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.
Stabilized controller design for attitude and altitude controlling of quad-rotor under disturbance and noisy conditions
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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.