GPS/INS Performance Enhancement for UAVs

这个由NSERC Engage赞助的项目侧重于通过研究和开发新技术来提高GPS/INS导航方法的可靠性和保真度，从而推进当前无人飞行器（UAV）位置和姿态估计领域的最新技术。GPS/INS导航涉及到惯性导航测量的融合，例如来自速率陀螺仪的测量和GPS测量，以便生成无人机的位置和姿态估计。这种位置和姿态估计对无人机的控制至关重要。NSERC参与的目的是开发一种紧密耦合的GPS/INS导航系统、滑动窗口滤波器和实时运动学估计方法，以更好地估计无人机的位置和姿态。与ARA Robotique一起，提出的算法将在ARA Robotique无人机上实现并进行实验测试。

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.