METHOD FOR CONTROLLING A MULTI-ROTOR ROTOR SAILING DRONE WITH ESTIMATION AND SIDE WIND COMPENSATION

摘要

The drone is piloted in attitude and speed by angular instructions applied to a control loop (120) of the drone engines along pitch and roll axes. A dynamic model of the drone, including a predictive Kalman filter. describes the horizontal velocity components of the drone as a function of the drag coefficients and the mass of the drone, the Euler angle of the drone relative to an absolute terrestrial reference, and the rotation of the latter around an axis vertical. The acceleration of the drone in the three axes and its relative speed with respect to the ground are measured and applied to this model so as to estimate (128) the horizontal components of lateral wind speed. This estimate can be used to generate corrective setpoints (126) combined with the angular setpoints applied to the pitch control and roll control loop.