arxivcs.RO2026-06-29
Wind and State Estimation on SE(3): Comparative Evaluation of EKF and UKF with Continuous and Discrete Quadrotor Models
Hiranya Udagedara, Adam Bigsby, Mahdis Bisheban
Use of quadrotor UAVs for wind velocity estimation is gaining popularity in recent studies, leveraging their maneuverability, compact size and low cost. Among available approaches, model-based wind velocity estimation is most commonly used, since it relies only on onboard sensors…