Table of Contents
International Journal of Navigation and Observation
Volume 2012, Article ID 678596, 11 pages
Research Article

INS/GPS for High-Dynamic UAV-Based Applications

1Center for Sensor Systems (ZESS), University of Siegen, 57076 Siegen, Germany
2iMAR Navigation GmbH, 66386 St. Ingbert, Germany

Received 1 August 2011; Accepted 5 December 2011

Academic Editor: Farid Melgani

Copyright © 2012 Junchuan Zhou et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The carrier-phase-derived delta pseudorange measurements are often used for velocity determination. However, it is a type of integrated measurements with errors strongly related to pseudorange errors at the start and end of the integration interval. Conventional methods circumvent these errors with approximations, which may lead to large velocity estimation errors in high-dynamic applications. In this paper, we employ the extra states to “remember” the pseudorange errors at the start point of the integration interval. Sequential processing is employed for reducing the processing load. Simulations are performed based on a field-collected UAV trajectory. Numerical results show that the correct handling of errors involved in the delta pseudorange measurements is critical for high-dynamic applications. Besides, sequential processing can update different types of measurements without degrading the system estimation accuracy, if certain conditions are met.