Quadrotors and Accelerometers: State Estimation with an Improved Dynamic Model

@article{Leishman2014QuadrotorsAA,
  title={Quadrotors and Accelerometers: State Estimation with an Improved Dynamic Model},
  author={Robert Leishman and John Macdonald and Randal W. Beard and Timothy W. McLain},
  journal={IEEE Control Systems},
  year={2014},
  volume={34},
  pages={28-41}
}
Results are presented that quantify how velocity and attitude estimates can benefit from an improvement to the traditional quadrotor dynamic model. The improved model allows accelerometer measurements, which are routinely available at high rates, to reduce an estimator's dependence on complex exteroceptive measurements, such as those obtained by an onboard camera or laser range finder. 
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