Mendez, Arthur P;
Whidborne, James F;
Chen, Lejun;
(2022)
Experimental verification of an LiDAR based Gust Rejection System for a Quadrotor UAV.
In:
2022 International Conference on Unmanned Aircraft Systems (ICUAS).
(pp. pp. 1455-1464).
IEEE: Dubrovnik, Croatia.
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Abstract
This paper assesses the use of a ground-based wind measuring LiDAR (Light Detection and Ranging) for remote sensing of incoming wind gusts at the landing site of an autonomous quadrotor. The experimental verification results show that the scalar measurements from the LiDAR were able to recreate the horizontal wind vector even with wind direction variation. Comparisons were conducted against conventional cup anemometers with wind vanes, and these show a good correlation. Upwind LiDAR measurements were used to predict the downstream wind using a transport model. This prediction compared with the downwind measurement shows a good correlation. This wind preview information from the LiDAR is then incorporated into a disturbance feedforward control scheme to increase the gust resilience of the vehicle. Simulation and experimental results demonstrate the system's efficacy.
| Type: | Proceedings paper |
|---|---|
| Title: | Experimental verification of an LiDAR based Gust Rejection System for a Quadrotor UAV |
| Event: | 2022 International Conference on Unmanned Aircraft Systems (ICUAS) |
| Dates: | 21 Jun 2022 - 24 Jun 2022 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/icuas54217.2022.9836086 |
| Publisher version: | https://doi.org/10.1109/ICUAS54217.2022.9836086 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| Keywords: | Laser radar, Fluid flow measurement, Correlation, Uncertainty, Wind speed, Sea measurements, Feedforward systems |
| UCL classification: | UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Electronic and Electrical Eng UCL > Provost and Vice Provost Offices > UCL BEAMS UCL |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10152959 |
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