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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2020, Vol. 41 ›› Issue (S2): 724321-724321.doi: 10.7527/S1000-6893.2020.24321

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Full flight envelope modeling of quadrotor vehicles based on model stitching technique

YU Yinan1, LIANG Yi2, SONG Tao1, LIN Defu1   

  1. 1. UAV Auto nomous Control Technology Laboratory, School of Aerospace, Beijing Institute of Technology, Beijing 100081, China;
    2. Equipment Research and Development Center of Military Committee, Beijing 100034, China
  • Received:2020-04-29 Revised:2020-05-15 Published:2020-06-12
  • Supported by:
    Key Program of National Natural Science Foundation of China (U1613225)

Abstract: Quadrotor vehicles have found wide application in both military and civil fields. However, the onboard sensors of quadrotor vehicles are poor in reliability and accuracy, and the dynamic models of quadrotors vary considerably under different flight conditions. This study systematically examines the flight path reconstruction, frequency domain system identification, and full flight envelope modeling of quadrotor vehicles. To overcome the shortcomings of significant constant bias errors and unknown statistical characteristics of measurement noise of the airborne low-cost sensors, we use the flight path reconstruction technology based on Extended Kalman Filter(EKF) to reconstruct the airspeed of UAVs in flight tests. The frequency domain method is adopted to identify the body dynamics model under different flight conditions aiming at the different characteristics in dynamic models of quadrotor UAVs with different flight speeds. In view of the high-precision control requirements of the four rotor UAVs in large-span areas, a systematic full flight envelope modeling scheme based on the model stitching technology is proposed, which is verified to be accurate and reliable.

Key words: extended Kalman filter, flight path reconstruction, system identification, model stitching, full flight envelope quadrotor modeling

CLC Number: