An improved model aided navigation method with online dynamics parameters estimation for multirotor UAV (IEEE CGNCC)

In recent years, multi rotorcraft is widely used in monitoring and investigation field in the near ground environment. At present, inertial / GPS / magnetic sensor/barometric altimeter integrated navigation scheme is usually used in multi rotorcraft. Velocity information in this scheme is of great dependence on GPS, and the velocity error will diverge rapidly in GPS-denied circumstance. In this paper, the reliability improvement of navigation system is investigated in the case of GPS failure. An online aerodynamic parameters estimation method of multi rotorcraft ADM aided navigation is presented. And the feasibility of the method is verified through observability analysis. Simulation results show that the method proposed in this paper can effectively improve the estimation accuracy of velocity.