Wind field estimation based on position and attitude information of quadrotor in hover

A wind field estimation method is proposed based on the position and attitude information of a quadrotor in this paper. First, the flight environment of the quadrotor aircraft is built based on Dryden atmospheric turbulence model, and the function relation between the rotor lift and the wind field information (wind speed and the wind direction) is obtained by analyzing the change of rotor lift; then the dynamic equation of quadrotor with wind disturbance is deduced using the Newton Euler method, and further a PID controller is designed in order to keep the aircraft flying in fixed-point hover; finally, the wind field information is calculated. The simulation results in Matlab/M-file show that the proposed method can effectively extract the main wind information of flight environment.