水下无人系统学报2024，Vol.32Issue(1)：66-78,13.DOI:10.11993/j.issn.2096-3920.2023-0017
基于数据融合的无人帆船真风计算方法
Calculation Method of True Wind of Unmanned Sailboat Based on Data Fusion
摘要
Abstract
Since the unmanned sailboat is difficult to obtain the true wind,and the wind sensor used is affected by the attitude of the sailboat,a calculation method of the true wind of the unmanned sailboat based on the fusion of attitude information,relative wind,and sailing wind was proposed.Firstly,the pitch angle and roll angle of the sailboat were obtained by using the attitude instrument,and the relative wind measurement results were corrected by the spatial coordinate rotation and transformation.Secondly,the Kalman filter algorithm was used to filter the sailing wind and the corrected relative wind.Finally,the extended Kalman filter was utilized to perform true wind fusion calculations.Experiments have proved that this method can effectively suppress the influence of sailboat motion on wind measurement,accurately extract true wind speed and wind direction,and ensure the sailing control of unmanned sailboats.关键词
无人帆船/真风/数据融合/卡尔曼滤波Key words
unmanned sailboat/true wind/data fusion/Kalman filter分类
军事科技引用本文复制引用
何成龙,迟书凯,宇文国朴,胡新遥,魏鹏飞,黎明..基于数据融合的无人帆船真风计算方法[J].水下无人系统学报,2024,32(1):66-78,13.基金项目
青岛市关键技术公关及产业化示范项目资助(22-3-3-hygg-7-hy)科技开发与协作项目资助(20210109). （22-3-3-hygg-7-hy）
