Controlled Flight Maneuvers of a Flapping Wing Micro Air Vehicle: a Step Towards the Delfly II Identification

Onboard/Offboard Sensor Fusion for High-Fidelity Flapping-Wing Robot Flight Data

“…The same type of vehicle has been the subject of extensive previous research and detailed geometric properties and descriptions of the design can be found, e.g., in Refs. [32,31]. The mass and inertia properties of the specific FWMAV used in these flight tests are presented in Table 1.…”

“…External optical tracking systems [8,30,31], such as are often used for FWMAVs, provide accurate position measurements, but typically have a relatively low bandwidth if the intention is to consider processes happening during each flap cycle. Additionally, linear and angular velocities and accelerations have to be computed via numerical differentiation, which introduces considerable noise [16].…”

Rigid-Body Kinematics Versus Flapping Kinematics of a Flapping Wing Micro Air Vehicle

“…a All flight tests in this paper were conducted at the U.S. Air Force Research Laboratory Micro Air Vehicles Integration and Application Institute [27].…”

“…For the current test cases, the DelFly was specially configured with an autopilot that was able to maintain a trimmed flight condition, constant pitch angle, height and velocity throughout the flights. Inputs on the elevator, rudder and flapping motor were commanded at different frequencies inducing oscillations on the FWMAV around a trimmed flight [27].…”

In-flight data acquisition and flight testing for system identification of flapping-wing MAVs

“…Flight path reconstruction techniques [9], [17], [23] are recommended for the full reconstruction of the states of the robot during the maneuvers. For the case of tracking systems that do not provide the body orientation, we recommend performing direct-cosines transformation between the Inertial (X I , Y I , Z I ) and the Body (X b , Y b , Z b ) reference frames (see Eq.…”