# Quadrotor Dead Reckoning with Multiple Inertial Sensors

arXiv: https://arxiv.org/abs/2310.13452 · HTML: https://mlsanity.com/paper/2310.13452/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Oct 2023.

## Built on by (most cited first, 1 of 1)

- [Data-Driven Gyroscope Calibration](https://mlsanity.com/paper/2410.12485/) (2024)

## Abstract (arXiv)

Quadrotors are widely used for surveillance, mapping, and deliveries. In several scenarios the quadrotor operates in pure inertial navigation mode resulting in a navigation solution drift. To handle such situations and bind the navigation drift, the quadrotor dead reckoning (QDR) approach requires flying the quadrotor in a periodic trajectory. Then, using model or learning based approaches the quadrotor position vector can be estimated. We propose to use multiple inertial measurement units (MIMU) to improve the positioning accuracy of the QDR approach. Several methods to utilize MIMU data in a deep learning framework are derived and evaluated. Field experiments were conducted to validate the proposed approach and show its benefits.