Navigation error experiment using dynamic system matching

Inertial navigation systems used to weigh several pounds, which would be a detriment to systems such as unmanned aerial vehicles (UAVs). Such weight of the inertial naviagation system would reduce the weight allocation for powerful sensor payloads that are desired in the UAVs. Without an inertial navigation system, however, a UAV can have its GPS navigation spoofed. In this paper, a dynamic system matching technique is applied to a low-cost multiple-gyro system to demonstrate its improved utility over a single cheap system or that of averaging without significantly increasing the weight of the system.