让固定翼无人机自主利用风切变持续飞行，抗风场误差能力强。
Towards Robust Optimization-Based Autonomous Dynamic Soaring with a Fixed-Wing UAV
- 基于显式风场建模与鲁棒路径规划，实现动态滑翔控制。
- 实测验证在真实风况下仍能稳定跟踪路径，抗干扰性强。
- 适合研究无人机节能飞行或复杂气象条件下自主导航的学者。
动态滑翔是一种利用风切变层中能量的飞行技术，可实现无需内部能源的无限续航飞行。本文提出一种固定翼无人机自主动态滑翔的框架，采用显式风场表示和经典制导控制方法。通过构建逐点鲁棒参考路径及鲁棒路径跟踪控制器，提升了对风场估计误差的鲁棒性。通过真实飞行测试验证了风场估计与路径跟踪性能，在实际风况下实现了稳定路径跟随。仿真结果表明，该框架在不同风况、估计误差和扰动下均能实现鲁棒的动态滑翔飞行。综合结果表明，所提框架具备在风切变环境中实现自主动态滑翔飞行的能力。
原文摘要 · Abstract (English)
Dynamic soaring is a flying technique to exploit the energy available in wind shear layers, enabling potentially unlimited flight without the need for internal energy sources. We propose a framework for autonomous dynamic soaring with a fixed-wing unmanned aerial vehicle (UAV). The framework makes use of an explicit representation of the wind field and a classical approach for guidance and control of the UAV. Robustness to wind field estimation error is achieved by constructing point-wise robust reference paths for dynamic soaring and the development of a robust path following controller for the fixed-wing UAV. Wind estimation and path tracking performance are validated with real flight tests to demonstrate robust path-following in real wind conditions. In simulation, we demonstrate robust dynamic soaring flight subject to varied wind conditions, estimation errors and disturbances. Together, our results strongly indicate the ability of the proposed framework to achieve autonomous dynamic soaring flight in wind shear.
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