On-board state estimation is a persistent challenge to fielding unmanned aerial systems (UAS). particularly when global positioning system (GPS) measurements are not available. The dominant estimation tool remains the extended Kalman filter (EKF) applied to an inertial measurement unit (IMU). The growing availability of low-cost commercial-grade IMUs raises questions about how to best... https://www.roneverhart.com/Farmhouse-Magnolia-Wreaths-Pick-Your-Size/