State Estimation of a Tethered Drone Using Only Internal Sensors
Yuki Ohira, Satoshi Suzuki · 2024
This paper verifies the state estimation method for the tethered drone proposed in previous research through simulation and experiment. In the simulation, it investigates the impact of several conditions on estimation accuracy and explores the methods to improve it. Through simulation-based verification, the effectiveness of the state estimation method was confirmed. Furthermore, it confirmed the importance of understanding the thrust during flight. In the experiment, a thrust test was conducted to calculate the in-flight thrust and to estimate the state. Experimental estimation results suggest that acceleration noise reduces the accuracy. Therefore, we examined the relation between acceleration noise and accuracy using a simulator. Then we found that the acceleration noise above a certain level has a significant impact on the accuracy.