## State Estimation

The goal of this section is to provide an overview and intuitive introduction on the basic concepts of state estimation. State estimation for aerial robotics is the field that deals with the challenge of using on-board sensors and appropriate mathematical tools in order to estimate the vehicle state (typically the combination of position, velocity, orientation and angular velocity, while in more complicated cases we also estimate higher-order states).

Within the framework of this course we are mostly interested in state estimation systems that rely on inertial sensors and GPS feeds. Once introduced to these sensing modalities, a subsection on the concepts of Kalman FIlter follows. More specifically, this section contains the following subsections:

Within the framework of this course we are mostly interested in state estimation systems that rely on inertial sensors and GPS feeds. Once introduced to these sensing modalities, a subsection on the concepts of Kalman FIlter follows. More specifically, this section contains the following subsections:

- Inertial Sensors
- The Kalman Filter
- Inertial Navigation Systems