Tightly Coupled INS / GPS with Bias Estimation for UAV Applications

  title={Tightly Coupled INS / GPS with Bias Estimation for UAV Applications},
  author={Michael George and Salah Sukkarieh},
This paper presents an analysis of a proposed tightly coupled Inertial/GPS navigation system for UAV applications. An indirect, error state extended Kalman filter is employed to estimate vehicle position, velocity, attitude and IMU bias errors. The indirect configuration linearises the state transition matrix and greatly reduces the required feedback frequency. Standard GPS C/A code pseudo-ranges are used directly to update the Kalman filter. The advantage of this configuration arises in… CONTINUE READING
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