The main role is played by the adaptive filter (Adaptive Filter). It is made on an adaptive lattice filter (Adaptive lattice filter). Using this filter, estimates of the required parameters are obtained with the smallest error and extreme speed. Due to this, it turns out low inertia, high accuracy of control, low processing delay, it is possible to do aerobatic maneuvers, to control the drone in sport mode, with a slight effect of hand shake.
The filter is based on the correlation method (generalized autocorrelation method). This method is generalized by David I. Lekhovytskiy for general correlation matrices. On the basis of the adaptive lattice filter (Adaptive lattice filter) a quasi-optimal filter is constructed to combat noise and noise.