Embedded UAV model and LASER aiding techniques for inertial navigation systems
JF Vasconcelos, C Silvestre, P Oliveira… - Control Engineering …, 2010 - Elsevier
This work proposes the integration of two aiding information sources to enhance the
performance of inertial navigation systems (INS), for precise maneuvering of uninhabited air
vehicles (UAVs). A new methodology is derived to exploit vehicle dynamics (VD) information
by embeding the VD equations directly in an extended Kalman filter architecture. In this
technique, the INS estimates are propagated simultaneously using the VD and the INS
differential equations, allowing for the estimation of the INS errors. The proposed technique …
performance of inertial navigation systems (INS), for precise maneuvering of uninhabited air
vehicles (UAVs). A new methodology is derived to exploit vehicle dynamics (VD) information
by embeding the VD equations directly in an extended Kalman filter architecture. In this
technique, the INS estimates are propagated simultaneously using the VD and the INS
differential equations, allowing for the estimation of the INS errors. The proposed technique …
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