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Intelligent GNSS/INS Integrated Navigation System for a Commercial UAV Flight Control System

Zhang G., Hsu L. T.

Aerospace Science and Technology (2018)

journal Q1
DOI
Two urban flight tests where a commercial flight controller's GNSS track deviates from ground truth by tens of meters — 70 m of 2D error against 20 m building distances.

Key idea. GNSS feeding a commercial UAV flight controller can be off by 70 m in 2D where buildings are only 20 m apart (figure) — easily enough to fly into a wall. The paper builds an intelligent GNSS/INS integration for the flight control system that adapts the fusion when GNSS degrades in urban airspace.

Why it matters. Low-altitude urban UAV operations live or die on navigation integrity; this quantifies how bad off-the-shelf GNSS gets between buildings and shows an integration designed for those conditions. (Aerospace Science and Technology, 2018, Q1.)