Sensor fusion and state estimation

Sensor fusion and state estimation represent an important part of flight controller algorithms, as this is the function that helps the drone combine all the data coming into it via the IMU, compass, and GPS; the system then makes a decision on the exact value to velocity, speed, altitude, direction, and angular acceleration. This data is important, as it helps the flight controller to make calculated decisions in terms of maneuverability:

Figure 5.5 – The concept of sensor fusion

The state estimation algorithms take data from the accelerometer and GPS co-ordinates, fuse them together, conduct a sanity check, and pass them to the flight controller, who observes the current acceleration and speed of the drone. Sensor fusion also takes care of errors in the reading of some sensors and ignores them in the decision-making process.