The paper addresses the analysis of a loosely coupled Inertial/GPS navigation system suitable for small UAVs applications. In order to provide a complete solution in terms of vehicle’s attitude, velocity, and position and sensors biases two different Extended Kalman Filters (EKFs) are implemented. Mathematical description as well as numerical and experimental results are presented.

Coupled GPS/INS integration for Unmanned Aerial Vehicle Applications

GIULIETTI, FABRIZIO;
2009

Abstract

The paper addresses the analysis of a loosely coupled Inertial/GPS navigation system suitable for small UAVs applications. In order to provide a complete solution in terms of vehicle’s attitude, velocity, and position and sensors biases two different Extended Kalman Filters (EKFs) are implemented. Mathematical description as well as numerical and experimental results are presented.
Proceedings of the International Symposium on Light Weight Unmanned Aerial Systems and Subsystems
1
9
F. Giulietti; M. Turci
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11585/85990
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