Table 1 Real world wind results

From: WindSeer: real-time volumetric wind prediction over complex terrain aboard a small uncrewed aerial vehicle

  

S [m/s]

W [m/s]

TKE [m2/s2]

  

AVG

WindSeer

AVG

WindSeer

AVG

WindSeer

Terrain

Case

ϵ

ϵ

ρ

ϵ

ϵ

ρ

ϵ

ϵ

ρ

Bolund

90

1.80

1.58

0.72

0.85

0.58

0.50

1.91

1.33

0.58

239

2.80

2.50

0.68

0.66

0.34

0.76

2.67

1.68

0.86

255

3.24

2.47

0.82

0.85

0.44

0.72

3.43

2.12

0.82

270

3.77

2.79

0.85

0.95

0.51

0.78

5.14

3.43

0.73

Askervein

TU25

2.58

2.39

0.65

1.10

0.37

0.90

0.61

0.41

0.89

TU30A

1.14

0.98

0.62

0.41

0.26

0.58

1.38

0.72

0.42

TU30B

1.80

1.46

0.73

0.51

0.41

0.64

2.82

1.40

0.23

TU01A

3.26

2.83

0.77

1.41

0.52

0.91

1.89

1.06

0.85

TU01B

3.24

2.74

0.79

1.37

0.48

0.92

1.64

0.98

0.87

TU01C

3.55

3.08

0.78

1.23

0.45

0.92

1.17

0.72

0.90

TU01D

4.21

3.71

0.79

1.26

0.47

0.93

1.62

1.17

0.93

TU03A

5.29

4.70

0.78

1.74

0.64

0.93

2.04

1.31

0.98

TU03B

4.90

4.41

0.77

1.54

0.54

0.92

1.82

1.21

0.90

TU05A

1.91

1.89

0.62

0.76

0.31

0.89

1.73

0.99

0.40

TU05B

1.18

1.00

0.79

0.31

0.26

0.48

1.40

0.63

0.04

TU05C

0.93

0.93

0.66

0.34

0.25

0.58

1.09

0.43

0.14

TU07B

3.42

3.27

0.70

1.59

0.49

0.90

2.44

1.85

0.40

Perdigão 2017-05-09

13:30–13:35

2.91

2.27

0.82

0.85

0.57

0.53

-

-

-

17:10:17:15

4.41

3.33

0.48

1.22

0.88

0.35

-

-

-

17:00–18:00

3.06

2.37

0.77

0.80

0.56

0.50

-

-

-

Perdigão 2017-05-12

01:00–02:00

2.82

2.31

0.76

0.52

0.42

0.45

-

-

-

17:00–18:00

2.76

2.23

0.81

0.70

0.57

0.57

-

-

-

19:45–19:50

1.15

0.90

0.71

0.21

0.16

0.57

-

-

-

Perdigão 2017-05-16

07:00–08:00

1.58

1.16

0.65

0.27

0.27

0.67

-

-

-

11:40–11:45

0.85

0.77

0.51

0.33

0.27

0.22

-

-

-

12:40–12:45

0.86

0.75

0.48

0.29

0.22

0.30

-

-

-

20:00–21:00

1.35

0.97

0.68

0.22

0.31

0.21

-

-

-

Perdigão 2017-05-18

14:35–14:40

2.14

1.82

0.70

0.41

0.36

0.33

-

-

-

20:00–21:00

1.54

1.08

0.84

0.17

0.19

0.12

-

-

-

22:00–23:00

1.52

1.13

0.74

0.17

0.17

0.42

-

-

-

Perdigão 2017-05-20

03:15–03:20

3.59

2.63

0.61

0.41

0.55

0.30

-

-

-

10:00–11:00

2.20

1.84

0.71

0.51

0.42

0.46

-

-

-

12:20–12:25

1.93

1.71

0.66

0.58

0.43

0.45

-

-

-

Perdigão 2017-06-08

00:00–01:00

2.68

1.87

0.69

0.35

0.38

0.44

-

-

-

12:40–12:45

1.20

0.90

0.77

0.31

0.22

0.46

-

-

-

14:00–15:00

2.49

1.77

0.82

0.74

0.42

0.58

-

-

-

All campaigns

2.50

2.07

0.71

0.72

0.41

0.59

2.05

1.26

0.64

Chasseral

Flight 1

0.61

0.85

0.33

0.54

0.38

0.95

-

-

-

Flight 2

0.57

0.77

0.48

0.50

0.32

0.80

-

-

-

Flight 3

0.53

0.71

0.37

0.49

0.30

0.84

-

-

-

Oberalp

Flight 1

0.56

0.82

−0.46

0.54

0.33

0.78

-

-

-

Gotthard

Flight 1

0.99

1.13

0.33

0.21

0.18

0.88

-

-

-

All flights

0.65

0.86

0.21

0.46

0.30

0.85

-

-

-

  1. Absolute prediction errors (ϵ) and correlation between the measurements and predictions (ρ) for the velocity magnitude (S), vertical wind component (W), and turbulence kinetic energy (TKE) on the measurement campaign datasets and flight experiments of WindSeer compared to the averaging baseline (AVG). The best performing model for each case is highlighted bold. Note that the AVG baseline does not offer correlations as it produces a constant signal.
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