Quadrotor UAV for wind profile characterization

This project attempts to prove the viability of using an unmanned 4-motors rotorcraft, commonly known as quadrotor, as a measurement instrument of wind profiles within large offshore wind farms. The novelty lies in the fact that the vehicle does not include any dedicated sensors for wind characterization, but acts itself as a sensor. This is done by applying an algorithm that relates tilt angle of the vehicle to the local wind speed and direction, sparing the use of external measurement devices such as anemometers, multi-hole probes or any other conventional measurement instrument. Unitary costs and complexity can be consequently significantly reduced. An algorithm for computing wind speed and direction is derived from the dynamic pressure equation, while wind direction is derived from simple trigonometry. As a first approach, wind speed is estimated by solely using the angles computed by the flight controller, dismissing dynamic effects. As a second approach, dynamic linear equations describing the behavior of the quadrotor are used to estimate wind speed, dynamic effects included. In the third approach, wind speed estimation is addressed by using a Lineal Kalman Filter (LKF), where dynamic effects are also taken into account. Results coming from each approach are compared to measurement data obtained from an anemometer mounted on a met mast.Ingeniería Industria