Drone Swarm Operating and Monitoring System for States Error Compensation

Abstract

There have been many studies trying to solve existing research topics using multiple drones instead of one. This is because multiple drones are better than a single drone to perform missions more efficiently and perform complex missions. To operate a swarm drone, it consumes a lot of resources only by its size and scale. Since the scale cannot be reduced, the overall burden decreases when a small drone is operated. However, a small-sized drone has a lot of problems with rtk-gps, magnetometer noise, RF/ESC noise, and motor vibration. For these reasons, there are cases where state estimation is not properly performed. In this paper, therefore, we propose a system that can perform swarm flight using such a small drone, monitor the state error of each drone, and correct it. © 2021, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.