運動方程式の直接当てはめによるＲＰＲＶの慣性能率の推定について

A method for the estimation of the moments of inertia of small aircraft such as Remotely-Piloted Research Vehicles (RPRVs) has been developed. When both the moments acting on a vehicle pivoted at or near its C. G. and its angular accelerations are measured simultaneously, the moments of inertia can be estimated by directly fitting the equations of motion to the measured data with multiple regression. This method, which is a variation of the equation error method for parameter identification, has great advantages over the usual output error method, in the sense that the existence of the structure which holds the vehicle has nothing to do with the measurement accuracy, and that the integration of the equations of motion is not necessary. The result of our experiments shows the accuracy and ease of application of the method.