Research on Model-Based Thermal Updraft State Estimation Method

This paper proposes a pitching moment model for UAVs in a thermal updraft field based on the Gaussian distribution model of thermal updraft. The model can be applied to the positioning and tracking of environmental thermal updrafts using a state estimation algorithm. Simulation results demonstrate that, compared to a single thermal updraft model or a UAV thermal updraft field rolling moment model, the algorithm's convergence speed and accuracy in locating the thermal center are significantly improved by introducing the UAV pitching moment model in thermal updraft state estimation.