This paper proposes a real-time technique for required power estimation in multi-rotor flight. The technique is based on a simplified model for a blade element momentum analysis for rotary wing aircraft, which allows closed-form analytic expressions of rotor shaft power, torque, and rotation speed as functions of kinematic states of a multi-rotor. The estimation results of the proposed technique are compared with the results of other real-time methods, such as power estimation by the momentum theory, in numerical simulations of axial and horizontal flights, and it is demonstrated that the proposed technique closely approximates the result from a detailed numerical analysis and minimizes estimation error than the other methods.
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