The assignment is based on the thesis “Separation of Interaction Wrench and Wind Disturbances from Wrench Observer in Fully-Actuated UAVs” [1]. The thesis describes a problem, where a physical interaction between a UAV and the environment is investigated. More specifically, the problem is that it is diÿcult to precisely detect the wind disturbance during flight, and separate it from the interaction wrench (force and torque).
As the thesis focused on Blind Signal Separation (BSS) using Individual Component Analysis (ICA), it is the goal of this assignment to challenge the used methodology by performing the calculations using frequency analysis, as well as comparing results with other BSS methods.