Guaranteed Quadrotor Position Estimation Based on GPS Refreshing Measurements∗

The application of two guaranteed estimation methods on the estimation of a quadrotor position is presented in this paper. A discrete time system model used for the position estimation is supposed, whereas GPS measurement is performed with greater sampling time. Firstly, guaranteed algorithms are applied in order to compute the feasible set of positions where the quadrotor is likely to be found. Subsequently, the estimation is corrected and improved by using the GPS sensor measurement.