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Real-Time Estimation of Remaining UAV Flight Time Based on the Total Energy Balance

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WKH WRWDO FKDQJH LQ PHFKDQLFDO HQHUJ\ LV GHILQHG WR EH WKH VXP RI WKH FKDQJHV RI NLQHWLF DQG SRWHQWLDO HQHUJLHV

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ΔEmechanical= Emechanical,f− Emechanical,0= (Kf+ Uf) − (K0+ U0) 

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Wtotal[A, B] =  B A F total ·d→r=  B A ⎛ ⎝ i Fcons,i+  j F total non−cons,j⎠ · d→r = i  B A Fcons,i·d

r +Wnon−cons[A, B]

= −ΔUtotal+ W

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total 

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Referências

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