Design of integrated navigation system using IMU and multiple ranges from in-flight rotating hexacopter system

This paper introduces a new integrated navigation algorithm using sensor measurements from INS and multiple range sensors. A simple INS model is employed in design with states of position, velocity and attitude. From a geometric interpretation on line of sight vectors, the measurement model of the multiple range sensors is derived, and then linearized to design the extended Kalman filter. To verify the proposed algorithm, a comprehensivesimulator is designed, and the results are compared between flight scenarios. For practical performance demonstration, experiment result with a multicopter platform is presented. As a result of the experiment, the suggested algorithm is proven to be valid for an indoor hexarotor flight.