Wind-disturbance and aerodynamic parameter estimation of an experimental Launched Micro Air Vehicle using an EKF-like observer

In this contribution we investigate the problem of wind disturbance and aerodynamic parameter estimation of a Gun-Launched Micro Air Vehicle (GLMAV) which is a new Micro Air Vehicle (MAV) concept, intended for outdoor flights, and using two-bladed coaxial contra-rotating rotors. A comprehensive GLMAV modeling is presented for hover and nearhover flight conditions and identified from experimental results. Hence we use a recent extension of the Extended Kalman Filter (EKF) with Sliding Window (EKFSW) to mainly improve the wind-disturbance estimation from very noisy accelerometer signals.