针对风力扰动下无人机状态估计综述
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东北大学机械工程与自动化学院 沈阳 110819

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TP273+.2;V279+.3;TN929.5

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Review of drone state estimation under wind disturbances
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School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China

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    摘要:

    无人机的自主飞行性能在物流、巡检等实际应用中深受风力扰动的制约。传统基于滤波的方法依赖于精确的动力学模型与噪声假设,在面对复杂时变的风力扰动时,因存在未建模动态而导致估计性能显著退化。近年来,数据驱动与混合方法展现出巨大潜力。本文旨在综述风力扰动下无人机状态估计的研究进展,分析传统卡尔曼滤波系列方法在应对风扰中的局限性,同时探讨数据驱动方法在风扰建模与补偿方面的优势,并聚焦于物理信息神经网络及模型补偿学习等混合范式,为实现高精度、强泛化的抗风扰状态估计提供了有效路径。最后,本文总结了当前技术面临的挑战,并对未来研究方向进行展望,特别探讨了大型语言模型在增强状态估计系统智能性与可解释性方面的潜在价值。

    Abstract:

    The autonomous flight performance of unmanned aerial vehicles is significantly constrained by wind disturbances in practical applications such as logistics and inspection. Traditional filter-based methods rely on precise dynamic models and noise assumptions. When confronted with complex, time-varying wind disturbances, these approaches suffer from significant degradation in estimation performance due to unmodeled dynamics. In recent years, data-driven and hybrid methods have demonstrated tremendous potential. This paper aims to review research progress in UAV state estimation under wind disturbances, analyze the limitations of traditional Kalman filter-based methods in addressing wind disturbances, and explore the advantages of data-driven approaches in modeling and compensating for wind disturbances. It focuses on hybrid paradigms such as physically informed neural networks and model compensation learning, providing effective pathways for achieving highprecision, robust and generalized wind-resistant state estimation. Finally, this paper summarizes current technical challenges and outlines future research directions, particularly exploring the potential value of large language models in enhancing the intelligence and interpretability of state estimation systems.

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石钧化.针对风力扰动下无人机状态估计综述[J].电子测量技术,2026,49(11):1-11

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  • 在线发布日期: 2026-09-03
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