Wind sensor motion compensation systems and methods
View Patent ↗Techniques are disclosed for systems and methods to provide wind sensor motion compensation for wind sensors mounted to moving platforms. A wind sensor motion compensation system may include a wind sensor, a wind sensor accelerometer, one or more additional sensors, actuators, controllers, user interfaces, and/or other modules mounted to or in proximity to a vehicle. The wind sensor motion compensation system may be implemented with one or more logic devices adapted to receive sensor signals and determine a sensor-motion compensated wind velocity. The logic devices may be adapted to receive a wind sensor acceleration and a relative wind velocity from a wind sensor, determine a wind sensor velocity from the wind sensor acceleration, and determine a sensor-motion compensated relative wind velocity from the wind sensor velocity and the relative wind velocity.
1. A system comprising:
a logic device configured to receive one or more sensor signals and determine a sensor-motion compensated relative wind velocity, wherein the logic device is adapted to:
receive a wind sensor acceleration and a relative wind velocity from a wind sensor mounted to a vehicle, wherein the wind sensor comprises a wind sensor accelerometer configured to measure an acceleration of the wind sensor and provide the measured acceleration of the wind sensor as the wind sensor acceleration;
determine a wind sensor velocity from the wind sensor acceleration; and
determine the sensor-motion compensated relative wind velocity based, at least in part, on a combination of the wind sensor velocity and the relative wind velocity.
2. The system of claim 1 , further comprising the wind sensor and the wind sensor accelerometer, wherein the wind sensor accelerometer is located substantially near, on, or within a housing for the wind sensor.
3. The system of claim 1 , wherein the determining the wind sensor velocity comprises:
removing one or more low frequency components of the wind sensor acceleration from the wind sensor acceleration;
integrating the wind sensor acceleration to determine the wind sensor velocity; and
removing one or more low frequency components of the wind sensor velocity from the wind sensor velocity.
4. The system of claim 3 , wherein the removing one or more low frequency components of the wind sensor acceleration comprises high-pass filtering the wind sensor acceleration.
5. The system of claim 4 , wherein the removing one or more low frequency components of the wind sensor velocity comprises high-pass filtering the wind sensor velocity using filter characteristics approximately the same as those used to high-pass filter the wind sensor acceleration.
6. The system of claim 1 , wherein the logic device is adapted to transform the relative wind velocity to a coordinate frame of the wind sensor acceleration before determining the sensor-motion compensated relative wind velocity.
7. The system of claim 1 , wherein the determining the sensor-motion compensated relative wind velocity comprises:
subtracting the wind sensor velocity from the relative wind velocity.
8. The system of claim 1 , further comprising a user interface having a display, wherein the logic device is adapted to:
display, using the display of the user interface, a direction and/or magnitude of the sensor-motion compensated relative wind velocity to a user in proximity to the user interface.
9. The system of claim 1 , further comprising:
a user interface having a display; and
one or more of a GPS, an orientation sensor, an accelerometer, or a water speed sensor mounted to the vehicle, wherein the logic device is adapted to:
determine a vehicle velocity based, at least in part, on sensor signals received from one or more of the GPS, the orientation sensor, the accelerometer, or the water speed sensor,
determine an absolute wind velocity based, at least in part, on a combination of the vehicle velocity with the sensor-motion compensated relative wind velocity, and
display, using the display of the user interface, a direction and/or magnitude of the absolute wind velocity to a user in proximity to the user interface.
10. The system of claim 9 , wherein the logic device is adapted to transform the sensor-motion compensated relative wind velocity to a coordinate frame of the vehicle velocity before determining the absolute wind velocity.
11. The system of claim 1 , further comprising a steering actuator configured to receive one or more control signals from the logic device, wherein the logic device is adapted to:
determine a vehicle velocity based, at least in part, on sensor signals received from one or more of a GPS, an orientation sensor, an accelerometer, or a water speed sensor mounted to the vehicle; and
provide a control signal to the steering actuator corresponding to a desired vehicle velocity, wherein the desired vehicle velocity is based, at least in part, on the sensor-motion compensated relative wind velocity and the vehicle velocity.
12. A method comprising:
receiving a wind sensor acceleration and a relative wind velocity from a wind sensor mounted to a vehicle, wherein the wind sensor comprises a wind sensor accelerometer configured to measure an acceleration of the wind sensor and provide the measured acceleration of the wind sensor as the wind sensor acceleration;
determining a wind sensor velocity from the wind sensor acceleration; and
determining a sensor-motion compensated relative wind velocity based, at least in part, on a combination of the wind sensor velocity and the relative wind velocity.
13. The method of claim 12 , wherein:
the wind sensor accelerometer is located substantially near, on, or within a housing for the wind sensor.
14. The method of claim 12 , wherein the determining the wind sensor velocity comprises:
removing one or more low frequency components of the wind sensor acceleration from the wind sensor acceleration;
integrating the wind sensor acceleration to determine the wind sensor velocity; and
removing one or more low frequency components of the wind sensor velocity from the wind sensor velocity.
15. The method of claim 14 , wherein the removing one or more low frequency components of the wind sensor acceleration comprises high-pass filtering the wind sensor acceleration.
16. The method of claim 15 , wherein the removing one or more low frequency components of the wind sensor velocity comprises high-pass filtering the wind sensor velocity using filter characteristics approximately the same as those used to high-pass filter the wind sensor acceleration.
17. The method of claim 12 , further comprising transforming the relative wind velocity to a coordinate frame of the wind sensor acceleration before determining the sensor-motion compensated relative wind velocity.
18. The method of claim 12 , wherein the determining the sensor-motion compensated relative wind velocity comprises:
subtracting the wind sensor velocity from the relative wind velocity.
19. The method of claim 12 , further comprising:
displaying, using a user interface, a direction and/or magnitude of the sensor-motion compensated relative wind velocity to a user.
20. The method of claim 12 , further comprising:
determining a vehicle velocity;
determining an absolute wind velocity based, at least in part, on a combination of the vehicle velocity with the sensor-motion compensated relative wind velocity; and
displaying, using a user interface, a direction and/or magnitude of the absolute wind velocity to a user.
21. The method of claim 20 , further comprising transforming the sensor-motion compensated relative wind velocity to a coordinate frame of the vehicle velocity before determining the absolute wind velocity.
22. The method of claim 12 , further comprising:
determining a vehicle velocity based, at least in part, on sensor signals received from one or more of a GPS, an orientation sensor, an accelerometer, or a water speed sensor mounted to the vehicle; and
providing a control signal to a steering actuator corresponding to a desired vehicle velocity, wherein the desired vehicle velocity is based, at least in part, on the sensor-motion compensated relative wind velocity and the vehicle velocity.
23. The method of claim 12 , wherein the receiving the wind sensor acceleration comprises:
receiving one or more wind sensor accelerations from the wind sensor accelerometer, wherein the wind sensor accelerometer is located substantially on or within a housing for the wind sensor, the method further comprising:
receiving one or more vehicle accelerations from a vehicle accelerometer; and
determining one or more coordinate frame transformations between a coordinate frame of the wind sensor accelerometer and a coordinate frame of the vehicle, wherein the one or more coordinate frame transformations are based, at least in part, on a comparison of the one or more wind sensor accelerations to the one or more vehicle accelerations.
24. The method of claim 23 , wherein:
a coordinate frame of the wind sensor is aligned with the coordinate frame of the vehicle; and
at least one of the coordinate frame transformations is operable to transform a wind velocity measured by the wind sensor to the coordinate frame of the wind sensor accelerometer.