JP5893836B2 - 無人航空機のための風況推定 - Google Patents
無人航空機のための風況推定 Download PDFInfo
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- G—PHYSICS
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P5/00—Measuring speed of fluids, e.g. of air stream; Measuring speed of bodies relative to fluids, e.g. of ship, of aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P7/00—Measuring speed by integrating acceleration
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft
- G05D1/0204—Control of position or course in two dimensions specially adapted to aircraft to counteract a sudden perturbation, e.g. cross-wind, gust
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Description
本発明は、米国陸軍の戦車・車両研究開発部門(Tank−Automotive and Armaments Command)(TACOM)によって裁定されたW56HZV−05−C−0724に基づき、国庫補助によってなされた。米国政府は本発明において一定の権利を有する。
(13)φ=0、ここでS=0、および、
[0063]いくつかの実施例では、操縦装置36は、図4A〜4Cの例の航空機座標系またはMAV 10に対して向き付けられた別の類似の座標系において、対地速度を測定し、抵抗力およびモーメントをモデル化してもよい。しかし、MAV 10の運転中の風速を推定し、かつ/またはMAVの真対気速度を推定するのに必要な変数のすべてが、この座標系内で向き付けられないことがある。例えば、センサ40の例えば1つまたは複数の加速度計によって感知されるMAV 10の実加速度は、MAVのアビオニクスポッド16上に位置することがあり、したがって、航空機座標系の原点からある距離だけずれることがある。それに加えて、MAV 10の運転中の風速の推定値を、例えば北方向、東方向、および降下方向の観点で表現するのが有利なことがあり、その場合、飛行中のMAVの姿勢に応じて、図4A〜4Cの航空機座標系のx方向、y方向、およびz方向それぞれに対応することもしないこともある。
Claims (2)
- 少なくとも無人航空機(UAV)の測定された対地速度に基づいて、前記UAVの加速度をモデル化するステップと、
1つまたは複数のセンサを用いて前記UAVの実加速度を判定するステップと、
前記モデル化された加速度と前記実加速度との差の積分として風速を推定するステップとを含み、
前記UAVの加速度をモデル化するステップが、
少なくとも前記UAVの前記測定された対地速度に基づいて、前記UAVに対する1つもしくは複数の抵抗力または1つもしくは複数のモーメントの少なくとも1つをモデル化するステップと、
前記UAVに対する1つもしくは複数の抵抗力または1つもしくは複数のモーメントの前記モデル化された少なくとも1つと前記UAVの質量とに少なくとも基づいて、前記モデル化された加速度を判定するステップとを含む、方法。 - 無人航空機(UAV)であって、
前記UAVに機械的に接続された複数のセンサと、
前記複数のセンサのうち少なくとも1つからのデータに基づいて測定された前記UAVの対地速度に少なくとも基づいて、前記UAVの加速度をモデル化し、前記複数のセンサのうち少なくとも1つを用いて前記UAVの実加速度を判定し、モデル化された前記加速度と前記実加速度との差の積分として風速を推定するように構成されたプロセッサと、
を備え、
前記プロセッサは、前記UAVの加速度をモデル化する際に、
少なくとも前記UAVの前記測定された対地速度に基づいて、前記UAVに対する1つもしくは複数の抵抗力または1つもしくは複数のモーメントの少なくとも1つをモデル化し、
前記UAVに対する1つもしくは複数の抵抗力または1つもしくは複数のモーメントの前記モデル化された少なくとも1つと前記UAVの質量とに少なくとも基づいて、前記モデル化された加速度を判定する、無人航空機(UAV)。
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US12/789,238 US8219267B2 (en) | 2010-05-27 | 2010-05-27 | Wind estimation for an unmanned aerial vehicle |
US12/789,238 | 2010-05-27 |
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JP2011246105A JP2011246105A (ja) | 2011-12-08 |
JP2011246105A5 JP2011246105A5 (ja) | 2014-06-26 |
JP5893836B2 true JP5893836B2 (ja) | 2016-03-23 |
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JP2011053953A Expired - Fee Related JP5893836B2 (ja) | 2010-05-27 | 2011-03-11 | 無人航空機のための風況推定 |
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US (1) | US8219267B2 (ja) |
EP (1) | EP2390670B1 (ja) |
JP (1) | JP5893836B2 (ja) |
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JP2009115714A (ja) * | 2007-11-08 | 2009-05-28 | Tottori Univ | 移動体の速度測定方法および同測定装置 |
IL192518A (en) | 2008-06-30 | 2013-02-28 | Michael Naumov | Method and device for the autonomous determination of wind speed vector |
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2010
- 2010-05-27 US US12/789,238 patent/US8219267B2/en not_active Expired - Fee Related
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2011
- 2011-02-28 EP EP11156330A patent/EP2390670B1/en not_active Not-in-force
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2020168189A3 (en) * | 2019-02-15 | 2020-10-29 | Hoverfly Technologies, Inc. | System and method for determining wind direction and velocity measurement from altitude for an unmanned aerial vehicle |
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JP2011246105A (ja) | 2011-12-08 |
US20110295569A1 (en) | 2011-12-01 |
EP2390670A3 (en) | 2012-06-13 |
EP2390670A2 (en) | 2011-11-30 |
EP2390670B1 (en) | 2013-04-03 |
US8219267B2 (en) | 2012-07-10 |
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