TY - GEN
T1 - Online Aerodynamic Model Identification on Small Fixed-Wing UAVs with Uncertain Flight Data
AU - Vaiopoulos, Paris
AU - Zogopoulos-Papaliakos, Georgios
AU - Kyriakopoulos, Kostas J.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85063142238&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85063142238&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2018.8460585
DO - 10.1109/ICRA.2018.8460585
M3 - Conference contribution
AN - SCOPUS:85063142238
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 6587
EP - 6592
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -