The dynamic model parameter identification is important for unmanned aerial vehicle modeling and control. The unmanned aerial vehicle model parameters are usually identified through wind tunnel experiments, which are complex. In this paper, a model parameter identification method is proposed using the flight data for quadrotors. The parameters of the thrust, drag force, torque, rolling moment and pitching moment are estimated through Kalman filter. Global positioning system and inertial sensors are used as measurements. The observabilities of the model parameters and their degrees of observability are analyzed. Flight experiments are carried out to verify the proposed method. It is shown that the model parameters estimated by the proposed method have good accuracies, demonstrating the validity of the proposed method.
A dynamic model parameter identification method for quadrotors using flight data
2019-05-01
13 pages
Article (Journal)
Electronic Resource
English
Simulation of formation flight with four Quadrotors
American Institute of Physics | 2023
|Flight-Trim System for Quadrotors with Rotatable Arms
AIAA | 2020
|Trajectory design and control for aggressive formation flight with quadrotors
Tema Archive | 2012
|