Extended Data Fig. 10: Model with independently moving head and body.
From: Accommodating unobservability to control flight attitude with optic flow
a, Graphical illustration of a “honeybee” simulation model, in which the head and body rotate independently. The head determines the looking direction of the optic flow sensor, the body determines the thrust direction. For a detailed explanation, see Supplementary Information. b, Plot of the head (blue) and body (green) pitch angles over time, when the simulated insect attempts to have a lateral ventral flow of ωx = 0.5. Solid lines are estimates, dashed lines the ground truth. c, Estimated (solid) and true (dashed) velocity over time. d, Estimated and true height over time. e, Optic flow over time. f, Body and head rate over time. The head makes much smaller corrections. g, Observability degree over time.
