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The developed test bench of tightly coupled GPS/INS integrated navigation system for an airborne vehicle was analyzed herein. From the obtained result, the performance of developed integrated navigation and workflow of the scheme is found correct. Particular attention was focused on the ability of the navigation filter to identify and remove the IMU errors. Along the UAV trajectory the performance of integrated navigation is found to be consistent. Velocity corrections exhibited to be somewhat inefficient, however in the medium accuracy IMU and low-grade GPS, the measurement did not permit the desired level of accuracy. Future work for solving the above-mentioned problems to further improve the performance of integrated navigation is required.
Date of Publication: April 2012