i am very interested in your theory and tested the results with a fixed wing. Before the implementation i have tried to simulate the alghorithm with MATLAB and during the simulation and on the air the results are very successful. Now i am trying to implent it for my quadcopter. I guess the fuselage vector for the multicopter must be the third column of the DCM. But there may be a problem with the airspeed vector because it cannot follow the fuselage vector so fast like in the fixedwing. And when i get the change on the fuselage vector during the copter having an angle movement on yaw or pitch plane, the airspeed vector will change its direction and amplitude with a phase delay so the estimation will get an huge error. I am wondering is there any example implementation or any idea for the quadrotor platform?
Very interesting article and description of the theory.
In the PDF file, you mention "Implementation will be described in a separate report", has it been released?
Having a method to estimate wind speed without a Pitot could be a great addition to an AP for small UAVs, great addition means robustness in poor conditions. Flying many small UAVs in the rain can cause the Pitot to be plugged by a drop of water. When the Pitot is plugged the airspeed measured is 0 and this causes severe problems most times the bird dives straight down into the ground quite dramatically.
When equipped with a Pitot you could compare the results from the DCM and the Pitot and when the difference exceeded a threshold you would rely on the DCM method until the Pitot started to behave.
Just my 2 cents,
Hi - this is pretty cool. In your wind estimation file, you mention that implementation will be described in a different report. Is that report posted somewhere?
Very interesting idea. First of all, thank you for your contribution. By the way, I have some questions.
In your paper, 'residual yaw error' is introduced. What is that mean exactly? I guess that the error is induced from the difference between course(COG) angle and heading(yaw) angle. Is it correct?
In your paper, the vector F is used to represent fuselage vector. And you said that comes from 'the column of the direction cosine matrix'. Is it same as below equation?
F = DCM_B2I x [1 0 0]'
where DCM_B2I is direction cosine matrix from body-axis to inertial-axis, and [1 0 0]' is the unit vector aligned with x-axis of body-axis. So I guess F equal to [cos(pitch) x cos(yaw), cos(pitch) x sin(yaw), -sin(pitch)]'. Is it correct?