Experimental Study of Problem of Estrangement of AR. Drone Four Rotor Helicopter Velocity Parameter Calculated by the Internal IMU

In this paper, the velocity parameter obtained from the IMU (Internal Measurement Unit) in AR. Drone four rotor helicopter 1.0 was measured and analyzed, and it was found that the velocity parameter was calculated as an estrangement fashion when the drone touch against a wall with a slight impact. The IMU is one of the standard equipment of the drone system, since the information of acceleration and gyro sensors is indispensable for real-time stable posture controlling [1-7]. In addition, the velocity parameter is also estimating at the same time in the IMU, and it was typically used for the "space position" controlling and stabilizing process for drone controlling [1,8-16]. Since the IMU is developed and designed for multi-purpose use, high-frequency range of the acceleration and gyro sensors information was used for estimating the velocity parameter and it is afraid to do overestimation of the velocity especially when the drone collides against object such as wall or tree branches (Fig.1).Also, impacts from wind flow blasts would be afraid to do overestimation of the velocity. The main object of this paper is to compare the real velocity value measured from the camera on the ceiling with the IMU output estimated velocity parameter in the 𝑥 − 𝑦space in the room (Fig.2) to confirm the effect of the overestimation of the velocity parameter by the IMU.