Concept and Feasibility Evaluation of Distributed Sensor-Based Measurement Systems Using Formation Flying Multicopters

Unmanned aerial vehicles (UAVs) have been used for increasing research applications in atmospheric measurements. However, most current solutions these are based on a single UAV with limited payload capacity. In order to address the limitations of UAV-based approach, this paper proposes new concept measurements using tandem flying multicopters as distributed sensor platform. Key challenges proposed identified including relative position estimation and control wind-perturbed outdoor environment precise alignment payloads. concept, sliding mode is chosen controller gimbal stabilization system introduced achieve fine alignment. The characterization sensors (including global navigation satellite real-time kinematics) flight carried out different UAVs (a DJI Matrice M600 Pro Hexacopter Tarot X4 frame Quadcopter) under wind levels. Based experimental data, performance evaluated hardware-in-the-loop simulation (called ELISSA). Preliminary achievable accuracies attitude subsystems estimated results.