Initial Flight Test Result of the GPS/INS Integration System with Integrity for a UAV (Unmanned Aerial Vehicle)

S.H. Oh, D.H. Hwang, S.J. Lee, S.H. Kim

Abstract:	An unmanned aerial vehicle (UAV) flies by either remote command from a ground station or an automatic control system. The navigation system in a UAV provides the position, velocity, and attitude data to the flight control computer (FCC) to perform the guidance, navigation & control (GN&C) and is required to possess the integrity capability for more reliable operation. This paper proposes an integration system with integrity for a UAV and presents its initial flight test result. The navigation system has been developed as a part of 'the autopilot and ground control system for a UAV' project in the Dual Use Technology Research Program in Korea. The integration system consists of an attitude determination GPS (AGPS) receiver, an off-the-shelf inertial measurement unit (IMU), and a navigation computer unit (NCU). The AGPS receiver provides threedimensional position, velocity, and attitude information. The IMU gives inertial outputs; linear accelerations and angular velocities. The NCU carries out the real-time computation for the navigation using the outputs of the AGPS receiver and IMU. The algorithm for the fault detection of the navigation system is included in the navigation algorithm. Before the flight test in a UAV, an initial flight test was conducted to validate the fundamental operation of navigation system in a small four-seated aircraft named 'Firefly' developed by Korea Aerospace Research Institute (KARI) and the van test was carried out to assess the performance of the fault detection algorithm.
Published in:	Proceedings of the 59th Annual Meeting of The Institute of Navigation and CIGTF 22nd Guidance Test Symposium (2003) June 23 - 25, 2003 Hyatt Regency Hotel Albuquerque, NM
Pages:	104 - 112
Cite this article:	Oh, S.H., Hwang, D.H., Lee, S.J., Kim, S.H., "Initial Flight Test Result of the GPS/INS Integration System with Integrity for a UAV (Unmanned Aerial Vehicle)," Proceedings of the 59th Annual Meeting of The Institute of Navigation and CIGTF 22nd Guidance Test Symposium (2003), Albuquerque, NM, June 2003, pp. 104-112.
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