To discuss such contributions, the paper is hereinafter organized as follows: Section II presents the Parrot AR.Drone
2.0 quadrotor and its characteristics more important to the
understanding of the algorithms here proposed, whereas Section III briefly comment the state estimation strategy adopted
to fuse the sensorial data available from the AR.Drone
platform (Inertial Measures plus GPS data) in a KF implementation, inspired in some previous works of us [9], [13].