Modeling and Identification of Quadrotor Dynamics affected by Wind Stress

This paper presents an approach to wind stress estimation and wind impact modeling using data collected onboard a quadrotor drone. First, wind force and wind velocity are derived based on experimental data obtained in varying wind conditions. Second, a wind disturbance is characterized by exploiting an auto-regressive moving average with an exogenous input (ARMAX) model. Lastly, validation of the methodologies presented for wind estimation and disturbance modeling is proposed using a baseline control architecture, which was designed for calm air conditions.