Wind-Disturbance and Aerodynamic Parameter Estimation of an Experimental Launched Micro Air Vehicle Using an EKF-like Observer

Arnaud Koehl (1) , Mohamed Boutayeb (1) , Hugues Rafaralahy (1) , Bastien Martinez (2)

1 CRAN - Centre de Recherche en Automatique de Nancy
2 ISL - Institut franco-allemand de recherches de Saint-Louis

In this contribution we investigate the problem of wind disturbance and aerodynamic parameter estimation of a Gun-Launched Micro Air Vehicle (GLMAV) which is a new Micro Air Vehicle (MAV) concept, intended for outdoor flights, and using two-bladed coaxial contra-rotating rotors. A comprehensive GLMAV modeling is presented for hover and near hover flight conditions and identified from experimental results. Hence we use a recent extension of the Extended Kalman Filter (EKF) with Sliding Window (EKFSW) to mainly improve the wind-disturbance estimation from very noisy accelerometer signals.

Mots clés: Unmanned Aerial Vehicle; Parameter estimation; Kalman filter; Aerodynamic Modelling; Identification algorithms; Aerospace engineering

Domaines: Automatique / Robotique

Arnaud Koehl, Mohamed Boutayeb, Hugues Rafaralahy, Bastien Martinez. Wind-Disturbance and Aerodynamic Parameter Estimation of an Experimental Launched Micro Air Vehicle Using an EKF-like Observer. 49th IEEE Conference on Decision and Control, CDC 2010, Dec 2010, Atlanta, United States. pp.CD-ROM. ⟨hal-00547551⟩