Flight tests, data collection, system identification, performance analysis of multicopter vehicle

摘要

Multicopters have started to be easily obtained and widely used. Even many people are trying to build them by themselves. However, since a multicopter is a dynamical system with many parameters and many sensors on it, the proper controller PID tuning or correct matching of right propeller, weight, motor and battery is complete engineering problem and if a good multicopter in means of good stability and good “handling qualities” is wanted to be built than good understing of PID tuning, sensor reading and motors and propellers is necessary. In this study we aim to deeply analyze the flight and sensor performance of a multicopter mini unmanned vehicle.