Ketong Zheng

Data-Driven Koopman Operator-Based Error-State Kalman Filter for Enhanced State Estimation of Quadrotors in Agile Flight

Highly dynamic maneuvers pose a challenge to conventional state estimators of quadrotors in rapidly tracking the pose. This paper proposes a data-driven Koopman operator-based error-state Kalman filter (K-ESKF) to enhance pose estimation in agile flight. Our method uses the Koopman operator theory t…