Evaluation of drag coefficient for a quadrotor model

Abstract

This paper focuses on the quadrotor drag coefficient model and its estimation from flight tests. Precise assessment of such a model permits the use of a quadrotor as a sensor for wind estimation purposes without the need for additional onboard sensors. Firstly, the drag coefficient has been estimated in a controlled environment via wind generator and motion capture system. Later, the evolution of the coefficient is observed for various mass and fuselage shapes. Finally, an estimation method is proposed, based on the least-squares optimization, that evaluates the drag of the quadrotor directly from outdoor flight data. The latter leads the methodology towards easier adoption in other researchers’ systems without the need for complex and expensive flight testing facilities. The accuracy of the proposed method is presented both in simulation, based on a realistic flight dynamics model, and also for real outdoor flights.