GPS/INS Performance Enhancement for UAVs

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This NSERC Engage sponsored project focuses on advancing the current state-of-the-art in the field ofunmanned arial vehicle (UAV) position and attitude estimation through research and development of newtechniques to increase the reliability and fidelity of GPS/INS navigation methodologies. GPS/INS navigationinvolves the fusion of inertial navigation measurements, such as those from a rate gyro, and GPS measurementsin order to generate a UAV position and attitude estimate. This position and attitude estimate is critical forcontrol of the UAV. The purpose of this NSERC Engage is to develop a tightly -coupled GPS/INS navigationsystem, a sliding window filter, and a real-time kinematic estimation method to better estimate the position andattitude of a UAV. In conjunction with ARA Robotique, the proposed algorithms will be implemented andexperimentally tested on ARA Robotique UAVs.