Research On Algorithm Of INS/GPS Integrated Navigation For UAVs

The objective of this thesis entitled “The Research on Algorithm of INS/GPS Integrated Navigation for UAVs” is to implement high degree cubature Kalman Filter with Huber technique for integrating measurements of GPS with the inertial navigation system measurements from gyros and accelerometers for determining together the position and velocity of the UAVs.Inertial navigation system and inertial measurements from IMU are integrated by the INS to attain a complete navigation solution and measurements from GPS are used to correct for the errors and avoid the drift of INS system.Huber based high Degree Cubature Kalman Filter is more computationally intensive and it's fictional to outperform than the extended Kalman filter and more robust to the initial error.Huber based high Degree Cubature Kalman Filter is used rather than linearization of extended Kalman filter.The formulation of filter is based on the standard inertial navigation system the parameterization is provided by a quaternion.Simulation results are shown to compare the performance of Huber based high Degree Cubature Kalman Filter,Cubature Kalman filter with a standard extended Kalman filter method and we can achieve that the Huber based high Degree Cubature Kalman Filter can achieve high accuracy than Cubature Kalman filter and extended Kalman filter.