is more efficient and convenient and without relying on external sensor.
(2) present invention calculates the variation of winds retrieval according to attitudes vibration of the gyroplane in wind field, and it is fixed to may be implemented
Point surveys wind in real time, and guarantees higher measurement accuracy.
(3) present invention has significant application value in the fields such as aerospace and forest fire protection.Current science and techniques of defence,
In the critical activities such as social safety, the present invention provides important technical supports.
Detailed description of the invention
Fig. 1 is that the present invention is based on the lateral wind field estimation method flow charts of the cross at quadrotor drone inclination angle；
Fig. 2 is the hovering force analysis figure of quadrotor of the present invention；
Fig. 3 is the lab diagram that the wind speed size that the present invention provides in fact and quadrotor tilt angular dependence calibration；
Fig. 4 is the size at the inclination angle of the embodiment of the present invention and the graph of relation of horizontal lateral wind speed size；
Fig. 5 is the lateral turbulent performance wind estimation figure of the cross based on inclination angle provided in an embodiment of the present invention；
Fig. 6 is the lateral turbulent performance wind direction estimation figure of the cross provided in an embodiment of the present invention based on inclination angle；
Specific embodiment
Now in conjunction with embodiment, attached drawing, the invention will be further described:
With reference to the accompanying drawing, and with the inclination angle of a quadrotor drone and wind speed size calibration process and turbulent wind
Measurement process be example, the present invention will be further described.Obviously, cited example is served only for explaining the present invention, and
It is non-to be used to limit the scope of the invention.
The lateral wind field estimation method of a kind of cross based on quadrotor drone inclination angle of the present invention, as shown in Figure 1,
Include the following steps:
Step 1: establishing the relationship at quadrotor drone inclination angle and horizontal lateral wind speed size
As shown in Fig. 2, quadrotor is in wind field environment, in order to realize the hovering in designated position, four rotations
Rotor aircraft needs to keep inclination angle Φ, and lift T is made to offset the influence of wind resistance D in horizontal lateral component.Statistical analysis is different
Under wind speed size cases, the size at quadrotor drone inclination angle, demarcates the inclination angle for obtaining quadrotor and cross is lateral
The functional relation that wind is disturbed.The specific method is as follows:
1.1, quadrotor inclination angle and wind speed size functional relation are demarcated
Inclination angle and wind speed size data are counted, as shown in figure 3, statistical number can be obtained by quadrotor blowing experiment
According to.And sampled point trend is estimated, as shown in figure 4, inclination angle Φ and wind speed V can be described with quadratic functionwFunction
Relationship, expression formula are as follows:
Wherein a, b, c are unary linear regression equation regression parameter, and a, b, c are according to different wind speed VwCorresponding difference is inclined
Oblique angle Φ is determined using least-squares parameter identification method.
Multiple groups measurement point data may be expressed as:
Multiple groups measurement point data relationship formula is simplified are as follows: y=Ψ x, then parameter x=(a, b, c) to be identifiedTCalculating it is public
Formula are as follows:
X=(ΨTΨ)-1ΨTy
As shown in figure 4, x=(0.0025,0.001, -0.0014)T
1.2, inclination angle Φ is obtained
The inclination angle of rotor craft can use attitude angle information and be calculated, specific projectional technique is as follows:
Select " east northeast " as navigational coordinate system, i.e., under navigational coordinate system, xnAxis is directed toward direct north；ynAxis is directed toward
Due east direction and and xnAxis is vertical；According to the right-hand rule, z is definednPerpendicular to ground and it is directed toward the earth's core.Under body coordinate system, xb
Axis is directing forwardly along the body longitudinal axis；ybAxis is directed toward right flank along body horizontal axis；According to the right-hand rule, z is definedbAxis is symmetrical in body
In plane, with xbAxis is vertical and is directed toward organism bottom.DefinitionIt is under navigational coordinate system along znThe unit vector of axis positive direction, machine
Along z under body coordinate systembThe unit vector of axis positive direction is expressed as under navigational coordinate systemInclination angle Φ is the two vectors
Between angle, whereinIt may be expressed as:
Wherein, φ, θ, ψ are respectively the roll angle, pitch angle and yaw angle of quadrotor drone, are all by gyroscope etc.
Airborne sensor measurement determination.
According to the dot product principle of vector, the relationship between inclination angle and the two vectors can be indicated are as follows:
BecauseInclination angle Φ can be indicated are as follows:
Cos Φ=cos θ cos φ
Step 2: obtaining horizontal lateral wind speed and direction
The size of the horizontal lateral wind speed of wind field locating for quadrotor can indicate are as follows:
By utilizing method of the invention, can the wind field size to the example carry out quantitative calculating, may be expressed as:
The direction of horizontal lateral wind speedIt should be with vectorIn OnxnynThe direction of the projection of plane is consistent, then after normalizing
The lateral wind direction vector of cross are as follows:
It as shown in Figure 5, Figure 6, is the wind speed and direction experiment estimated result of the lateral turbulent performance of cross based on inclination angle.From
As can be seen that being obviously more nearly measured data using present invention wind field calculated in figure, it was demonstrated that invention significantly improves
The computational accuracy of winds retrieval.
