Lumped Drag Model Identification and Real-Time External Force Detection for Rotary-Wing Micro Aerial Vehicles
Lucas Wälti,Alcherio Martinoli,Lucas Wälti,Alcherio Martinoli
This work focuses on understanding and identifying the drag forces applied to a rotary-wing Micro Aerial Vehicle (MAV). We propose a lumped drag model that concisely describes the aerodynamical forces the MAV is subject to, with a minimal set of parameters. We only rely on commonly available sensor information onboard a MAV, such as accelerometer data, pose estimate, and throttle commands, which m...
