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Hi
Very interesting article and description of the theory.
In the PDF file, you mention "Implementation will be described in a separate report", has it been released?
Regards,
A.
Having a method to estimate wind speed without a Pitot could be a great addition to an AP for small UAVs, great addition means robustness in poor conditions. Flying many small UAVs in the rain can cause the Pitot to be plugged by a drop of water. When the Pitot is plugged the airspeed measured is 0 and this causes severe problems most times the bird dives straight down into the ground quite dramatically.
When equipped with a Pitot you could compare the results from the DCM and the Pitot and when the difference exceeded a threshold you would rely on the DCM method until the Pitot started to behave.
Just my 2 cents,
wade
Hi - this is pretty cool. In your wind estimation file, you mention that implementation will be described in a different report. Is that report posted somewhere?
hi William,
i am very interested in your theory and tested the results with a fixed wing. Before the implementation i have tried to simulate the alghorithm with MATLAB and during the simulation and on the air the results are very successful. Now i am trying to implent it for my quadcopter. I guess the fuselage vector for the multicopter must be the third column of the DCM. But there may be a problem with the airspeed vector because it cannot follow the fuselage vector so fast like in the fixedwing. And when i get the change on the fuselage vector during the copter having an angle movement on yaw or pitch plane, the airspeed vector will change its direction and amplitude with a phase delay so the estimation will get an huge error. I am wondering is there any example implementation or any idea for the quadrotor platform?
Best regards
Kadir
Very interesting idea. First of all, thank you for your contribution. By the way, I have some questions.
No.1
In your paper, 'residual yaw error' is introduced. What is that mean exactly? I guess that the error is induced from the difference between course(COG) angle and heading(yaw) angle. Is it correct?
No.2
In your paper, the vector F is used to represent fuselage vector. And you said that comes from 'the column of the direction cosine matrix'. Is it same as below equation?
F = DCM_B2I x [1 0 0]'
where DCM_B2I is direction cosine matrix from body-axis to inertial-axis, and [1 0 0]' is the unit vector aligned with x-axis of body-axis. So I guess F equal to [cos(pitch) x cos(yaw), cos(pitch) x sin(yaw), -sin(pitch)]'. Is it correct?
Best regards,
Seunghan Lim
What condition can you propose to validate wheter you can or cannot update the wind components? Besides checking if |F2-F1| is bigger then 0, or any threshold.
You talk about checking if the airspeed fuselage vectors rotate by approximatly the same. Can you explain in detail?
Best regards,
Francisco Correia
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