## 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