Using a quadrotor as wind sensor: time-varying parameter estimation algorithms

The objective of this paper is to develop an algorithm for the estimation of time-varying wind parameters by taking into account a detailed quadrotor model. The design objectives include the time convergence optimisation, robustness to measurement noises, and a guaranteed convergence of the estimate...

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Veröffentlicht in:International journal of control Jg. 95; H. 1; S. 126 - 137
Hauptverfasser: Perozzi, Gabriele, Efimov, Denis, Biannic, Jean-Marc, Planckaert, Laurent
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Abingdon Taylor & Francis 02.01.2022
Taylor & Francis Ltd
Schlagworte:
Accelerometers
Algorithms
Automatic
Convergence
Design optimization
Earth rotation
Engineering Sciences
Inertial platforms
Onboard equipment
Parameter estimation
Quadrotor
Robustness (mathematics)
Sensors
time-varying parameter estimation
Tracking systems
Wind speed
wind velocity estimation
time-varying parameter estimation
wind velocity estimation
Quadrotor
ISSN:0020-7179, 1366-5820
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Zusammenfassung:The objective of this paper is to develop an algorithm for the estimation of time-varying wind parameters by taking into account a detailed quadrotor model. The design objectives include the time convergence optimisation, robustness to measurement noises, and a guaranteed convergence of the estimates to the true values under mild applicability conditions. It is supposed that the estimation algorithm can use inertial measurement unit (IMU) (accelerometers, gyroscopes) sensors augmented with an earth reference tracking system and rotor rotational velocity sensors. To this end, three time-varying parameter estimation algorithms are introduced, compared and finally merged to estimate the varying wind velocity in onboard quadrotor systems. Final numerical experiments, using a nonlinear quadrotor simulator, are used to validate the proposed approaches.
Bibliographie:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:0020-7179
1366-5820
DOI:10.1080/00207179.2020.1780324