{"id":2124,"date":"2026-01-29T19:06:39","date_gmt":"2026-01-29T11:06:39","guid":{"rendered":"https:\/\/sites.gtiit.edu.cn\/cligroup\/?page_id=2124"},"modified":"2026-02-02T17:08:11","modified_gmt":"2026-02-02T09:08:11","slug":"uav3","status":"publish","type":"page","link":"https:\/\/sites.gtiit.edu.cn\/cligroup\/uav3\/","title":{"rendered":"Dynamic Wind Estimation from UAV Autopilot Telemetry"},"content":{"rendered":"\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
<\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t\n\t\t\t\t\t\t<\/span>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t
\n\t\t\t\t\t\t\t\t
\n\t\t\t\t

Abstract<\/strong><\/h3>

This study presents a comprehensive investigation of wind field estimation using quadrotor UAV tilt angle dynamics, combining indoor calibration experiments with outdoor validation against meteorological tower measurements. A data-driven model is developed relating wind speed U to the quadrotor\u2019s tilt angle \u03bb and wind direction angle \u03b3 through the equation U^2=k(\u03b3 )\u2217tan\u2061(\u03bb), where the coefficient k(\u03b3) is empirically determined as a cubic polynomial function via controlled indoor experiments. The DJI Mavic3 Pro quadrotor serves as the experimental platform, with its attitude data validated against high-frequency (100 Hz) vision measurements showing strong correlation. Outdoor field tests demonstrate the model\u2019s capability in estimating wind speed (mean 5.76 m\/s vs reference 4.89 m\/s) and direction (95.4\u25e6vs reference 104.9\u25e6), though wind rose analyses reveal directional discrepancies under turbulent conditions. Key challenges identified include high-wind vibrations and broader directional distributions, with proposed improvements focusing on adaptive parameter tuning and sensor fusion. The results establish that tilt-angle based wind estimation offers a portable alternative to traditional anemometry, particularly for low-altitude atmospheric studies, while highlighting the need for dynamic model refinement in high-wind scenarios. These findings provide a foundation for future work in real-time adaptive control and multi-sensor integration for improved UAV-based wind field characterization.<\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t\t
\"Figure
Figure 1: Schematic of the full experimental loop: (1) Indoor fan experiments establish the k(\u03b3) model, (2) High-speed imaging validates UAV tilt angles, (3) Outdoor field tests compare with meteorological tower data, and (4) Data processing pipeline computes wind speed\/direction from tilt dynamics<\/figcaption><\/figure><\/div>\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t
\n\t\t\t\t\t\t\t\t
\n\t\t\t\t

Methodology<\/b><\/h3>

A data-driven model is developed relating wind speed U to the quadrotor\u2019s tilt angle \u03bb and wind direction angle \u03b3 through the equation 1, where the coefficient k(\u03b3) is empirically determined as a cubic polynomial function via controlled indoor experiments.<\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t\t
\"equation\"<\/figure><\/div>\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t
\n\t\t\t\t\t\t\t\t
\n\t\t\t\t

Indoor Experiment – Calibration and Validation<\/h3>

The indoor experiment can be divided into two parts: (1) the calibration part aims to establish the relationship between the tilt angle and wind speed, and (2) the validation part aims to validate the accuracy of flight control. A high frequency camera with 100Hz sampling rate is used to analyze the flight attitude visually to compare the 10Hz data from the controller.<\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t\t
\"Figure
Figure 2: Experiment setup. (a) Top view of the setup and (b) side view of the setup.<\/figcaption><\/figure><\/div>\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t
\n\t\t\t\t\t\t\t\t
\n\t\t\t\t

Outdoor Experiment<\/h3>

In the outdoor experiment, a meteorological tower is placed to measure the wind speed and wind direction, which will be treated as the reference data. DJI drone needs to hover around the met tower with a distance around 5 meter.<\/p>\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t

\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t\t
\"Figure
Figure 3: Outdoor experiment setup.<\/figcaption><\/figure><\/div>\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t\t
\"Figure
Figure 4: DJI vs met-tower. (a) Windspeed and wind direction comparison and (b) windspeed vector in u,v and w direction .<\/figcaption><\/figure><\/div>\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t
\n\t\t\t\t\t\t
\n\t\t\t\t
\n\t\t\t\t\t
\n\t\t\t
\n\t\t\t\t\t\t\t\t
\"Figure
Figure 5: DJI vs met-tower. (a) MetTower Windrose and (b) DJI Windrose. <\/figcaption><\/figure><\/div>\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"

Abstract This study presents a comprehen… Read More<\/a><\/p>\n","protected":false},"author":326,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"elementor_header_footer","meta":[],"_links":{"self":[{"href":"https:\/\/sites.gtiit.edu.cn\/cligroup\/wp-json\/wp\/v2\/pages\/2124"}],"collection":[{"href":"https:\/\/sites.gtiit.edu.cn\/cligroup\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sites.gtiit.edu.cn\/cligroup\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sites.gtiit.edu.cn\/cligroup\/wp-json\/wp\/v2\/users\/326"}],"replies":[{"embeddable":true,"href":"https:\/\/sites.gtiit.edu.cn\/cligroup\/wp-json\/wp\/v2\/comments?post=2124"}],"version-history":[{"count":3,"href":"https:\/\/sites.gtiit.edu.cn\/cligroup\/wp-json\/wp\/v2\/pages\/2124\/revisions"}],"predecessor-version":[{"id":2291,"href":"https:\/\/sites.gtiit.edu.cn\/cligroup\/wp-json\/wp\/v2\/pages\/2124\/revisions\/2291"}],"wp:attachment":[{"href":"https:\/\/sites.gtiit.edu.cn\/cligroup\/wp-json\/wp\/v2\/media?parent=2124"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}