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Wind-disturbance and aerodynamic parameter estimation of an experimental Launched Micro Air Vehicle using an EKF-like observer

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4 Author(s)
Koehl, A. ; Inst. franco-allemand de Recherches de St.-Louis, St. Louis, France ; Boutayeb, M. ; Rafaralahy, H. ; Martinez, B.

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 nearhover 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.

Published in:

Decision and Control (CDC), 2010 49th IEEE Conference on

Date of Conference:

15-17 Dec. 2010

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