Aerodynamic forces in air ducts

Air ducts are integral to modern buildings but are challenging to access for inspection. Small quadrotor drones offer a potential solution, as they can navigate both horizontal and vertical sections and smoothly fly over debris. However, hovering inside air ducts is problematic due to the air flow generated by the rotors, which recirculates inside the duct and destabilizes the drone, whereas hovering is a key features for many inspection missions. In this dataset, we map the aerodynamic forces that affect a hovering drone in a duct using a robotic setup and a force/torque sensor. The dataset includes the preprocessing and processing scripts.