Claims (1)
1. a kind of lateral wind field estimation method of cross based on quadrotor drone inclination angle, it is characterised in that steps are as follows:
Step 1: establishing the relationship at quadrotor drone inclination angle and horizontal lateral wind speed size
Quadrotor is in wind field environment, in order to realize the hovering in designated position, quadrotor needs to protect
Inclination angle Φ is held, lift T is made to offset the influence of wind resistance D in horizontal lateral component；It statisticallys analyze under different wind speed size cases,
The size at quadrotor drone inclination angle, the functional relation that calibration obtains the inclination angle of quadrotor and horizontal lateral wind is disturbed；
The specific method is as follows:
1.1, quadrotor inclination angle and wind speed size functional relation are demarcated
Inclination angle and wind speed size data are counted, sampled point trend is estimated, inclination angle Φ is described using quadratic function
With wind speed VwFunctional relation, expression formula is as follows:
Wherein, a, b, c are unary linear regression equation regression parameter, and a, b, c are according to different wind speed VwCorresponding different inclination angle
Φ is determined using least-squares parameter identification method；
Multiple groups measurement point data may be expressed as:
Multiple groups measurement point data relationship formula is simplified are as follows: y=Ψ x, then parameter x=(a, b, c) to be identifiedTCalculation formula are as follows:
X=(ΨTΨ)-1ΨTy
1.2, obtain inclination angle Φ
The inclination angle of rotor craft can use attitude angle information and be calculated, specific projectional technique is as follows: selection " east northeast
Ground " is used as navigational coordinate system, i.e., under navigational coordinate system, xnAxis is directed toward direct north；ynAxis is directed toward due east direction and and xnAxis hangs down
Directly；According to the right-hand rule, z is definednPerpendicular to ground and it is directed toward the earth's core；Under body coordinate system, xbAxis is directed toward along the body longitudinal axis
Front；ybAxis is directed toward right flank along body horizontal axis；According to the right-hand rule, z is definedbAxis is in body symmetrical plane, with xbAxis is vertical
And it is directed toward organism bottom；DefinitionIt is under navigational coordinate system along znThe unit vector of axis positive direction, along z under body coordinate systembAxis is just
The unit vector in direction is expressed as under navigational coordinate systemInclination angle Φ is the angle between the two vectors, wherein
It may be expressed as:
Wherein, φ, θ, ψ are respectively the roll angle, pitch angle and yaw angle of quadrotor drone, are all airborne by gyroscope etc.
What sensor measurement determined；
According to the dot product principle of vector, the relationship between inclination angle and the two vectors is expressed as:
BecauseInclination angle Φ is indicated are as follows:
Cos Φ=cos θ cos φ
Step 2: obtaining horizontal lateral wind speed and direction
The size of the horizontal lateral wind speed of wind field locating for quadrotor indicates are as follows:
The direction of horizontal lateral wind speedIt should be with vectorIn OnxnynThe direction of the projection of plane is consistent, then the horizontal side after normalizing
To wind direction vector are as follows:
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110134134A (en) * | 2019-05-24 | 2019-08-16 | 南京信息工程大学 | A kind of wind detection method under unmanned plane floating state |
| CN110220666A (en) * | 2019-06-21 | 2019-09-10 | 中国农业大学 | Wind field detection device and the detection of online wind field and evaluation method based on microstrain |
| CN110244753A (en) * | 2019-06-24 | 2019-09-17 | 深圳市道通智能航空技术有限公司 | Wind speed measuring method and unmanned plane |
| CN110726851A (en) * | 2019-12-02 | 2020-01-24 | 南京森林警察学院 | Method for measuring and calculating wind speed by using rotor unmanned aerial vehicle |
| CN110988393A (en) * | 2019-12-12 | 2020-04-10 | 南京开天眼无人机科技有限公司 | Unmanned aerial vehicle wind speed and direction measurement and correction algorithm based on ultrasonic anemoscope |
| WO2021018050A1 (en) * | 2019-07-26 | 2021-02-04 | 深圳市道通智能航空技术有限公司 | Wind speed measurement and calculation method, wind speed estimator, and unmanned aerial vehicle |
