Assessing the method of state space determination from the quadrotor flight simulation

This paper addresses the construction of the quadrotor State Space from its flight data. Using numerical simulation, the flight data generated to be processed then obtaining the elements of the State Space matrices. In conventional fashion, one constructs the state space from physical properties measurement such as weight, moments of inertia, vehicle dimension, etc. On the contrary, using the flight data to obtain the State Space omitted the requirement of those physical properties. The method was already described in the authors previous publication, and being assessed in this manuscript. To bring the simulation closer to the real quadrotor dynamics, the complete nonlinear attitude equation of motion applied in the vector form to be solved numerically. The simulated flight data then sampled to mimic the actual measurement process in UAV. The sampled flight data inputted to the coefficient matrix for algebraic inversion to obtain the elements of the UAV state space.