Intelligent Wind Estimation for Fast Agent Tracking and Localization

Barron Associates (Barron) proposes to develop the Wind Detection and Source Seeking (WINDSS ) system in response to the U.S. Air Force STTR solicitation AF21B-T003 Restricted SWAP-C Air Direction Sensing to Enable Single Vehicle Chemical Reactive Tracking. The primary program objective is to develop a methodology and hardware to sense ambient wind condition to use as a command control signal for a small autonomous flying platform. The ultimate goal is to perform anemotaxis as a key component of source seeking combined with chemotaxis. Such a system would have at least four immediate uses: (1) localizing the source of the release, or source seeking, (2) collect in situ data used to initialize numerical atmospheric and plume dispersion models, (3) collect data for source term estimation, and (4) collecting data to use for assessing and improving the fidelity of a numerical model. The final product can be used not only to perform these functions but also assist first responders and emergency response personnel in strategic planning to respond to threats. It can also help scientists and researchers gain a deeper understanding of the chemistry and physics involved in the complex flow phenomena of CBRN dispersion modeling and prediction. The technology offers an accurate and efficient method to estimate wind direction that is used in a larger system to track and localize the source of a chemical, biological, or other type of agent. Inputs from a chemical sensor are processed together with wind direction estimates, and other atmospheric quantities (if available), to track the source in an optimal and fast manner. WINDSS employs small UAS (sUAS) with standard autopilot sensors to estimate wind properties such as speed and direction. A number of organizations have utilized sUAS platforms equipped with anemometers to directly measure wind properties; however, WINDSS will develop an approach that uses the vehicle as the sensor and estimates wind properties based on vehicle response. This offers a significant reduction in cost, size, power required, and overall weight of the sUAS. The vehicle will be more maneuverable and due to its smaller size fit into confined spaces. WINDSS is unique in its ability to: (1) accurately estimate winds using a small set of sensors common to autopilots, (2) account for modeling uncertainty and measurement noise, (3) directly incorporates information and strategies from an atmospheric science perspective, (4) reduces source localization time, (6) is applicable to various vehicles such as multirotors but also to fixed-wing vehicles, (7) provides accurate wind estimates with the vehicle stationary (hovering) or in motion, and (8) is robust to real-world turbulence conditions.