An algorithm for real time estimation of the flexible UAV structural motions using a video-based system

This paper focuses on the application of a vision based system coupled with an Inertial Measurement Unit (IMU) and several accelerometers, distributed along the aircraft structure, to estimate the structural displacements showed by flexible aircrafts. This sensor suite, associated with the proposed data fusion algorithm, represents an innovative approach to solve the problem of structural displacements determination for flexible aircrafts. The knowledge of the aircraft actual shape allows implementing active control techniques, Structural Health Monitoring (SHM) and moreover to determine the true position and attitude of sensors, installed on board. The effectiveness of the proposed approach is demonstrated through numerical simulations.