Estimating wind using a quadrotor

The aim of this work is to estimate the average wind influencing a quadrotor drone only based on standard navigation sensors and equations of motion. It can be used in several situation, including atmospheric studies, trajectory planning under environmental constraints, or as a reference for studyin...

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Bibliographic Details
Published in:International journal of micro air vehicles 2022-01, Vol.14
Main Authors: Hattenberger, Gautier, Bronz, Murat, Condomines, Jean-Philippe
Format: Article
Language:English
Subjects:
Automatic
Computer Science
Embedded Systems
Engineering Sciences
Equations of motion
Estimation
Flight tests
Global optimization
Indoor environments
Kalman filters
Robotics
Shear layers
Telemetry
Trajectory planning
Wind speed
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Summary:The aim of this work is to estimate the average wind influencing a quadrotor drone only based on standard navigation sensors and equations of motion. It can be used in several situation, including atmospheric studies, trajectory planning under environmental constraints, or as a reference for studying flights in shear layer. For this purpose, a small quadrotor drone with spherical shape has been developed. Flight data are recorded from telemetry during indoor and outdoor flight tests and are post-processed. The proposed solution is based on a calibration procedure with global optimization to extract the drag model and a Kalman Filter for online estimation of the wind speed and direction. Finally, an on-board implementation of the real-time estimation is demonstrated with real flights in controlled indoor environment.
ISSN:1756-8293
1756-8307
DOI:10.1177/17568293211070824