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

Table 1

The trajectory parameters of the UAV.

Flight phase	Flight action	Duration (s)	Acceleration (m/s^2)	Attitude (°/s) (roll, pitch, yaw angular rate)
1	Level flight	10	[0,0,0]	[0,0,0]
2	Preturn	10	[0,0,0]	[-0.5,0,0]
3	Turn	45	[0,0,0]	[0,0,-2]
4	Level off	10	[0,0,0]	[0.5,0,0]
5	Level flight	65	[0,0,0]	[0,0,0]
6	Pull up	40	[0,0.1,0]	[0,0.01,0]
7	Climb up	80	[0,0,0]	[0,0,0]
8	Level off	40	[0,-0.1,0]	[0,-0.01,0]
9	Level flight	900	[0,0,0]	[0,0,0]