Characterization of the Aerodynamic Ground Effect and Its Influence in Multirotor Control

Figure 4

Ground effect for a full multirotor (quadrotor): experimental and theoretical results of the increment in the thrust generated by a quadrotor as a function of the distance to the ground plane in green error bar compared to the results for a single rotor in red error bar. The PFI approximations are represented in blue and black dashed lines, respectively.