The objective of this paper is to develop an algorithm for the estimation of time-varying wind parameters by taking into account a detailed quadrotor model. The design objectives include the time convergence optimisation, robustness to measurement noises, and a guaranteed convergence of the estimates to the true values under mild applicability conditions. It is supposed that the estimation algorithm can use inertial measurement unit (IMU) (accelerometers, gyroscopes) sensors augmented with an earth reference tracking system and rotor rotational velocity sensors. To this end, three time-varying parameter estimation algorithms are introduced, compared and finally merged to estimate the varying wind velocity in onboard quadrotor systems. Final numerical experiments, using a nonlinear quadrotor simulator, are used to validate the proposed approaches.

本文的目的是通过考虑详细的四旋翼模型来开发一种用于估计时变风参数的算法。设计目标包括时间收敛优化、对测量噪声的鲁棒性，以及在温和的适用条件下保证估计值收敛到真实值。假设估计算法可以使用惯性测量单元 (IMU)（加速度计、陀螺仪）传感器，并增加了地球参考跟踪系统和转子旋转速度传感器。为此，引入、比较并最终合并三种时变参数估计算法来估计机载四旋翼系统中的变化风速。使用非线性四旋翼模拟器的最终数值实验用于验证所提出的方法。