wind_estimation_quadrotor
Wind estimation from quadrotor motion Estimation using a linear Kalman filter For details, see: G. Hattenberger, M. Bronz, and J. Condomines, “Estimating wind using a quadrotor,” in 12th international micro air vehicle conference, Puebla, México, 2021, p. 124–130.
WE_QUAD_ |
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|---|---|---|
Name |
Value |
Description |
MASS |
required |
mass of the airframe |
DRAG |
required |
linear drag coefficient modeling the relation between drag and bank angle |
P0_VA |
1. |
initial covariance on airspeed estimate |
P0_W |
1. |
initial covariance on wind estimate |
Q_VA |
0.05 |
process noise on airspeed |
Q_W |
0.001 |
process noise on wind estimate |
R |
0.5 |
measurement noise on ground speed |
UPDATE_STATE |
FALSE|TRUE |
update directly wind estimation in state interface (default: TRUE) |