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+## Sensors
+
+GPS: Accuracy: 3-5m, @2Hz
+
+Indoor: 1mm @ 200-500 Hz
+
+## Research
+
+[https://vision.in.tum.de/publications](https://vision.in.tum.de/publications)
+
+  
+
+## Geometry
+
+Invert, concatenate, estimate, optimize 3D orientation
+
+## Algorithms
+
+IMU Strapdown Algorithm
+
+Control Theory
+
+![Cascaded Control 
+Robot 
+Localization 
+Attitude Estimation 
+RPM Estimation 
+Sensors 
+Jürgen Sturm 
+Trajectory 
+Position Control 
+Attitude Control 
+Motor Speed Control 
+0.1 Hz 
+10 Hz 
+1 KHz 
+10 .000 
+Actuators 
+Quadrotor 
+Physical World 
+Kinematics 
+Dynamics 
+Autonomous Navigation for Flying Robots 
+17 ](Exported%20image%2020231126171859-0.png)  
+
+Watch out: The inner control loops must be around an order of magnitude faster than the outer ones, such that they appear "static". If not you can get interference between the two