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首页> 外文会议>2017 15th International Conference on Quality in Research : International Symposium on Electrical and Computer Engineering >Estimating the UAV moments of inertia directly from its flight data
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Estimating the UAV moments of inertia directly from its flight data

机译：直接从其飞行数据估算无人机惯性矩

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This article proposes a practical new method to obtain the moment of inertia of UAV, named ARES. The ARES method simultaneously determined all the elements of UAV's Tensor of Inertia, i.e. the moments and the products of inertia through algebraic solving. The ARES method directly uses the UAV Flight Data to accommodate accuracy issues of modeling such as vehicle's geometrical imperfection; manufacturing defect, any non-symmetrical due component placement, etc. This proposed method was applicable for various purposes of UAV modeling e.g. flight control design, flight dynamics analysis, etc. Conventionally, UAV moments of inertia were estimated by tabulating, CAD-based, or pendulum method. Since these existing methods were constrained by the accuracy and practical issues, we develop the ARES method which using the UAV's flight data to resolve both issues. After undergone appropriate mathematical strategies, the ARES produce a linear construction for algebraic solving technique. The implementation the proposed method in the quadrotor flight data showing that ARES are successfully measured the asymmetrical terms which important for nonlinear controlling, that previously neglected by the conventional methods. Thus, the ARES estimates the UAV Tensor of Inertia in holistic, sophisticated and practical fashion.
机译：本文提出了一种实用的获取无人机惯性矩的方法，称为ARES。 ARES方法同时确定了无人机惯性张量的所有元素，即通过代数求解的力矩和惯性乘积。 ARES方法直接使用无人机飞行数据来适应建模的准确性问题，例如车辆的几何缺陷。该制造方法适用于无人机建模的各种目的，例如通常，无人机惯性矩是通过制表法，基于CAD或摆法估算的。由于这些现有方法受到准确性和实际问题的限制，因此我们开发了ARES方法，该方法使用无人机的飞行数据来解决这两个问题。经过适当的数学策略后，ARES为代数求解技术生成了线性构造。在四旋翼飞行数据中所提出的方法的实现表明，ARES成功地测量了非对称项，这对于非线性控制非常重要，而传统方法先前已忽略了这一点。因此，ARES以整体，复杂和实用的方式估算了惯性的无人机张量。

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