Incorporating thrust models for quadcopter wind estimation
Hao Chen, He Bai · IFAC-PapersOnLine · 2022
We consider a nonlinear estimation problem where a quadcopter moves in a wind field. The accuracy of the thrust model used in an estimator for wind estimation is highly related to stability and accuracy of the estimator. In this paper, we establish invariance properties of various thrust models and incorporate them for invariant extended Kalman filters (IEKFs) designs. Through Monte-Carlo (MC) simulations, we show that the IEKF with the accurate thrust model improves the states and wind estimation performance (particularly in the vertical direction) for various wind fields.