Robust Navigation of UAV using Inertial Sensors Aided by UWB and RTK GPS
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Original versionAIAA Guidance, Navigation, and Control Conference, AIAA SciTech Forum. 2017, 1035. 10.2514/6.2017-1035
Tight integration of ultra wideband (UWB) range measurements with real-time kinematic (RTK) aiding of inertial navigation for increased robustness to GNSS dropouts, is achieved using a double-differenced nonlinear observer. A stationary base station provides additional GNSS range measurements, upon which a double-differenced observer is formulated. The results are verified using a simulated unmanned aerial vehicle (UAV) with realistic inertial, GNSS and UWB measurements.