In-flight data acquisition and flight testing for system identification of flapping-wing MAVs

J. V. Caetano*, S. F. Armanini, M. Karásek

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

1 Citation (Scopus)
123 Downloads (Pure)


Although flapping-wing micro aerial vehicles have become a hot topic in academia, the knowledge we have of these systems, their force generation mechanisms and dynamics is still limited. Recent technological advances have allowed for the development of free flight test setups using on-board sensors and external tracking systems, for system identification purposes. Nevertheless, there is still little knowledge about the system requirements, as well as on how to perform free flight test experiments, and process the collected data. The present article presents the guidelines for flapping-wing micro aerial vehicle free flight testing. In particular, it gathers information produced by different studies and provides the best practices for the proper system dimensioning, system setup, on-board sensors, maneuver input design, error analyses and data post-processing, for the reconstruction of the forces and moments that act during free flight of a flapping-wing robot, for system identification and modeling purposes. Furthermore, this article compares the results obtained using external optical position tracking systems with on-board and external sensor fusion, and provides suitable solutions and methods for data fusion and force reconstruction.

Original languageEnglish
Title of host publication2017 International Conference on Unmanned Aircraft Systems, ICUAS 2017
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages10
ISBN (Electronic)9781509044948
Publication statusPublished - 25 Jul 2017
Event2017 International Conference on Unmanned Aircraft Systems - Miami, United States
Duration: 13 Jun 201716 Jun 2017


Conference2017 International Conference on Unmanned Aircraft Systems
Abbreviated titleICUAS 2017
Country/TerritoryUnited States


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