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arXiv · 2507.09344

C-ZUPT: Stationarity-Aided Aerial Hovering

Daniel Engelsman·Itzik Klein
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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.

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BibTeXRIS

Daniel Engelsman, Itzik Klein. 2025-07-12. C-ZUPT: Stationarity-Aided Aerial Hovering. https://doi.org/10.1109/taes.2025.3650499

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