06.1 - Flight Dynamics and Control (Control & Modelling)
SYSTEM IDENTIFICATION OF SMALL-SCALE HELICOPTER VIA EKF WITH DATA-DRIVEN NOISE COVARIANCE DETERMINATION
E.J. Kim¹, B. Seo¹, S.K. Kim¹, J.Y. Suk¹; ¹Chungnam National University, South Korea
This paper performs the system identification for a small-scale helicopter using the Extended Kalman Filter (EKF). The dynamics model of the small-scale helicopter is composed of 6-degree-of-freedom (6-DOF) rigid body equations of motion. The EKF is specifically designed to facilitate system identification. The noise covariance matrix of the EKF is determined from flight data collected during hovering conditions. Using this noise covariance matrix, the system identification of the helicopter is executed. The performance of the system identification based on the noise covariance matrix is verified through numerical simulations