A Novel Two-Stage Adaptive Filtering Model-Based GNSS/INS Tightly Coupled Precise Relative Navigation Algorithm for Autonomous Aerial Refueling

<div>The ratio means of various schemes (Data 1–4).</div>

International Journal of Aerospace Engineering

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Figure 12

Figure 12: A Novel Two-Stage Adaptive Filtering Model-Based GNSS/INS Tightly Coupled Precise Relative Navigation Algorithm for Autonomous Aerial Refueling 

Figure 12 | A Novel Two-Stage Adaptive Filtering Model-Based GNSS/INS Tightly Coupled Precise Relative Navigation Algorithm for Autonomous Aerial Refueling 