Adaptive wind estimation, trajectory generation, and flight control for aerial systems using motion data

A computer-implemented method, comprising:

• performing adaptive wind estimation, by a computing system, by identifying aerodynamic drag coefficients in still-air flight of an aircraft and estimating wind components in moving and variable air based on the identified aerodynamic drag coefficients, the estimated wind components comprising wind velocities and accelerations;
• generating a feasible trajectory, by the computing system, based on the estimated wind components;
• generating motor and thrust commands, by the computing system, based on the generated feasible trajectory by determining center of gravity (CG) control of the aircraft and determining attitude control of the aircraft, wherein the motor and thrust commands compensate for wind disturbances;
• and
• controlling the aircraft based on the generated motor and thrust commands, by the computing system, wherein
• no information from one or more wind sensors is available to the computing system.

A computer-implemented method, comprising:

• performing adaptive wind estimation for an aircraft, by a computing system;
• generating a feasible trajectory, by the computing system, that takes the estimated wind components into account;
• generating motor and thrust commands, by the computing system, based on the generated feasible trajectory;
• and
• controlling the aircraft based on the generated motor and thrust commands, by the computing system,
• wherein the performing of the adaptive wind estimation comprises identifying aerodynamic drag coefficients in still-air flight of the aircraft and estimating wind components in moving and variable air based on the identified aerodynamic drag coefficients, the estimated wind components comprising wind velocities and accelerations.