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The Flying Anemometer: Unified Estimation of Wind Velocity from Aerodynamic Power and Wrenches

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), 2016-10-09 - 2016-10-14, 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/
Document Type:Conference or Workshop Item (Other)
Title:The Flying Anemometer: Unified Estimation of Wind Velocity from Aerodynamic Power and Wrenches
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Tomić, TeodorUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Schmid, KorbinianUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Lutz, PhilippUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Mathers, AndrewUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Haddadin, SamiUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
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 Start Date:9 October 2016
Event End Date:14 October 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 Apr 2024 20:13

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