illustrates the situation where UAV initially at Xs given a
desired waypoint Xdes tracks to a final position of Xint in zero wind
conditions. When the UAV is subject to wind, the cross and
tail-wind components drive the final estimate to point X0
int . The
shaded region illustrates the UAV’s reachability in time step Dt
given wind W, where Duw is the skew in course attributed to
cross-wind which can be used as an ensemble disturbance estimate.
This can be given by