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Estimating wind using a quadrotor

Abstract : 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.
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Soumis le : jeudi 13 janvier 2022 - 14:47:52
Dernière modification le : mercredi 11 mai 2022 - 15:36:24
Archivage à long terme le : : jeudi 14 avril 2022 - 18:56:47


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



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