Preprint Article Version 1 This version is not peer-reviewed

Spectrogram Analysis: An Approach to Identify The Quadrotor Thrust Model

Version 1 : Received: 17 August 2018 / Approved: 17 August 2018 / Online: 17 August 2018 (14:25:23 CEST)

How to cite: Brandão, A.; Pizetta, I.; Pizziolo, T.; Sarcinelli, M. Spectrogram Analysis: An Approach to Identify The Quadrotor Thrust Model. Preprints 2018, 2018080313 (doi: 10.20944/preprints201808.0313.v1). Brandão, A.; Pizetta, I.; Pizziolo, T.; Sarcinelli, M. Spectrogram Analysis: An Approach to Identify The Quadrotor Thrust Model. Preprints 2018, 2018080313 (doi: 10.20944/preprints201808.0313.v1).

Abstract

This paper deals with a non-contact method to identify the aerodynamic propeller parameters of the Parrot AR.Drone quadrotor. The experimental set consists in a camera recording the vehicle flights, the audio signal is extracted and is used a spectrogram analysis to estimates the propeller velocity. First, the aerial vehicle takes off and starts a hovering maneuver. The experiment is repeated with different additional masses attached to its rigid body. If the weight over the UAV increases/decreases, then the propeller must rotates faster/slower to produce a higher/lower thrust, and consequently, the sound frequency increases/decreases. Finally, this proposition is validated experimentally, and the estimated velocity is used to identify the quadrotor thrust parameters.

Subject Areas

UAV; Low-level Model; Velocity Measurement; Spectrogram

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