Calculation Method of True Wind of Unmanned Sailboat Based on Data Fusion

• Published in: 水下无人系统学报 Vol. 32; no. 1; pp. 66 - 78
• Main Authors: Chenglong HE, Shukai CHI, Guopu YUWEN, Xinyao HU, Pengfei WEI, Ming LI
• Format: Journal Article
• Language: Chinese
• Published: Science Press (China) 01.02.2024
• Subjects: data fusion; kalman filter; true wind; unmanned sailboat
• ISSN: 2096-3920
• DOI: 10.11993/j.issn.2096-3920.2023-0017

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.