| Citation: | WANG Junhui, SUN Rui, CHENG Qi, et al. Comparison of direct and indirect filtering modes for UAV integrated navigation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(11): 2156-2167. doi: 10.13700/j.bh.1001-5965.2019.0578(in Chinese)
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Global Navigation Satellite System/Inertial Navigation System (GNSS/INS) integrated navigation that could provide continuous and high-accuracy position, velocity and attitude are widely used in UAV state estimation. Particularly, the design of filtering algorithm is the key to the integration. Besides, different modes of integrated navigation influence the navigation and positioning results. In this paper, the direct and indirect modes based Extended Kalman Filter (EKF) algorithms are designed for the loosely-coupled Glolal Positioning System/Inertial Navigation System (GPS/INS) integration in Unmanned Aerial Vehicle (UAV) state estimation and tested in different scenarios. The results of simulation and field test indicate that the integration algorithm with the indirect mode can provide higher accuracy and stability state estimation results than the direct mode but with an increased computational cost. It is recommended to choose the indirect mode based integration for the applications with higher accuracy and reliability, while for the applications with the requirements of lower accuracy and fast computation, the direct mode based integration is recommended to reduce the system cost.
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