Motion Estimation for Tethered Airfoils with Tether Sag
Hendrik Freter J, Seel T, Elfert C, Gohlich D (2020)
Publication Type: Conference contribution
Publication year: 2020
Publisher: Institute of Electrical and Electronics Engineers Inc.
Book Volume: 2020-September
Pages Range: 114-120
Conference Proceedings Title: IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems
Event location: Karlsruhe
ISBN: 9781728164229
DOI: 10.1109/MFI49285.2020.9235235
Abstract
In this contribution a motion estimation approach for the autonomous flight of tethered airfoils is presented. Accurate motion data are essential for the airborne wind energy sector to optimize the harvested wind energy and for the manufacturer of tethered airfoils to optimize the kite design based on measurement data. We propose an estimation based on tether angle measurements from the ground unit and inertial sensor data from the airfoil. In contrast to existing approaches, we account for the issue of tether sag, which renders tether angle measurements temporarily inaccurate. We formulate a Kalman Filter which adaptively shifts the fusion weight to the measurement with the higher certainty. The proposed estimation method is evaluated in simulations, and a proof of concept is given on experimental data, for which the proposed method yields a three times smaller estimation error than a fixed-weight solution.
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APA:
Hendrik Freter, J., Seel, T., Elfert, C., & Gohlich, D. (2020). Motion Estimation for Tethered Airfoils with Tether Sag. In IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (pp. 114-120). Karlsruhe, DE: Institute of Electrical and Electronics Engineers Inc..
MLA:
Hendrik Freter, Jan, et al. "Motion Estimation for Tethered Airfoils with Tether Sag." Proceedings of the 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, MFI 2020, Karlsruhe Institute of Electrical and Electronics Engineers Inc., 2020. 114-120.
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