Parametric Sensitivity Analyses for Dynamics-Based Quadrotor Navigation
11th International Conference on Recent Advances in Air and Space Technologies, Conference Program, RAST 2026, İstanbul, Türkiye, 13 - 15 Mayıs 2026, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/rast69551.2026.11672369
- Basıldığı Şehir: İstanbul
- Basıldığı Ülke: Türkiye
- Anahtar Kelimeler: dynamics-based navigation, GNSS-denied, parameter uncertainty, quadrotor, sensitivity analysis, VDM-based navigation, vehicle dynamics model
- Orta Doğu Teknik Üniversitesi Adresli: Evet
Özet
A sensitivity analysis of the quadrotor vehicle dynamics model (VDM) parameters is conducted for dynamics-based navigation in GNSS-denied environments. The effects of parameter uncertainties and rotor-speed measurement noise on navigation accuracy are quantified. Independent perturbations of model parameters are assessed using Monte Carlo simulations, and the resulting errors are analyzed. Dominant error sources in position, velocity, and attitude estimation are ranked. Results indicate that the thrust coefficient and vehicle mass are primary contributors to vertical navigation errors, while horizontal errors are mainly affected by the thrust coefficient and rotor torque coefficient. Rotor-speed measurement noise exceeds all other error sources, leading to significant navigation degradation even with ideal model parameters. Additionally, trajectory structure is shown to substantially influence observed sensitivity due to cancellation effects. These results inform parameter calibration for dynamics-based navigation systems.