Wind Estimation by Unmanned Air Vehicle with Delta Wing
ABSTRACT In this paper, an algorithm to estimate wind direction by using a small and light Unmanned Air Vehicle(UAV) called KITEPLANE was proposed. KITEPLANE had a big main wing which is a kite-like delta shape and, therefore, it was easy to be disturbed by wind. However, this disadvantage implies that the KITEPLANE has an ability to sense wind and that it is expected to use the KITEPLANE as a sensor for wind estimation. In order to achieve this feature, dynamics of the KITEPLANE under wind disturbance were derived and a numerical estimation method was proposed. Devices equipped on board were also developed and the proposed method was implemented. Results of an experiment showed the effectiveness of the proposed method.
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Conference Proceeding: Biologically inspired self-motion estimation using the fusion of airspeed and optical flow[show abstract] [hide abstract]
ABSTRACT: The problem of determining the self-motion of an autonomous aerial vehicle using onboard sensors is of interest to both engineers and biologists. Engineers typically use some combination of a global positioning system receiver, inertial measurement units, and optical sensors to estimate self motion. Biological systems also possess visual and inertial sensors. Airspeed sensors are also available to both engineering and biological system. The method of self-motion estimation proposed in this paper is to fuse optical flow with airspeed information. Simulation results indicate that this approach can be used to calculate ground speed and wind speed while movingAmerican Control Conference, 2006; 07/2006