Comparison of the ground effect experimental results, proposed IGE model, Cheeseman and Bennett's model [48], Hayden's model [42], Danjun's model [10], and Nobahari and Sharifi's model [21]. Box and whisker plots at different heights represent the distribution of the IGE ratio at different PWM levels. Comparison of single rotor and full quadcopter IGE ratio is shown in the upper-right plot. Results are taken from fitting models to the experimental data.