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

<div>The skyplot of the visible satellites.</div>

International Journal of Aerospace Engineering

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Figure 4

Figure 4: A Novel Two-Stage Adaptive Filtering Model-Based GNSS/INS Tightly Coupled Precise Relative Navigation Algorithm for Autonomous Aerial Refueling 

Figure 4 | A Novel Two-Stage Adaptive Filtering Model-Based GNSS/INS Tightly Coupled Precise Relative Navigation Algorithm for Autonomous Aerial Refueling 