Tomić, Teodor and Schmid, Korbinian and Lutz, Philipp and Mathers, Andrew and Haddadin, Sami (2016) The Flying Anemometer: Unified Estimation of Wind Velocity from Aerodynamic Power and Wrenches. In: IEEE International Conference on Intelligent Robots and Systems, pp. 1637-1644. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 9-14 Oct 2016, Daejeon, Korea. doi: 10.1109/iros.2016.7759264.
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Abstract
We consider the problem of estimating the wind velocity perceived by a flying multicopter, from data acquired by onboard sensors and knowledge of its aerodynamics model only. We employ two complementary methods. The first is based on the estimation of the external wrench (force and torque) due to aerodynamics acting on the robot in flight. Wind velocity is obtained by inverting an identified model of the aerodynamic forces. The second method is based on the estimation of the propeller aerodynamic power, and provides an estimate independent of other sensors.We show how to calculate components of the wind velocity using multiple aerodynamic power measurements, when the poses between them are known. The method uses the motor current and angular velocity as measured by the electronic speed controllers, essentially using the propellers as wind sensors. Verification of the methods and model identification were done using measurements acquired during autonomous flights in a 3D wind tunnel.
Item URL in elib: | https://elib.dlr.de/108004/ | ||||||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Other) | ||||||||||||||||||||||||
Title: | The Flying Anemometer: Unified Estimation of Wind Velocity from Aerodynamic Power and Wrenches | ||||||||||||||||||||||||
Authors: |
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Date: | 9 October 2016 | ||||||||||||||||||||||||
Journal or Publication Title: | IEEE International Conference on Intelligent Robots and Systems | ||||||||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||||||||
In SCOPUS: | Yes | ||||||||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||||||||
DOI: | 10.1109/iros.2016.7759264 | ||||||||||||||||||||||||
Page Range: | pp. 1637-1644 | ||||||||||||||||||||||||
Status: | Published | ||||||||||||||||||||||||
Keywords: | wind speed estimation, quadrotor, multicopter, uav, optimization, wind tunnel | ||||||||||||||||||||||||
Event Title: | 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | ||||||||||||||||||||||||
Event Location: | Daejeon, Korea | ||||||||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||||||||
Event Dates: | 9-14 Oct 2016 | ||||||||||||||||||||||||
Organizer: | IEEE | ||||||||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
HGF - Program: | Space | ||||||||||||||||||||||||
HGF - Program Themes: | Space System Technology | ||||||||||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||||||
DLR - Research theme (Project): | R - Vorhaben Multisensorielle Weltmodellierung (old), R - Terrestrial Assistance Robotics (old) | ||||||||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition | ||||||||||||||||||||||||
Deposited By: | Tomic, Teodor | ||||||||||||||||||||||||
Deposited On: | 30 Nov 2016 09:29 | ||||||||||||||||||||||||
Last Modified: | 24 Jul 2023 08:58 |
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