R.N. Nabiyev, A.Z. Mammadov
Inertial navigation is a system that works based on physical laws that exist in space, regardless of human activity. Typically, an inertial navigation system (INS) is used to determine the position, speed, and orientation of an object moving relative to the earth’s surface. The navigation information (position, speed and orientation) of an unmanned aerial vehicle (UAV) is needed to control its flight. Due to the high resistance of the INS to obstacles, a reliable flight can be ensured. The article discusses many issues, such as the composition, principle of operation, design, advantages and disadvantages of INS and indicates the main reasons for the importance of using this system. In addition, the article proposes a model of an inertial navigation system with optimized parameters for a UAV by determining methods for using the Kalman filter and external non-inertial navigation data to improve the accuracy of the navigation system data.
Keywords: unmanned aerial vehicle, inertial navigation system, orientation, gyroscope, accelerometer, sensor, roll, pitch, course, speed, angle.
DOI: 10.25791/aviakosmos.1.2021.1197
Pp. 12-22. |
