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A Novel Robust Position Integration Optimization-Based Alignment Method for In-Flight Coarse Alignment.

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Summary
This summary is machine-generated.

This study introduces a robust alignment method for unmanned aerial vehicles (UAVs) using inertial navigation system/global navigation satellite system (INS/GNSS). The new approach ensures accurate alignment even with intermittent GNSS data, enhancing UAV navigation reliability.

Keywords:
OBA methodSINSin-flight alignmentrobust position integration formula

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Area of Science:

  • Aerospace Engineering
  • Navigation Systems
  • Robotics

Background:

  • In-flight alignment is crucial for INS/GNSS in UAVs.
  • Traditional methods require continuous GNSS velocity data, limiting applicability.
  • Prolonged GNSS outages pose challenges for UAV navigation.

Purpose of the Study:

  • To develop a robust in-flight alignment method for UAVs.
  • To overcome limitations of traditional methods during GNSS outages.
  • To enhance the engineering applicability of optimization-based alignment (OBA).

Main Methods:

  • Introduced a robust position integration optimization-based alignment (OBA) method.
  • Replaced GNSS velocity integration with GNSS position in the Earth-centered, Earth-fixed frame.
  • Validated through simulations and flight tests.

Main Results:

  • The new method demonstrates superior stability and robustness compared to conventional OBA.
  • Achieved an alignment accuracy of 0.2° even with partially invalidated GNSS data.
  • Significantly extends the applicability of OBA for in-flight alignment.

Conclusions:

  • The proposed robust position integration method effectively addresses GNSS unreliability.
  • This advancement improves the reliability and applicability of INS/GNSS in UAVs.
  • Enables more dependable navigation solutions for autonomous aerial systems.