Experimental verification of an LiDAR based gust rejection system for a quadrotor UAV

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dc.contributor.authorMendez, Arthur P.
dc.contributor.authorWhidborne, James F.
dc.contributor.authorChen, Lejun
dc.date.accessioned2022-07-29T09:00:09Z
dc.date.available2022-07-29T09:00:09Z
dc.date.issued2022-07-26
dc.description.abstractThis 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.en_UK
dc.identifier.citationMendez AP, Whidborne JF, Chen L. (2022) Experimental verification of an LiDAR based gust rejection system for a quadrotor UAV. In: 2022 International Conference on Unmanned Aircraft Systems (ICUAS), 21-24 June 2022, Dubrovnik, Croatiaen_UK
dc.identifier.eisbn978-1-6654-0593-5
dc.identifier.eissn2575-7296
dc.identifier.isbn978-1-6654-0594-2
dc.identifier.issn2373-6720
dc.identifier.urihttps://doi.org/10.1109/ICUAS54217.2022.9836086
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/18255
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/*
dc.subjectLaser radaren_UK
dc.subjectFluid flow measurementen_UK
dc.subjectCorrelationen_UK
dc.subjectUncertaintyen_UK
dc.subjectWind speeden_UK
dc.subjectSea measurementsen_UK
dc.subjectFeedforward systemsen_UK
dc.titleExperimental verification of an LiDAR based gust rejection system for a quadrotor UAVen_UK
dc.typeConference paperen_UK

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