Online Aerodynamic Model Identification on Small Fixed-Wing UAVs with Uncertain Flight Data

Paris Vaiopoulos; Georgios Zogopoulos-Papaliakos; Kostas J. Kyriakopoulos

doi:10.1109/ICRA.2018.8460585

Online Aerodynamic Model Identification on Small Fixed-Wing UAVs with Uncertain Flight Data

Paris Vaiopoulos, Georgios Zogopoulos-Papaliakos, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

This paper focuses on real-time estimation of the aerodynamic model parameters of small-scale fixed wing Unmanned Aerial Vehicles (UAVs) without the aid of wind-tunnel experiments, using exclusively flight data. The key tool of the following analysis centers around the principles of Total Least Squares estimation. Contrary to Ordinary Least Squares, this method accounts for errors in both explanatory data and variables to-be-explained. This is a highly desirable property for UAVs equipped with low-cost sensor systems. The proposed implementation combines both batch and real-time schemes, while deals efficiently with the problem of Insufficient System Excitation. Online adaptation to model changes is performed by applying a Variable Forgetting Factor to the estimation data. Finally, a Monte Carlo approach is developed for uncertainty estimation regarding compound aerodynamic variables.

Original language	English (US)
Title of host publication	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6587-6592
Number of pages	6
ISBN (Electronic)	9781538630815
DOIs	https://doi.org/10.1109/ICRA.2018.8460585
State	Published - Sep 10 2018
Event	2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia Duration: May 21 2018 → May 25 2018

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Country/Territory	Australia
City	Brisbane
Period	5/21/18 → 5/25/18

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ICRA.2018.8460585

Cite this

Vaiopoulos, P., Zogopoulos-Papaliakos, G., & Kyriakopoulos, K. J. (2018). Online Aerodynamic Model Identification on Small Fixed-Wing UAVs with Uncertain Flight Data. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 6587-6592). Article 8460585 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8460585

Online Aerodynamic Model Identification on Small Fixed-Wing UAVs with Uncertain Flight Data. / Vaiopoulos, Paris; Zogopoulos-Papaliakos, Georgios; Kyriakopoulos, Kostas J.
2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 6587-6592 8460585 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Vaiopoulos, P, Zogopoulos-Papaliakos, G & Kyriakopoulos, KJ 2018, Online Aerodynamic Model Identification on Small Fixed-Wing UAVs with Uncertain Flight Data. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8460585, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 6587-6592, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 5/21/18. https://doi.org/10.1109/ICRA.2018.8460585

Vaiopoulos P, Zogopoulos-Papaliakos G, Kyriakopoulos KJ. Online Aerodynamic Model Identification on Small Fixed-Wing UAVs with Uncertain Flight Data. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 6587-6592. 8460585. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2018.8460585

Vaiopoulos, Paris ; Zogopoulos-Papaliakos, Georgios ; Kyriakopoulos, Kostas J. / Online Aerodynamic Model Identification on Small Fixed-Wing UAVs with Uncertain Flight Data. 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 6587-6592 (Proceedings - IEEE International Conference on Robotics and Automation).

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Online Aerodynamic Model Identification on Small Fixed-Wing UAVs with Uncertain Flight Data

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