Reduced Order INS/GPS Guided Unmanned Air Vehicle Study

Tysen Mueller, Algyte Cabak

Abstract:	An evaluation of the accuracy of several reduced order INS/CPS navigators for guiding a midrange Unmanned Air Vehicle (UAV) concept was conducted. These navigators used less than three axes of inertial guidance in order to reduce the cost of the navigation system. When specific inertial sensors (accelerometer or gyros) are eliminated, guidance along those channels must be provided by the CPS receiver or by models based on the nominal (mission) flight path. The latter approach, which must be used during periods of CPS loss of coverage, Is a dead reckoning approach; it tends to be very sensitive to off·nominal vehicle aerodynamics, propulsion, and mass properties in addition to environmental disturbances such as wind turbulence. The UAV performance was evaluated for a reconnaissance mission of two target areas. While surveying each target, the GPS receiver is Jammed and hence the navtgator has to rely on the dead reckoning model or reduced order INS to guide the vehicle. The dead reckoning models were derived using the linear control error dynamics of the UAV, based on the nominal aerodynamic force and moment partial derivatives, with control error coefficients included in the onboard Kalman Filter. Hence the CPS measurements calibrate the dead reckoning model infllght between targets in addition to any inertial sensor errors. A CPS/INS, two CPS/ AHRS, and two CPS/DR navigation systems were evaluated.
Published in:	Proceedings of the 2nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1989) September 27 - 29, 1989 The Broadmoor Hotel Colorado Spring, CO
Pages:	263 - 268
Cite this article:	Mueller, Tysen, Cabak, Algyte, "Reduced Order INS/GPS Guided Unmanned Air Vehicle Study," Proceedings of the 2nd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 1989), Colorado Spring, CO, September 1989, pp. 263-268.
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