Journal of Mechanical Science and Technology

, Volume 19, Issue 8, pp 1529–1543 | Cite as

Attitude determination GPS/INS integrated navigation system with FDI algorithm for a UAV

  • Sang Heon Oh
  • Dong-Hwan Hwang
  • Chansik Park
  • Sang Jeong Lee
  • Se Hwan Kim


Recently an unmanned aerial vehicle (UAV) has been widely used for military and civil applications. The role of a navigation system in the UAV is to provide navigation data to the flight control computer (FCC) for guidance and control. Since performance of the FCC is highly reliant on the navigation data, a fault in the navigation system may lead to a disastrous failure of the whole UAV. Therefore, the navigation system should possess a fault detection and isolation (FDI) algorithm. This paper proposes an attitude determination GPS/INS integrated navigation system with an FDI algorithm for a UAV. Hardware for the proposed navigation system has been developed. The developed hardware comprises a commercial inertial measurement unit (IMU) and the integrated navigation package (INP) which includes an attitude determination GPS (ADGPS) receiver and a navigation computer unit (NCU). The navigation algorithm was implemented in a real-time operating system with a multi-tasking structure. To evaluate performance of the proposed navigation system, a flight test has been performed using a small aircraft. The test results show that the proposed navigation system can give accurate navigation results even in a high dynamic environment.

Key Words

Flight Test GPS INS GPS/INS Integration System Kalman Eilter Integrity Fault Detection UAV 



Measurement matrix at time tk


Test statistic at time tk


Window size

N(μ, σ2)

Normal distribution with mean μ and variance σ2


Dimension of the residual vector γk


Error covariance matrix al timet k


Covariance matrix of the process noise at timet k


Covariance matrix of the measurement noise at timet k


Covaviancc matrix of the residual vectorY k at timet k


State vector at timeY k


Measurement vector at timeY k


Chi-square distribution withn degree-of-freedom


Decision threshold


Residual vector at timet k


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Copyright information

© The Korean Society of Mechanical Engineers (KSME) 2005

Authors and Affiliations

  • Sang Heon Oh
    • 1
  • Dong-Hwan Hwang
    • 2
  • Chansik Park
    • 3
  • Sang Jeong Lee
    • 2
  • Se Hwan Kim
    • 4
  1. 1.Navicom R&D CenterNational Co., Ltd.DaejeonKorea
  2. 2.GNSS Technology Research Center, School of Electrical and Computer EngineeringChungnam National UniversityDaejeonKorea
  3. 3.School of Electrical and Electronics EngineeringChungbuk National UniversityCheongjuKorea
  4. 4.Navicom R&D CenterNavicom Co., Ltd.DaejeonKorea

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