Patent US 11,548,628

An interference sensor dataset associated with interference between airflows from at least two rotors in a multicopter and a first isolated sensor dataset and a second isolated sensor dataset which are associated with isolated airflows from a first rotor and a second rotor in the multicopter, respectively, are received. A generalized flow model associated with a generalized rotor is received. An altitude for the multicopter is generated based at least in part on the interference sensor dataset, the first isolated sensor dataset, the second isolated sensor dataset, and the generalized flow model, including by using a non-linear filter that builds a consolidated probability function associated with altitude that reconciles the interference sensor dataset, the first isolated sensor dataset, and the second isolated sensor dataset with the generalized flow model.