Experimental Test Bench for Multirotor UAVs

Abstract

Development of methods of state estimation and control for multirotor micro UAVs is often a long and troublesome process. In many cases, various devices that allow to test and evaluate solutions in safe, controllable environment are used. This paper presents a design of custom test bench for unmanned multirotor aerial vehicles. Developed device provides a intermediate step between simulation phase and test flights, where some of basic properties of flight can be evaluated. Thanks to fixing the vehicle on a triaxial gimbal, it is possible to simulate its behaviour during flight scenarios. Set of precise encoders, mounted on every axis, delivers ground truth data about vehicle’s attitude. Solutions that allow to precisely synchronize data from both sources, the test bench and multirotor’s on-board sensors, are presented. Custom PC software provides functionality of storing and presenting gathered data. The whole systems is a low-cost, easy to replicate solution, with simple components manufactured using FDM 3D printing technology. The test bench has been evaluated as helpful tool in development of various aerial platforms. In addition, the system can serve in teaching the basics of automatic control in aerial vehicles.