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We propose a nonlinear observer to estimate the state (orientation andin-plane velocity vector) of the quadrotor, based on a drag-force-enhancedmodel. It is an alternative to recent works using a similar model together withan Extended Kalman Filter (EKF). But while enjoying the benefits of an enhancedmodel, it does not have the usual drawbacks of an EKF: indeed, thecomputational cost is much lower, the tuning is easier, and above all theguaranteed domain of convergence is very large.

A semi-global model-based state estimator for the quadrotor using only inertial measurements