INS/VisNav/GPS relative navigation system for UAV

A methodology for fusing dates from Inertial Navigation System (INS), Carrier-Phase Differential Global Positioning System (CDGPS), and Vision-Based Navigation System (VisNav) is presented. The hierarchically distributed architecture based on information filtering is developed to estimate the relative attitude, position and velocity between the leader and follower in formation. Simulation results show that INS/VisNav/GPS relative navigation system has higher accuracy compared to INS/GPS and INS/VisNav systems.