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.
Principles of GNSS, inertial, and multisen- sor integrated navigation systems, [book review]
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A tutorial analyzes error behavior in stationary levelled MEMS-IMU arrays versus time and sensor count, showing analytical models match experiments with gains in signal quality and navigation states.
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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.