Estimating wind using a quadrotor - ENAC - École nationale de l'aviation civile Accéder directement au contenu
Article Dans Une Revue International Journal of Micro Air Vehicles Année : 2022

Estimating wind using a quadrotor

Résumé

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.
Fichier principal
Vignette du fichier
17568293211070824.pdf (2.43 Mo) Télécharger le fichier
Origine Fichiers éditeurs autorisés sur une archive ouverte

Dates et versions

hal-03524845 , version 1 (13-01-2022)

Identifiants

Citer

Gautier Hattenberger, Murat Bronz, Jean-Philippe Condomines. Estimating wind using a quadrotor. International Journal of Micro Air Vehicles, 2022, 14, ⟨10.1177/17568293211070824⟩. ⟨hal-03524845⟩
140 Consultations
218 Téléchargements

Altmetric

Partager

Gmail Mastodon Facebook X LinkedIn More