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Concept and Feasibility Evaluation of Distributed Sensor-Based Measurement Systems Using Formation Flying Multicopters

ORCID
0000-0002-7762-3113
Affiliation/Institute
Institute of Space Systems, Technische Universität Braunschweig
Yang, Juntang;
ORCID
0000-0001-5478-4638
Affiliation/Institute
Institute of Flight Guidance, Technische Universität Braunschweig
Khedar, Yogesh;
ORCID
0000-0002-8390-9302
Affiliation/Institute
Institute of Space Systems, Technische Universität Braunschweig
Ben-Larbi, Mohamed Khalil;
ORCID
0000-0001-8848-2144
Affiliation/Institute
Institute of Flight Guidance, Technische Universität Braunschweig
Backhaus, Jan;
ORCID
0000-0003-1414-1616
Affiliation/Institute
Institute of Flight Guidance, Technische Universität Braunschweig
Lampert, Astrid;
ORCID
0000-0003-4532-5274
Affiliation/Institute
Institute of Flight Guidance, Technische Universität Braunschweig
Bestmann, Ulf;
ORCID
0000-0002-4760-3445
Affiliation/Institute
Institute of Space Systems, Technische Universität Braunschweig
Stoll, Enrico

Unmanned aerial vehicles (UAVs) have been used for increasing research applications in atmospheric measurements. However, most current solutions for these applications are based on a single UAV with limited payload capacity. In order to address the limitations of the single UAV-based approach, this paper proposes a new concept of measurements using tandem flying multicopters as a distributed sensor platform. Key challenges of the proposed concept are identified including the relative position estimation and control in wind-perturbed outdoor environment and the precise alignment of payloads. In the proposed concept, sliding mode control is chosen as the relative position controller and a gimbal stabilization system is introduced to achieve fine payload alignment. The characterization of the position estimation sensors (including global navigation satellite system and real-time kinematics) and flight controller is carried out using different UAVs (a DJI Matrice M600 Pro Hexacopter and Tarot X4 frame based Quadcopter) under different wind levels. Based on the experimental data, the performance of the sliding mode controller and the performance of the gimbal stabilization system are evaluated in a hardware-in-the-loop simulation environment (called ELISSA). Preliminary achievable control accuracies of the relative position and attitude of subsystems in the proposed concept are estimated based on experimental results

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