UAV Autonomous Soaring Flight

Описание: This is part of ongoing work aimed at extending the flight duration of UAVs using a method for energy capture in wind known as dynamic soaring. In this preliminary test, the vehicle attempts to simultaneously explore and exploit an unknown wind field using soaring in a closed loop pattern to estimate the local wind vector. It utilizes trajectories through distributions of wind speed to obtain increased kinetic energy; which is performed cyclically (upwind climb, high altitude turn, downwind dive, and low altitude turn).

The data was collected using an air data sensor and the onboard IMU. The results highlight the role of vertical wind accelerations and roll-wise torques as a viable navigational strategy applicable to the development of autonomous soaring UAVs.

Flight Logs: https://logs.px4.io/plot_app?log=554f...

Specs:
• mRo PixRacer v1.14 (w/ PX4 v1.8 firmware)
• mRo I2C Airspeed Sensor (Pitot)
• mRo Power Module based on the ACSP7 standard
• mRo JST-GH GPS Port to I²C Bus Splitter
• LIDAR-Lite v3
• 3DR uBlox GPS With Compass
• FrSky D4R-II 4Ch 2.4Ghz receiver with CPPM RSSI
• T-Motor F40 PRO II - 1600KV
• 30A ESC W/1A BEC (XT60 connector)

Journal Reference:
https://www.mdpi.com/2504-446X/7/10/603
http://journals.sagepub.com/doi/pdf/1...
http://www.aerospacelab-journal.org/s...
https://onlinelibrary.wiley.com/doi/p...
https://soar.wichita.edu/bitstream/ha...