Calculating Quadcopter state based on motor speeds (without sensors)

Hi!

I've seen people create simulations for quadcopters where they calculate the drone's state (attitude and location) based on the motor speeds.

I was wondering if theoretically, the quadcopter's state could be calculated during a live flight, not using any sensors, but by using only the motor speeds. (I know this wouldn't be very practical because it would mean neglecting exterior forces like wind, but I'm just wondering if theoretically it could be done).

Thanks in advance!

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