State Estimator

The Reflex employs an Unscented Kalman Filter (UKF) for determining the state of the drone based on various sensor inputs. The following section outlines the configuration of the various sensors that influence the state estimator.

Sensor Selection

Here, users can configure which sensors to use for different state estimations.

Heading

Users have the flexibility to choose between a magnetometer-based setup or a dual GNSS setup for heading estimation.

For selecting the heading estimation method, please navigate to the following location:

Web Interface: Settings > State Estimator > Sensor Selection > Heading

If GNSS heading is chosen as the heading estimation method, it's essential to configure the GNSS heading setup:

Web Interface: Settings > State Estimator > GNSS > GNSS Heading Setup

Note: If Mocap is used for position estimation, heading is automatically derived from the Mocap data.

Position

The Reflex supports both motion capture systems and GNSS for position estimation. The user may select the desired position source here:

Web Interface: Settings > State Estimator > Sensor Selection > Position