Small rotary-wing UAVs are susceptible to gusts and other environmental disturbances that a ect inow at their rotors. Inow variations cause unexpected aerodynamic forces through changes in thrust conditions and unmodeled blade apping dynamics. This pa- per introduces an onboard, pressure-based ow measurement system developed for a small quadrotor helicopter. The probe-based instrumentation package provides spatially dis- tributed airspeed measurements along each of the aircraft- xed axes. Lateral and vertical windspeed estimates enable the development of disturbance-tolerant ight control strate- gies. The focus of this paper is vertical ow disturbances such as those caused by the downwash of a second vehicle. Real-time velocity measurements are incorporated into a recursive Bayesian estimator to localize a nearby rotorcraft using its downwash. A path planner developed for proximity ight is demonstrated through indoor ight testing with multiple vehicles to safely guide an instrumented quadrotor around the downwash of nearby rotorcraft.
Onboard Flow Sensing For Downwash Detection and Avoidance On Small Quadrotor Helicopters
2015
12 pages
Report
No indication
English
Aerodynamics , Aircraft , Flow , Helicopters , Rotary wing aircraft , Avoidance , Blades , Control , Detection , Downwash , Environments , Instrumentation , Measurement , Onboard , Real time , Rotors , Symposia , Thrust , Vehicles , Velocity , Vertical orientation , Quadrotor helicopter
Downwash Detection and Avoidance with Small Quadrotor Helicopters
Online Contents | 2016
|Downwash Detection and Avoidance with Small Quadrotor Helicopters
Online Contents | 2016
|British Library Conference Proceedings | 2015
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