Estimating wind using a quadrotor

Gautier Hattenberger (1) , Murat Bronz (1) , Jean-Philippe Condomines (1)

1 ENAC - Ecole Nationale de l'Aviation Civile

The aim of this work is to estimate the wind that the quadrotor drone is subject to 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.

Domaines: Systèmes embarqués; Robotique [cs.RO]; Automatique / Robotique

Gautier Hattenberger, Murat Bronz, Jean-Philippe Condomines. Estimating wind using a quadrotor. international micro air vehicle conference (IMAV2021), Nov 2021, Puebla, Mexico. pp.124-130. ⟨hal-03439452⟩