Noise covariance identification using autocovariance least-squares technique for state estimation of quadrotor

When estimating the state of a quadrotor, information about the noise, especially the noise covariances are necessary. In this paper, the autocovariance least-square (ALS) method is applied to identify the process and measurement noise covariance in the model of the quadrotor. The identified covariances are used in the EKF program to get the filtered values of the state variables. The simulation results show that the filtered values are close to the true values.