Model-based attitude estimation for multicopters

The paper deals with model-based attitude estimation for multicopters and is mainly focused on investigation of accuracy degradation due to wind and inaccurate model parameters which are conditions always present when using in real world. At first the need for model-base estimation is motivated. Then the multicopter model is described. Based on the mathematical model of multicopter, the estimation algorithm utilizing the extended Kalman filter is constructed. The main contribution of the paper is the investigation of the negative impact of the wind and of inaccurate knowledge of the model parameters