The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method

Table 1

Parameters used in the verification experiments.

Parameter	Description	Value	Units
𝑔	Gravity	9.81	m/s^2
𝑚	Mass	1.17	kg
𝑙	Distance between CoG and motor	0.25	m
ℎ	Distance between CoG and propeller plane	0.05	m
𝐼𝑥𝑥	Roll inertia	1.27×10^−2	kg·m^2
𝐼𝑦𝑦	Pitch inertia	1.27×10^−2	kg·m^2
𝐼𝑧𝑧	Yaw inertia	2.29×10^−2	kg·m^2
𝐽𝑟	Rotor inertia	3.8×10^−5	kg·m^2
𝑘𝑇	Thrust coefficient	2.1×10^−5	N·s^2
𝑘𝑄	Drag coefficient	1.2×10^−6	N·s^2
𝜏	Motor time constant	0.09	s
𝑘𝛼	Velocity to angle constant	6.1×10^−3	rad·s/m
𝑘𝛽	Angle to moment constant	6.1×10^−3	N·m/rad
𝐴𝑐	Active area	0.25	m^2
𝜌	Air density	1.205	kg/m^3
𝐶	Damping coefficient	0.09