多旋翼无人机二维超声波测风算法研究

Research on Two-dimensional Ultrasonic Wind Measurement Algorithm of Multi-rotor UAV

超声波测风传感器工作时不受仪器摩擦损耗的影响,具有不需启动速度,不存在惯性滞后,不易受外界环境变化干扰,可在恶劣环境下连续工作,精度较高等优点,但其对安装平台平稳性要求高;多旋翼无人机机动性强、飞行高度高、续航时间长、费效比低,可以实现垂直起降与悬停飞行,但其受空中气流扰动等影响,飞行平稳性较差。为实现空中原位测风,将多旋翼无人机灵活性与超声波测风传感器灵敏性有效结合,实现对空中风场信息的准确测量,论文通过分析超声波测风原理及旋翼无人机限飞条件,提出了一种二维正交测风阵列倾斜情况下的水平风测量算法,并实验验证了算法的可行性,为基于多旋翼无人机超声波测风方案的实现提供了参考。

Ultrasonic wind sensor is not affected by the friction loss of the instrument,has no need to start speed,there is no inertia lag,is not easy to be disturbed by changes in the external environment,can work continuously in bad environment,higher accuracy,but it requires high stability of the installation platform.Multi-rotor UAV has strong maneuverability,high flight alti⁃tude,long endurance time and low cost-efficiency ratio.It can realize vertical take-off and landing and hover flight,but it is affect⁃ed by air turbulence and other factors,and its flight stability is poor.For UAV rotorcraft more flexibility and ultrasonic wind sensor sensitivity and effective integration,to achieve accurate measurement of wind field in situ air information,through the analysis of ul⁃trasonic wind principle and UAV rotorcraft flying limited conditions,this paper proposes a two-dimensional orthogonal wind array tilt of horizontal wind measurement algorithm,and the feasibility of the algorithm is verified by the experiments,based on more than the realization of the UAV rotorcraft ultrasonic wind scheme provides reference.