| CN112415220A (en) * | 2020-11-13 | 2021-02-26 | 中国运载火箭技术研究院 | Method and system for estimating tilting wind speed of winged aircraft in vertical state |
| CN112485464A (en) * | 2020-11-25 | 2021-03-12 | 济南泰景电力技术有限公司 | Gyroscope wind measuring device and wind power and wind direction measuring method |
| CN112762960A (en) * | 2020-12-29 | 2021-05-07 | 中国航空工业集团公司西安飞机设计研究所 | Online calculation method for wind field of aircraft |
| CN113408646A (en) * | 2021-07-05 | 2021-09-17 | 上海交通大学 | External disturbance classification method and system for unmanned aerial vehicle |
| CN113534827A (en) * | 2020-04-17 | 2021-10-22 | 北京三快在线科技有限公司 | Unmanned aerial vehicle minimum wind resistance surface detection method and device, unmanned aerial vehicle and storage medium |
| CN115266016A (en) * | 2022-09-20 | 2022-11-01 | 之江实验室 | Model reference and time fast-forward-based environment wind field fast estimation method and device |
| CN116338235A (en) * | 2023-03-14 | 2023-06-27 | 华东理工大学 | Four-rotor unmanned aerial vehicle wind measuring method based on unknown input observer |
| CN118169427A (en) * | 2024-05-14 | 2024-06-11 | 浙江大学 | Aircraft environment wind measuring device, method and greenhouse gas detecting device |
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| CN110134134A (en) * | 2019-05-24 | 2019-08-16 | 南京信息工程大学 | A kind of wind detection method under unmanned plane floating state |
| CN110220666A (en) * | 2019-06-21 | 2019-09-10 | 中国农业大学 | Wind field detection device and the detection of online wind field and evaluation method based on microstrain |
| CN110220666B (en) * | 2019-06-21 | 2024-01-30 | 中国农业大学 | Wind field detection device based on microstrain and online wind field detection and evaluation method |
| CN110244753A (en) * | 2019-06-24 | 2019-09-17 | 深圳市道通智能航空技术有限公司 | Wind speed measuring method and unmanned plane |
| CN110244753B (en) * | 2019-06-24 | 2023-01-31 | 深圳市道通智能航空技术股份有限公司 | Wind speed measuring and calculating method and unmanned aerial vehicle |
| WO2021018050A1 (en) * | 2019-07-26 | 2021-02-04 | 深圳市道通智能航空技术有限公司 | Wind speed measurement and calculation method, wind speed estimator, and unmanned aerial vehicle |
| CN110726851A (en) * | 2019-12-02 | 2020-01-24 | 南京森林警察学院 | Method for measuring and calculating wind speed by using rotor unmanned aerial vehicle |
| CN110988393A (en) * | 2019-12-12 | 2020-04-10 | 南京开天眼无人机科技有限公司 | Unmanned aerial vehicle wind speed and direction measurement and correction algorithm based on ultrasonic anemoscope |
| CN113534827A (en) * | 2020-04-17 | 2021-10-22 | 北京三快在线科技有限公司 | Unmanned aerial vehicle minimum wind resistance surface detection method and device, unmanned aerial vehicle and storage medium |
| CN113534827B (en) * | 2020-04-17 | 2022-11-22 | 北京三快在线科技有限公司 | Unmanned aerial vehicle minimum wind resistance surface detection method and device, unmanned aerial vehicle and storage medium |
| CN112415220B (en) * | 2020-11-13 | 2022-11-11 | 中国运载火箭技术研究院 | Method and system for estimating toppling wind speed of winged aircraft in vertical state |
| CN112415220A (en) * | 2020-11-13 | 2021-02-26 | 中国运载火箭技术研究院 | Method and system for estimating tilting wind speed of winged aircraft in vertical state |
| CN112485464B (en) * | 2020-11-25 | 2023-10-27 | 济南泰景电力技术有限公司 | Gyroscope wind measuring device and wind force and wind direction measuring method |
| CN112485464A (en) * | 2020-11-25 | 2021-03-12 | 济南泰景电力技术有限公司 | Gyroscope wind measuring device and wind power and wind direction measuring method |
| CN112762960A (en) * | 2020-12-29 | 2021-05-07 | 中国航空工业集团公司西安飞机设计研究所 | Online calculation method for wind field of aircraft |
| CN113408646A (en) * | 2021-07-05 | 2021-09-17 | 上海交通大学 | External disturbance classification method and system for unmanned aerial vehicle |
| CN115266016A (en) * | 2022-09-20 | 2022-11-01 | 之江实验室 | Model reference and time fast-forward-based environment wind field fast estimation method and device |
| CN115266016B (en) * | 2022-09-20 | 2023-01-10 | 之江实验室 | Model reference and time fast-forward-based environment wind field fast estimation method and device |
| CN116338235A (en) * | 2023-03-14 | 2023-06-27 | 华东理工大学 | Four-rotor unmanned aerial vehicle wind measuring method based on unknown input observer |
| CN116338235B (en) * | 2023-03-14 | 2024-08-27 | 华东理工大学 | Four-rotor unmanned aerial vehicle wind measuring method based on unknown input observer |
| CN118169427A (en) * | 2024-05-14 | 2024-06-11 | 浙江大学 | Aircraft environment wind measuring device, method and greenhouse gas detecting device |
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