Flight Data of A Quadrotor Launched in the Air while Learning its own Flight Model and Controller

These flight logs and simulation datafiles form the basis of the analysis of<br>[1] T. M. Blaha, E. J. J. Smeur, and B. D. W. Remes, “Control of Unknown Quadrotors from a Single Throw,” Jun. 17, 2024, arXiv.2406.11723. Accepted at IROS 2024[2] T. M. Blaha, E. J. J. Smeur, B. D. W. Remes, and C. C. de Visser “Flying a Quadrotor with Unknown Actuators and Sensor Configuration,” 2024, Accepted at IMAV 2024<br>They primarily show a small multirotor(s) response to1. being launched in the air to about 4 meters altitude (by a pre-programmed "catapult" flight-mode)2. forgetting its internal controller parameters [1]. Also forgetting the IMU orientation with respect to the actuators [2].3. being subjected to a sequence of motor commands according to [1]4. autonomous recovery to a position setpoint after the missing parameters have been identified and suitable control parameters have been calculated<br>The simulation data was generated with &lt;https://github.com/tudelft/indiflightSupport/tree/iros_imav_2024&gt; (snapshot also at &lt;http://doi.org/10.4121/a5fa60a7-805c-4e13-a65e-1c65454eaa53&gt;), which also contains the tools to reproduce the figures in the papers above.<br>More information on the craft is available at &lt;https://github.com/tudelft/indiflightSupport/wiki&gt;

本数据集包含飞行日志与仿真数据文件，为两篇学术论文的分析工作提供核心支撑：
[1] T. M. Blaha、E. J. J. Smeur与B. D. W. Remes，《仅通过单次投掷实现未知四旋翼飞行器控制》，2024年6月17日，arXiv:2406.11723，已被智能机器人与系统国际会议（IROS, Intelligent Robots and Systems）2024收录
[2] T. M. Blaha、E. J. J. Smeur、B. D. W. Remes与C. C. de Visser，《执行器与传感器配置未知的四旋翼飞行器飞行》，2024年，已被国际微型飞行器会议（IMAV, International Micro Air Vehicles Conference）2024收录

本数据集主要记录了小型多旋翼飞行器的如下响应过程：
1. 通过预设编程的“弹射”飞行模式，被发射至约4米高度的空中；
2. 丢失其内部控制器参数（参考文献[1]），同时丢失惯性测量单元（IMU, Inertial Measurement Unit）相对于执行器的安装方位信息（参考文献[2]）；
3. 按照参考文献[1]的设定接收一系列电机指令；
4. 在缺失参数被辨识、合适的控制参数计算完成后，自主恢复至位置设定点。

本仿真数据由<https://github.com/tudelft/indiflightSupport/tree/iros_imav_2024>生成（快照版本也可通过<http://doi.org/10.4121/a5fa60a7-805c-4e13-a65e-1c65454eaa53>获取），该仓库同时包含复现上述论文图表所需的工具代码。

有关该飞行器的更多信息可访问<https://github.com/tudelft/indiflightSupport/wiki>