GH-LPS/INS integration for precise UAV application

Abstract

Unmanned Aerial Vehicles (UAVs) are becoming widely used in the age of intelligence, and high-precision position sensing becomes a premise for UAVs to perform various tasks. The commonly used Global Navigation Satellite System (GNSS) is vulnerable in buildings, mountains, woods, indoors, etc. due to the occlusion and interference of signals. Based on Ground-based High-precision Local Positioning System (GH-LPS), the paper proposes a tightly-coupled GH-LPS/INS integration method using carrier phase residual to solve the problem caused by GH-LPS base stations’ unsatisfactory layout. MATLAB simulation with real flight test data proves the integration method enabling the system to maintain a reliable centimeter-level precision.