Abstract: This paper presents the design and testing of an innovative approach to the navigation of fixed wing Unmanned Aerial Vehicles (UAVs) using a Vehicle Dynamic Model (VDM) based, tightly coupled INS/GNSS architecture. The investigation focuses on lowmass (sub 30 kg) and low cost (sub $12,000) applications. Using control inputs from the autopilot combined with knowledge of the vehicle dynamics, an error state extended kalman filter is used to fuse raw GNSS observables and Micro-Electro-Mechanical Systems (MEMS) grade Inertial Measurement Unit (IMU)...
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Topics: 
Real-time computing
Simulation