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 degrees 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.