Design and Analysis of Map Interacted Integrated Navigation System under Urban Environment with Constrained Satellite Signal

This paper deals with the structure and the algorithm of a heterogeneous multi-sensor-based navigation system that considers both the satellite navigation outage and urban flight environment with three-dimensional (3D) map information. The proposed integrated system was designed to perform complementary navigation using six range sensors and raw data from visible satellites. To verify the performance of the proposed method, a simulation study that involved a 3D map and flight trajectories reflecting the actual flight environment was performed. The simulated results confirmed that the navigation error caused by insufficient range-to-map measurements was successfully suppressed Finally the validity of the proposed method was demonstrated using practical flight test results around practical urban buildings.BRBR