We consider the problem of inferring wind velocity from the perturbations induced in the motion of an autopilot-controlled quadrotor. Three aircraft motion models are presented which can be used for model-based wind velocity estimation: a kinematic particle model, a dynamic particle model, and a rigid body model. Here, we focus on the two particle models, using wind tunnel and flight test data to identify motion model parameters in order to infer wind velocity from measurements obtained in field experiments. Wind tunnel tests of a single quadrotor thruster are used to create a thrust model for the vehicle. To develop this model, the force and moment acting on a single electric thruster with an 8-inch, 2-blade propeller was measured in Virginia Tech's 0.7m Open Jet Wind Tunnel while varying three parameters: angle of flow, flow speed, and propeller spin rate. Data for quadrotor motion model parameter identification were collected in flight tests performed at Virginia Tech. The quadrotor was flown at several steady speeds and at constant altitude in order to relate the (steady) air-relative speed to the tilt attitude and the lateral component of thrust. Finally, wind velocity estimation experiments were performed at Innisfree, Virginia in close proximity to a sonic anemometer mounted atop a 10 meter tower.
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