Wind vector estimation considering difference of propeller model characteristics for fully actuated drone

Recently force control for drones is receiving interest. One of the challenges to conduct force control for drones is the separation of wind disturbance from total disturbance. This paper focuses on the method which can apply fully actuated drones whose propellers are mounted in different directions. The wind disturbance estimation is conducted based on blade element theory. Our last proposed method has not considered the difference between the propellers’ characteristics which can cause the estimation error. In this paper, we propose a new estimation method to improve the estimation accuracy compared with our conventional wind vector estimation method. The proposed method considers the model of each propeller and solves the non-linear equation using an optimization method. The proposed method is compared with the conventional method and its effectiveness is confirmed by simulations and bench experiments.