INS/Baro integration for INS vertical channel based on adaptive filter algorithm

The information of INS vertical channel is key to control small UAV (Unmanned Air Vehicle). This paper studies the integration of INS/Baro-altimeter based on Kalman filter algorithm to improve the calculation accuracy and stability of INS vertical channel. The proposed Kalman filter is constructed by INS and baro-altimeter error model and is simple to build. An adaptive factor is used to further improve stability of the system. The proposed algorithm is compared with vertical channel damping loop using data from simulation and experimental tests. The results show that the values calculated by the proposed algorithm are more accurate and stable, and the filter parameters are easier to set.