Development of a GPS/INS integrated navigation system for model aircraft

This paper addresses the development of an integrated navigation system based on MEMS inertial sensors and GPS for model aircraft. The objective of this paper is to propose a loosely coupled GPS/INS integration approach using Extended Kalman filter to estimate aircraft´s position, velocity, and attitude. Special attention is paid to the computational performance of the algorithm and the handling of GPS outages. The simulation results based on a typical high dynamic flight trajectory validate that the proposed filter is applicable to flight navigation.