TY - JOUR A1 - Neumann, Patrick P. A1 - Asadi, S. A1 - Lilienthal, A.J. A1 - Bartholmai, Matthias A1 - Schiller, J.H. T1 - Autonomous gas-sensitive microdrone - wind vector estimation and gas distribution mapping N2 - This article presents the development and validation of an autonomous, gas sensitive microdrone that is capable of estimating the wind vector in real time using only the onboard control unit of the microdrone and performing gas distribution mapping (DM). Two different sampling approaches are suggested to address this problem. On the one hand, a predefined trajectory is used to explore the target area with the microdrone in a real-world gas DM experiment. As an alternative sampling approach, we introduce an adaptive strategy that suggests next sampling points based on an artificial potential field (APF). Initial results in real-world experiments demonstrate the capability of the proposed adaptive sampling strategy for gas DM and its use for gas source localization. KW - Anemometric sensor KW - Autonomous micro UAV KW - Chemical sensing KW - Gas distribution modelling KW - Gas source localization KW - Gas sensors KW - Mobile sensing system KW - Quadrocopter KW - Sensor planning KW - Artificial potential field PY - 2012 U6 - https://doi.org/10.1109/MRA.2012.2184671 SN - 1070-9932 VL - 19 IS - 1 SP - 50 EP - 61 PB - IEEE CY - New York, NY, USA AN - OPUS4-25773 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - JOUR A1 - Neumann, Patrick P. A1 - Bartholmai, Matthias T1 - Real-time wind estimation on a micro unmanned aerial vehicle using its inertial measurement unit N2 - This paper presents an approach for a quadrocoper-based micro unmanned aerial vehicle (UAV) that estimates the wind vector (speed and direction) in real-time based on measurement data of its on-board sensors only. This method does not need any additional airspeed sensor or dedicated anemometer, and thus the micro UAV's valuable payload remains free for other sensors. Wind tunnel and field tests were used to evaluate the performance of the approach. In order to quantify its accuracy, experiments are presented where data was collected with an anemometer placed in an open field with the micro UAV in flight following a predefined trajectory around the anemometer and hovering at a defined position close to it. KW - Micro unmanned aerial vehicle (UAV) KW - Quadrocopter KW - Real-time KW - Inertial measurement unit (IMU) KW - Airspeed calibration KW - Wind estimation (speed and direction) PY - 2015 U6 - https://doi.org/10.1016/j.sna.2015.09.036 SN - 0924-4247 VL - 235 SP - 300 EP - 310 PB - Elsevier Science CY - Amsterdam [u.a.] AN - OPUS4-34737 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER -