无需手动调参，扔飞后自动校准四旋翼的传感器与电机配置。
Flying a Quadrotor with Unknown Actuators and Sensor Configuration
- 通过两次抛掷动作，自动估计IMU位置、旋转方向及电机推力朝向。
- 仅需1米高度抛掷即可完成关键参数估计，支持快速恢复稳定悬停。
- 适用于未知配置的四旋翼，适合快速部署与自主调试场景。
尽管多旋翼无人机的控制算法已成熟，但飞行控制参数的配置、估计与调优仍耗时耗力。此前工作表明，可在短时间内识别多旋翼的控制效能与电机动态，使其在被抛起4米后仍能恢复稳定悬停。本文进一步扩展该方法，实现对惯性测量单元（IMU）相对于重心（CoG）的位置、IMU旋转姿态、所有电机推力方向及最优合力方向的联合估计。为确保IMU位置估计正确，需进行两次带不同轴向旋转的抛掷-回收动作，最低只需1米高度。四旋翼飞行实验验证了该方法的有效性；仿真结果表明其可推广至具有多种可能悬停姿态的全驱动飞行器。
原文摘要 · Abstract (English)
Though control algorithms for multirotor Unmanned Air Vehicle (UAV) are well understood, the configuration, parameter estimation, and tuning of flight control algorithms takes quite some time and resources. In previous work, we have shown that it is possible to identify the control effectiveness and motor dynamics of a multirotor fast enough for it to recover to a stable hover after being thrown 4 meters in the air. In this paper, we extend this to include estimation of the position of the Inertial Measurement Unit (IMU) relative to the Center of Gravity (CoG), estimation of the IMU rotation, the thrust direction of all motors and the optimal combined thrust direction. In order to guarantee a correct IMU position estimation, two prior throw-and-catches of the vehicle with spin around different axes are required. For these throws, a height as low as 1 meter is sufficient. Quadrotor flight experimentation confirms the efficacy of the approach, and a simulation shows its applicability to fully-actuated crafts with multiple possible hover orientations.
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