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Estimating wind using a quadrotor

Abstract : 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.
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https://hal-enac.archives-ouvertes.fr/hal-03439452
Contributeur : Gautier Hattenberger Connectez-vous pour contacter le contributeur
Soumis le : lundi 22 novembre 2021 - 11:37:42
Dernière modification le : lundi 6 juin 2022 - 13:01:26
Archivage à long terme le : : mercredi 23 février 2022 - 18:42:55

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  • HAL Id : hal-03439452, version 1

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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⟩

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