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Autonomous crabbing by estimating wind using only GPS velocity

This paper presents a method to estimate steady wind and a maneuvering strategy for loitering under a strong, steady wind. The wind estimation uses Global Positioning System velocity only through a novel filter design without airspeed measurement. The wind estimate is then used to guide the aircraft to crab in a direction perpendicular to the wind, thereby avoiding large changes in flight variables if an orbit-type maneuver is attempted. The proposed method is demonstrated through flight tests.