GPS-Aided INS Solution with Photogrammetry Validation

This paper describes the complete development of a GPS-aided INS (GPS/INS) system and photogrammetry methods used to validate the system. The GPS/INS is developed using strap down accelerometer and rate gyro sensors for inertial sensors and GPS measurements of position and velocity. These sensors are integrated in an extended Kalman filter using kinematic differential equations. The photogrammetry uses images captured from video footage of flight tests to verify the performance of the system. Experimental data and validation results are presented from flight tests using a small unmanned aerial vehicle.