GPS/INS Performance Enhancement for UAVs

该NSERC Engage赞助项目的重点是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，从而推进无人机（UAV）位置和姿态估计领域的当前最先进技术。GPS/INS导航是将惯性导航测量值（如速率陀螺测量值）与GPS测量值进行融合，以产生无人机的位置和姿态估计值。这种位置和姿态估计对于无人机的控制至关重要。NSERC Engage的目的是开发一种紧密耦合的GPS/INS导航系统、一种滑动窗口滤波器和一种实时运动估计方法，以更好地估计无人机的位置和高度。结合ARA Robotique，所提出的算法将在ARA Robotique无人机上实施和实验测试。

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.