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Sensors 2017, 17(5), 941; doi:10.3390/s17050941

INS/GNSS Integration for Aerobatic Flight Applications and Aircraft Motion Surveying

iMAR Navigation GmbH, D-66386 St. Ingbert, Germany
Stock Flight Systems, D-82335 Berg, Germany
Author to whom correspondence should be addressed.
Academic Editor: Gert F. Trommer
Received: 17 November 2016 / Revised: 14 April 2017 / Accepted: 21 April 2017 / Published: 26 April 2017
(This article belongs to the Special Issue Inertial Sensors and Systems 2016)


This paper presents field tests of challenging flight applications obtained with a new family of lightweight low-power INS/GNSS (inertial navigation system/global satellite navigation system) solutions based on MEMS (micro-electro-mechanical- sensor) machined sensors, being used for UAV (unmanned aerial vehicle) navigation and control as well as for aircraft motion dynamics analysis and trajectory surveying. One key is a 42+ state extended Kalman-filter-based powerful data fusion, which also allows the estimation and correction of parameters that are typically affected by sensor aging, especially when applying MEMS-based inertial sensors, and which is not yet deeply considered in the literature. The paper presents the general system architecture, which allows iMAR Navigation the integration of all classes of inertial sensors and GNSS (global navigation satellite system) receivers from very-low-cost MEMS and high performance MEMS over FOG (fiber optical gyro) and RLG (ring laser gyro) up to HRG (hemispherical resonator gyro) technology, and presents detailed flight test results obtained under extreme flight conditions. As a real-world example, the aerobatic maneuvers of the World Champion 2016 (Red Bull Air Race) are presented. Short consideration is also given to surveying applications, where the ultimate performance of the same data fusion, but applied on gravimetric surveying, is discussed. View Full-Text
Keywords: inertial navigation; INS/GNSS; data fusion; aerobatic flight; gravimetry; MEMS gyro; Red Bull Air Race; FOG; RLG; HRG inertial navigation; INS/GNSS; data fusion; aerobatic flight; gravimetry; MEMS gyro; Red Bull Air Race; FOG; RLG; HRG

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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. (CC BY 4.0).

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v. Hinüber, E.L.; Reimer, C.; Schneider, T.; Stock, M. INS/GNSS Integration for Aerobatic Flight Applications and Aircraft Motion Surveying. Sensors 2017, 17, 941.

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