基于改进三角矢量模型的无人机测风方法

AUAV wind measurement method based on improved triangular vector model

文章通过误差分析,指出基于三角矢量模型解算真风的效果非常依赖传感器的性能。引入航向角误差和空速误差,对模型进行改进。使无人机沿设定四边形航线匀速平稳飞行一圈,利用非线性最小二乘法计算航向角误差和空速误差。无人机继续飞行后,可根据航向角误差、空速误差和实时采集的飞行参数解算出真风。在仿真试验中,原模型的解算结果在无人机转弯时会发生显著变化,而改进模型消除了此现象。改进模型的均方根误差大幅减小,准确性显著增强。

Through the error analysis,it is pointed out that the effectiveness of calculating true wind based on the triangular vector model heavily depends on the performance of the sensor.Introduce heading angle error and airspeed error to improve the model.Make the UVA steadily at a constant speed along the set quadrilateral route,and use the nonlinear least squares method to calculate the heading angle error and airspeed error.In the simulation experiment,the calculating results of the original model will change significantly when the UAV makes a turn,while the improved model eliminates this phenomenon.The root mean squared error of the improved model is significantly reduced,and the accuracy is significantly improved.