Minimization of GNSS-Denied Inertial Navigation Errors for Fixed Wing Autonomous Unmanned Air Vehicles
Eduardo Gallo,
Antonio Barrientos
Abstract:This article proposes an inertial navigation algorithm intended to lower the negative consequences of the absence of GNSS (Global Navigation Satellite System) signals on the navigation of autonomous fixed wing low SWaP (Size, Weight, and Power) UAVs (Unmanned Air Vehicles). In addition to accelerometers and gyroscopes, the filter takes advantage of sensors usually present onboard these platforms, such as magnetometers, Pitot tube, and air vanes, and aims to minimize the attitude error and reduce the position d… Show more
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