用无人机传感器实现三维风速精准测量，动态飞行下仍有效。
DOB-based Wind Estimation of A UAV Using Its Onboard Sensor
- 基于机体姿态角变化（DOB）推算三维风向风速
- 动态飞行中风速误差仅0.11 m/s，方向误差小于2.8°
- 适配多类型无人机，可测最高10 m/s的风速
无人飞行器（UAV）在气象研究中对环境风场测量至关重要。然而，现有基于UAV的风测量方法存在精度低、范围有限、算法鲁棒性差及动态飞行下难以估计等问题，且垂直方向风速常被忽略。为此，本文提出并实现了完整的风场估计算法，具备三维风矢量估计能力，可在无人机动态飞行中持续工作。该算法对多种无人机平台具有良好的适应性。风洞实验验证了其有效性：风速测量精度达0.11 m/s，风向误差低于2.8°，测量范围扩展至10 m/s。
原文摘要 · Abstract (English)
Unmanned Aerial Vehicles (UAVs) play a crucial role in meteorological research, particularly in environmental wind field measurements. However, several challenges exist in current wind measurement methods using UAVs that need to be addressed. Firstly, the accuracy of measurement is low, and the measurement range is limited. Secondly, the algorithms employed lack robustness and adaptability across different UAV platforms. Thirdly, there are limited approaches available for wind estimation during dynamic flight. Finally, while horizontal plane measurements are feasible, vertical direction estimation is often missing. To tackle these challenges, we present and implement a comprehensive wind estimation algorithm. Our algorithm offers several key features, including the capability to estimate the 3-D wind vector, enabling wind estimation even during dynamic flight of the UAV. Furthermore, our algorithm exhibits adaptability across various UAV platforms. Experimental results in the wind tunnel validate the effectiveness of our algorithm, showcasing improvements such as wind speed accuracy of $0.11$ m/s and wind direction errors of less than $2.8^\circ$. Additionally, our approach extends the measurement range to $10$ m/s.
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