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This paper presents a computationally efficient wind estimation method which can be run onboard a miniature Unmanned Aerial Vehicle. Estimated wind can be used to calculate parachute deploy position during automated parachute landing phase. The method involves flying in an orbit at drop zone for one round. We formulate wind estimation problem into a linear least square minimization problem. Structure of the problem allows all calculations to be done onboard a microcontroller. Simulation and flight test results are also discussed.

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