GNSS/SINS tight combination navigation technology for multirotor UAV

Abstract Amidst the swift progress in unmanned aerial vehicle (UAV) technology, the enhancement of navigation precision and robustness is paramount for ensuring flight safety and managing the intricacies of various missions. This research presents a sophisticated, tightly integrated Global Navigation Satellite System (GNSS) and Strapdown Inertial Navigation System (SINS) navigation framework designed to synergize the capabilities of both systems, thereby mitigating their respective shortcomings in adverse environments. By utilizing an Extended Kalman Filter for the real-time calibration of inertial sensor errors, this system markedly enhances the navigation accuracy of UAVs. Our rigorous testing, conducted with genuine flight data, revealed that the integrated system surpasses standalone inertial navigation systems, especially in managing position errors, resulting in a 12.5% enhancement in overall navigation accuracy. This study solidifies the technical foundation for UAV applications and advances the development of future navigation systems.