Abstract
Wind sensors are essential components of any sailboat, meanwhile they are also one of its most compromised and exposed elements. This paper introduces a novel approach that allows to estimate wind direction and speed based on the application of a particle filter technique that relies on a model dynamics of the sailboat. The proposal incorporates elitism and particle re-initialization to improve filter convergence. Extensive simulation results prove that this approach is capable of providing acceptable estimates of wind conditions at a modest computational cost.
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Acknowledgments
The authors are sincerely grateful to Solumatica Canarias for providing financial support for building the A-TIRMA G2 prototype and the Real Club Náutico de Gran Canaria for the access granted to its facilities during the development of this project.
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Cabrera-Gámez, J., Domínguez-Brito, A.C., Hernández-Sosa, J.D., Valle-Fernández, B., Ramos-de-Miguel, A., García, J.C. (2017). A Virtual Wind Sensor Based on a Particle Filter. In: Alves, J., Cruz, N. (eds) Robotic Sailing 2016. WRSC/IRSC 2016. Springer, Cham. https://doi.org/10.1007/978-3-319-45453-5_6
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DOI: https://doi.org/10.1007/978-3-319-45453-5_6
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