Modelling of Ground and Ceiling Effects for Quadcopters Based on Experimental Data

This work is focused on the identification of a model based on experimental results for ground and ceiling effects for small scale quadrotors. Experiments are conducted using a fixed test bed and a force-torque sensor that measures the total thrust of a quadcopter when placed at different distances from horizontal surfaces. Two propeller sizes (10"x4.7" and 12"x5") are considered at constant pressure and temperature conditions of 1000 mbar and 20°C, respectively. Two different modelling approaches are proposed: an exponential parametric curve fitting method and a Gaussian Process regression method. Results are compared to ground effect models present in literature. We present novel ground and ceiling parametric models in which the out-of-ground/out-of-ceiling thrust is explicitly modelled. Moreover, an approach based on Gaussian process regression is explored, showing its potential for UAV applications.