Dynamic Model Constrained Optimal Flight Speed Determination of Surveying UAV Under Wind Condition

Abstract

UAV (Unmanned aerial vehicle) has become an optimal platform for surveying and mapping applications. One of the most important performances of UAV is flight speed. It is a key factor to impact surveying safety and efficiency within the limited flight endurance. Researchers have not treated UAV's flight speed in much detail, only focus on the image motion in order to limit the maximum flight speed in path. In this paper, an optimal flight speed estimation method is proposed, which is according to the multicopter flight mechanics and aerial photogrammetry theories. Through this method, the energy consumption characteristics of surveying UAV in the field operation can be obtained. A safe and efficient flight speed also can be determined. To verify the feasibility of the method, different test scenarios are carried out in the SITL (Software in the loop) simulation and obtained promising results.