Precise model of multicopter for development of algorithms for autonomous flight

Abstract

This article describes precise mathematical model of multicopter. The model can be easily implemented in various simulation environments like Simulink ®, Xcos etc. The advantage of using mathematical models for development of navigational, control and attitude estimation algorithms lies in the impossibility to damage the real platform and in the knowledge of all state variables. The model is based on classical free rigid body dynamics driven by forces and moments. The quaternions are used for attitude representation for nonsingular operation. This rigid body dynamics are extended by precise models of inertial and magnetic sensors, by motors thrusts to forces and torques relations and by precise model of aerodynamic drag forces and torques. © Springer International Publishing Switzerland 2014.