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

Figure 6

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 (green) compared to the results for a single rotor (red). Five experiments have been performed at each distance; the error bar represents the standard deviation. PFI approximations are represented in the blue dashed line for quadrotor with body lift term (see (4)) and black dashed line for one rotor (see (2)).