Inflight Parameter Estimation Framework for Fixed-Wing UAV

Abstract

This paper presents the framework for real-time parameter estimation for fixed-wing UAV using commercial autopilot as data acquisition system. The airframe of RC aircraft was converted into inflight parameter estimation framework to estimate the parameters followed by system identification process using onboard sensors. The detailed methodology of flight instrumentation and selection of sensor is presented. The UAV was equipped with Pixhawk Autopilot platform with telemetry link to the GCS for gathering inflight data. The flight test was conducted for different control inputs, and corresponding flight data were obtained through telemetry and GCS. Also, process of system identification was discussed.