DronePropA: Motion Trajectories Dataset for Commercial Drones with Defective Propellers

This data article introduces a comprehensive dataset composed of motion trajectories and flight logs of 130 experimental indoor flights. The faulty propellers involve three fault types for all trajectories: an edge cut, a crack, and a surface cut. In addition, there are three fault severity levels for each type. The first trajectory is a cross shape, where the drone moves back and forth along the diagonals of a 1x1m square. The second trajectory is square-shaped, with the drone following the four edges of a 1x1m square. In the third trajectory, the drone ascends in increments of 0.2m from an altitude of 0.2m to 0.8m, while in the fourth, it climbs directly from 0.2m to 0.8m. Finally, the fifth trajectory involves a yawing maneuver, with the drone rotating by 45, -45, 90, and -90 degrees. The main experiments are conducted on one drone, covering all nine combinations of fault types and severity levels, as well as the healthy condition, at two maximum translational and yawing speeds respectively: (0.33 m/s, 0.52 rad/s) and (2.00 m/s, 3.14 rad/s). Each healthy case is repeated three times. Additionally, two other drones in healthy condition are tested across all trajectories at the maximum speed of (2.00 m/s, 3.14 rad/s). DronePropA is the first batch of flight tests, and additional batches will be published for outdoor conditions and additional fault types.

本数据论文介绍了一套涵盖130次室内飞行实验的运动轨迹与飞行日志的综合数据集。该数据集针对全部飞行轨迹设置了三类螺旋桨故障类型：边缘切损、裂纹与表面切损，且每种故障类型均设有三个严重程度等级。五条飞行轨迹分别为：第一条为十字形轨迹，无人机沿1米×1米正方形的对角线往复飞行；第二条为方形轨迹，无人机沿1米×1米正方形的四条边飞行；第三条轨迹中，无人机从0.2米高度以0.2米为步长逐步攀升至0.8米；第四条轨迹则直接从0.2米爬升至0.8米；第五条为偏航机动轨迹，无人机依次旋转45°、-45°、90°与-90°。主体实验使用单台无人机开展，覆盖故障类型与严重程度等级的全部9种组合，以及健康工况，分别设置两组最大平飞与偏航速度：(0.33 m/s, 0.52 rad/s) 与 (2.00 m/s, 3.14 rad/s)。每个健康工况均重复三次。此外，另有两台健康状态的无人机在(2.00 m/s, 3.14 rad/s)的最大速度下完成全部轨迹测试。本数据集为首批次飞行测试成果（命名为DronePropA），后续将发布针对室外工况与新增故障类型的后续批次数据集。