IMM-EKF Based GPS/INS Combined Positioning Method for Drone
Rongjian Wang · 2020
Satellite navigation system is currently the most widely used positioning and navigation infrastructure. It can provide users with outdoor real-time, high-precision location information, but it is susceptible to environmental occlusion and carrier motion interference, making location availability poor. This paper addresses the needs of UAVs for high accuracy and high availability of position information, using inertial devices and satellite navigation systems for integrated navigation, and proposes a multi-model filtering method for tracking different motion models and filtering to improve the fusion positioning Accuracy and robustness, enabling high-precision, high-availability positioning in complex environments. And by simulating the uniform velocity motion (CV), uniform acceleration motion (CA) and uniform turning motion (CT) of the UAV, the positioning performance of the method is analyzed. From the simulation results, the method improves the integration of inertial navigation and GPS. Positioning accuracy and reliability.