{"ID":2895467,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2507.09344","arxiv_id":"2507.09344","title":"C-ZUPT: Stationarity-Aided Aerial Hovering","abstract":"Autonomous systems across diverse domains have underscored the need for drift-resilient state estimation. Although satellite-based positioning and cameras are widely used, they often suffer from limited availability in many environments. As a result, positioning must rely solely on inertial sensors, leading to rapid accuracy degradation over time due to sensor biases and noise. To counteract this, alternative update sources-referred to as information aiding-serve as anchors of certainty. Among these, the zero-velocity update (ZUPT) is particularly effective in providing accurate corrections during stationary intervals, though it is restricted to surface-bound platforms. This work introduces a controlled ZUPT (C-ZUPT) approach for aerial navigation and control, independent of surface contact. By defining an uncertainty threshold, C-ZUPT identifies quasi-static equilibria to deliver precise velocity updates to the estimation filter. Extensive validation confirms that these opportunistic, high-quality updates significantly reduce inertial drift and control effort. As a result, C-ZUPT mitigates filter divergence and enhances navigation stability, enabling more energy-efficient hovering and substantially extending sustained flight-key advantages for resource-constrained aerial systems.","short_abstract":"Autonomous systems across diverse domains have underscored the need for drift-resilient state estimation. Although satellite-based positioning and cameras are widely used, they often suffer from limited availability in many environments. As a result, positioning must rely solely on inertial sensors, leading to rapid ac...","url_abs":"https://arxiv.org/abs/2507.09344","url_pdf":"https://arxiv.org/pdf/2507.09344v1","authors":"[\"Daniel Engelsman\",\"Itzik Klein\"]","published":"2025-07-12T16:44:35Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}