The invention relates to a multicopter, using which wind measurements can be carried out, and a method for wind measurement by means of a multicopter. The multicopter includes a number N of electric motors MOTn for driving N propellers PROPn, a first interface for providing first parameters P1 including: a 3D position rB of the center of gravity B of the multicopter, the time derivatives {dot over (r)}B and {umlaut over (r)}B, a 3D orientation oM of the multicopter and its time derivative {dot over (o)}M; a second interface for providing an aerodynamic power Pa,n presently generated by the respective propellers PROPn; a first unit which, on the basis of the first parameters P1, on the basis of a provided model M1 that describes dynamics of the multicopter, and an estimation determined on the basis of the model M1 of a force screw τe acting externally on the multicopter, determines horizontal components (vr,x, vr,y) of a relative speed of the multicopter in relation to air; a second unit, which, on the basis of the determined horizontal components (vr,x, vr,y) and on the basis of the aerodynamic power Pa,n, determines the vertical component (vr,z) of the relative speed vr; a third unit, which, on the basis of the determined horizontal components (vr,x, vr,y), the vertical component (vr,z), and on the basis of the parameters P1, determines the wind speed vw in an inertial system; and a storage unit to store wind speeds vw(rB) and/or a transmission unit to wirelessly transmit the wind speeds vw(rB) to a receiver.
WIND MEASUREMENT BY MEANS OF A MULTICOPTER
2019-08-08
Patent
Electronic Resource
English
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B64C AEROPLANES , Flugzeuge / G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes |
European Patent Office | 2019
|MULTICOPTER CONTROL METHOD, MULTICOPTER CONTROLLER, AND MULTICOPTER TOY
European Patent Office | 2017
|