GPS/INS Integrated Navigation for Quadrotor UAV Considering Lever Arm

GPS/INS combination is a commonly used integrated navigation mode. Inertial navigation system (INS) is a typical navigation mode, which can complete the acquisition of navigation parameters, but it will cause error accumulation problem when it is used alone, so using GPS to provide INS with a useful correction information. This article considers that the GPS antenna and the INS are not in the same position in the actual UAV integrated navigation system. Therefore, there is a lever arm that makes the observation equation nonlinear, In order to solve the problems, an improved filter is adopted. Finally, the data are used for comparative experiments, the stability of the algorithm is verified.