Autonomous Flight Implementation of Flapping Wing Aerial Vehicle with Data Driven Mathematical Modal Formation using Wireless onboard Telemetry

Flapping wing aerial vehicles are nowadays in demand due to surveillance, civil needs, espionage and border missions.A lot of challenges exists in the development of autonomous flight missions for the flapping wing aerial vehicles which weigh less than 2 kg. This research focused on the development of data driven control system mathematical model and implementation on flapping wing platform in order to realize the autonomous flight.In this research,behavior of flapping wing aerial system is investigated using inertial measurement unit, barometer, GPS and wireless telemetry. In order to develop the mathematical model estimation as we utilized the real time telemetry data by doing flights in the fields.System parameters data was feed back to ground station with wireless telemetry which would do processing of the data to develop the mathematical model for the pitch, roll, yaw and height control behavior. Instead of relying on the theoretical mathematical models, which often are challenging to implement due to a lot complex mathematical calculations involved, system identification approach has been utilized and practically implemented with successful results. Index Terms—Mathematical Modeling , Autonomous Flight,Wireless Sensors, PID Controller, Linear Feedback Control, Flapping Bird,Ground Control Station.