C-ZUPT uses an uncertainty threshold to identify quasi-static equilibria in flight and feed precise velocity updates into the state estimator, cutting inertial drift and control effort for aerial platforms.
Dynam- ics modeling and control of a quadrotor with swing load
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C-ZUPT: Stationarity-Aided Aerial Hovering
C-ZUPT uses an uncertainty threshold to identify quasi-static equilibria in flight and feed precise velocity updates into the state estimator, cutting inertial drift and control effort for aerial platforms.