Comparative evaluation finds that discrete SE(3) quadrotor dynamics paired with UKF yield higher wind estimation accuracy than continuous models or EKF during hovering, trajectory tracking, and outdoor flights.
Wind field estimation using multiple quadcopters,
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Wind and State Estimation on SE(3): Comparative Evaluation of EKF and UKF with Continuous and Discrete Quadrotor Models
Comparative evaluation finds that discrete SE(3) quadrotor dynamics paired with UKF yield higher wind estimation accuracy than continuous models or EKF during hovering, trajectory tracking, and outdoor flights.