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首页> 外文期刊>Journal of guidance, control, and dynamics >Autonomous Exploration of a Wind Field with a Gliding Aircraft
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Autonomous Exploration of a Wind Field with a Gliding Aircraft

机译：滑翔机对风场的自主探索

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Soaring is the process of exploiting favorable wind conditions to extend flight duration. This paper presents an approach for simultaneously mapping and using a wind field for soaring with an unpowered aircraft. Previous research by the authors and others has addressed soaring in known wind fields. However, an adequate estimate of the wind field is required in order to generate energy-gain paths. Conversely, the exploration required to generate a useful map estimate requires energy. This work aims to address these problems simultaneously by attempting to maintain and improve a model-free wind map based on observations collected during the flight and to use the currently available map to generate energy-gain paths. Wind estimation is performed using Gaussian process regression. A path planner generates and selects paths based on energy efficiency and field exploration. The method is tested in simulation with wind fields consisting of single and multiple stationary thermal bubbles. The use of soaring flight with consistent improvement in map quality and accuracy is demonstrated in a number of scenarios.
机译：腾飞是利用有利的风力条件来延长飞行时间的过程。本文提出了一种同时绘制地图和使用风场来与无动力飞机一起飞翔的方法。作者和其他人的先前研究已经解决了已知风场中的飙升问题。然而，为了生成能量获取路径，需要对风场进行适当的估计。相反，产生有用的地图估计所需的探索需要能量。这项工作旨在通过尝试基于飞行过程中收集到的观测值来维护和改进无模型风图，并使用当前可用的图来生成能量获取路径，从而同时解决这些问题。使用高斯过程回归进行风估计。路径规划器基于能效和现场勘测来生成和选择路径。该方法在包含单个和多个固定热气泡的风场的仿真中进行了测试。在许多情况下，都证明了在地图质量和准确性方面不断提高的飞跃飞行。

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