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Meeting	ACGS Committee Meeting 109 - Salt Lake City - March 2012
Agenda Location	6 SUBCOMMITTEE E – FLIGHT, PROPULSION, AND AUTONOMOUS VEHICLE CONTROL SYSTEMS 6.2 Improving Quadrotor State Estimation
Title	Improving Quadrotor State Estimation
Presenter	Tim McLain
Affiliation	BYU
Available Downloads*	presentation
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Abstract	Improving Quadrotor State Estimation Tim McLain Abstract: This presentation examines the effect of using an improved dynamic model for quadrotor state estimation. The improved model correctly explains the measurements available from accelerometers on a quadrotor. We give a brief tutorial explaining what accelerometers measure during quadrotor flight, and we demonstrate how the correct modeling of those measurements leads to improved estimation. Estimates using this dynamic model are not only more accurate, they also require less frequent updates from computationally-expensive exteroceptive sensor updates, thus relaxing demands on the limited computing and power resources onboard a quadrotor.