Estimation of Wind Disturbance for Mini Quadcopter in Square Tube
Yoshiyuki Otsuji, Takenori Atsumi · The Proceedings of Conference of Kanto Branch · 2019
This paper presents some estimation results of wind disturbances for a mini quadcopter in a square tube. In the previous survey, we developed an experimental method to measure the position of the quadcopter with a motion capture system using a transparent acrylic duct. we estimated the wind disturbance when the mini quadcopter fly in the translation direction. In this paper, we estimate the wind disturbance when the mini quadcopter fly in the vertical direction. In the proposed method, we have estimated the wind disturbances based on experimental results and simulation models. Firstly, we have conducted flight experiments using the mini quadcopter in the square tube (closed space). Then, we have built simulation models that show similar characteristics of experimental results. Finally, we can find characteristics of the wind disturbances from comparison between results in the closed space and the opened space. Estimation results of wind disturbances show the characteristics of the wind forces for the mini quadcopter in the Xe, Ye and Ze -axis direction.