In this paper, the authors present the performance analysis of a Vertically Offset Overlapped Propulsion System (VOOPS)-based quadrotor in an aerial mapping mission. The dynamic model of the VOOPS quadrotor with the effect of overlapping propellers and the profile drag has been derived and simulated. A path-tracking mission is taken as an example for aerial survey. The controller used for this task is presented, followed by the response study of the attitude and the position controller with standard test inputs. A graphical interface has been built to select the area to be mapped by defining a polygon around it, and waypoints for lawn-mower type survey grid were generated based on the direction of wind. The path-tracking algorithm is presented along with course correction and simulations were performed with both conventional and VOOPS quadrotor. An experimental vehicle based on the proposed VOOPS concept has been built, tested on the same path, and the results are discussed. The results show that the VOOPS quadrotor is capable of performing the aerial mapping mission with quick response and good accuracy.

中文翻译：

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基于垂直偏置重叠推进系统的四旋翼航空测绘任务性能分析

在本文中，作者介绍了基于垂直偏移重叠推进系统 (VOOPS) 的四旋翼飞行器在航空测绘任务中的性能分析。推导并模拟了具有重叠螺旋桨和剖面阻力影响的VOOPS四旋翼动力学模型。以航测任务为例进行路径跟踪任务。介绍了用于此任务的控制器，然后是姿态的响应研究和具有标准测试输入的位置控制器。建立了一个图形界面，通过在其周围定义一个多边形来选择要绘制的区域，并根据风向生成割草机类型调查网格的航路点。介绍了路径跟踪算法以及航向校正，并使用传统和 VOOPS 四旋翼飞行器进行了模拟。已经建立了基于所提出的 VOOPS 概念的实验车辆，并在相同的路径上进行了测试，并对结果进行了讨论。结果表明，VOOPS四旋翼飞行器响应速度快，精度好，能够完成航测任务。