Estimating the UAV moments of inertia directly from its flight data

Jemie Muliadi, Rizki Langit, Benyamin Kusumo Putro

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This article proposes a practical new method to obtain the moment of inertia of UAV, named ARES. The ARES method simultaneously determined all the elements of UAV's Tensor of Inertia, i.e. the moments and the products of inertia through algebraic solving. The ARES method directly uses the UAV Flight Data to accommodate accuracy issues of modeling such as vehicle's geometrical imperfection; manufacturing defect, any non-symmetrical due component placement, etc. This proposed method was applicable for various purposes of UAV modeling e.g. flight control design, flight dynamics analysis, etc. Conventionally, UAV moments of inertia were estimated by tabulating, CAD-based, or pendulum method. Since these existing methods were constrained by the accuracy and practical issues, we develop the ARES method which using the UAV's flight data to resolve both issues. After undergone appropriate mathematical strategies, the ARES produce a linear construction for algebraic solving technique. The implementation the proposed method in the quadrotor flight data showing that ARES are successfully measured the asymmetrical terms which important for nonlinear controlling, that previously neglected by the conventional methods. Thus, the ARES estimates the UAV Tensor of Inertia in holistic, sophisticated and practical fashion.

Original languageEnglish
Title of host publicationQiR 2017 - 2017 15th International Conference on Quality in Research (QiR)
Subtitle of host publicationInternational Symposium on Electrical and Computer Engineering
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages190-196
Number of pages7
ISBN (Electronic)9781509063970
DOIs
Publication statusPublished - 5 Dec 2017
Event15th International Conference on Quality in Research: International Symposium on Electrical and Computer Engineering, QiR 2017 - Nusa Dua, Bali, Indonesia
Duration: 24 Jul 201727 Jul 2017

Publication series

NameQiR 2017 - 2017 15th International Conference on Quality in Research (QiR): International Symposium on Electrical and Computer Engineering
Volume2017-December

Conference

Conference15th International Conference on Quality in Research: International Symposium on Electrical and Computer Engineering, QiR 2017
CountryIndonesia
CityNusa Dua, Bali
Period24/07/1727/07/17

Keywords

  • inertia tensor
  • model development and analysis
  • modeling methodologies
  • moment of inertia
  • quadrotor modeling
  • UAV

Fingerprint Dive into the research topics of 'Estimating the UAV moments of inertia directly from its flight data'. Together they form a unique fingerprint.

Cite this