# 模块参考：估计器

## AttitudeEstimatorQ

Source: [modules/attitude_estimator_q](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/attitude_estimator_q)

### 描述

Attitude and position estimator using an Extended Kalman Filter. It is used for Multirotors and Fixed-Wing.

### Usage {#AttitudeEstimatorQ_usage}

```
AttitudeEstimatorQ <command> [arguments...]
 Commands:
   start

   stop

   status        print status info
```

## wind_estimator

Source: [modules/airspeed_selector](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/airspeed_selector)

### 描述

This module provides a single airspeed_validated topic, containing indicated (IAS),
calibrated (CAS), true airspeed (TAS) and the information if the estimation currently
is invalid and if based sensor readings or on groundspeed minus windspeed.
Supporting the input of multiple "raw" airspeed inputs, this module automatically switches
to a valid sensor in case of failure detection. For failure detection as well as for
the estimation of a scale factor from IAS to CAS, it runs several wind estimators
and also publishes those.

### Usage {#airspeed_estimator_usage}

```
airspeed_estimator <command> [arguments...]
 Commands:
   start

   stop

   status        print status info
```

## ekf2

Source: [modules/ekf2](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/ekf2)

### 描述

基于扩展卡尔曼滤波器的姿态和位置估计器。 该模块同时应用于多旋翼和固定翼飞机。

The documentation can be found on the [ECL/EKF Overview & Tuning](https://docs.px4.io/main/en/advanced_config/tuning_the_ecl_ekf.html) page.

ekf2 can be started in replay mode (`-r`): in this mode, it does not access the system time, but only uses the
timestamps from the sensor topics.

### Usage {#ekf2_usage}

```
ekf2 <command> [arguments...]
 Commands:
   start
     [-r]        Enable replay mode

   stop

   status        print status info
     [-v]        verbose (print all states and full covariance matrix)

   select_instance Request switch to new estimator instance
     <instance>  Specify desired estimator instance
```

## local_position_estimator

Source: [modules/local_position_estimator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/local_position_estimator)

### 描述

基于扩展卡尔曼滤波器的姿态和位置估计器。

### Usage {#local_position_estimator_usage}

```
local_position_estimator <command> [arguments...]
 Commands:
   start

   stop

   status        print status info
```

## mc_hover_thrust_estimator

Source: [modules/mc_hover_thrust_estimator](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mc_hover_thrust_estimator)

### 描述

### Usage {#mc_hover_thrust_estimator_usage}

```
mc_hover_thrust_estimator <command> [arguments...]
 Commands:
   start

   stop

   status        print status info
```