IROS 2016poster60 citations
A novel online model-based wind estimation approach for quadrotor micro air vehicles using low cost MEMS IMUs
L.N.C. Sikkel, G.C.H.E. de Croon, C. De Wagter, Q.P. Chu
Abstract
This work extends the drag-force enhanced quadrotor model by denoting the free stream air velocity as the difference between the ground speed and the wind speed. It is demonstrated that a relatively simple nonlinear observer is capable of estimating the local wind components, provided accelerometer and GPS-velocity measurements are available. We perform a wind tunnel experiment at various wind speeds using a quadrotor vehicle with a low-cost Inertial Measurement Unit (IMU) and a motion tracking system to provide accurate ground speed measurements. It is shown that the onboard Extended Kalman Filter (EKF) accurately estimates the wind components.
BibTeX
@inproceedings{iros2016_anovelonlinemode,
title = {A novel online model-based wind estimation approach for quadrotor micro air vehicles using low cost MEMS IMUs},
author = {L.N.C. Sikkel and G.C.H.E. de Croon and C. De Wagter and Q.P. Chu},
booktitle = {IROS 2016},
year = {2016}
}