ADAPTIVE DRIFT COMPENSATION ALGORITHM FOR A FREE-FORM INERTIAL NAVIGATION SYSTEM IN AUTONOMOUS NAVIGATION CONDITIONS
Journal: JOURNAL OF APPLIED RESEARCH
№ 12
, 2026
Rubrics: PEDAGOGY. PEDAGOGICAL SCIENCES.
Authors:
1.
Saint-Petersburg State University of Civil Aviation
(Department of Automatic Control Systems, Associate Professor)
2.
Saint Petersburg State University of Civil Aviation
student from 01.01.2023 until now
student from 01.01.2023 until now
3.
Saint Petersburg State University of Civil Aviation
student from 01.01.2023 until now
Russian Federation
student from 01.01.2023 until now
Russian Federation
Type:
Article
Pages:
from
to
Status:
Published
Received:
19.11.2025
Accepted:
13.12.2025
Published:
23.01.2026
Subject area:
VAK Russia 2
UDC 33
UDC 33
Language:
Russian
Keywords:
platform-free inertial navigation system, accumulation of INS errors, BINS drift compensation, Kalman filter
Abstract:
An adaptive algorithm for compensating for the accumulation of errors in a platform-free inertial navigation system designed for autonomous navigation of unmanned aerial vehicles has been proposed. Numerical simulations of a three-axis INS with typical accelerometer and gyroscope errors, including random noise, zero instability, and drift, have been conducted. The algorithm implements the adjustment of error model covariances based on the analysis of the Kalman filter prediction error, ensuring stable suppression of accumulated errors without external correction.
An adaptive algorithm for compensating for the accumulation of errors in a platform-free inertial navigation system designed for autonomous navigation of unmanned aerial vehicles has been proposed. Numerical simulations of a three-axis INS with typical accelerometer and gyroscope errors, including random noise, zero instability, and drift, have been conducted. The algorithm implements the adjustment of error model covariances based on the analysis of the Kalman filter prediction error, ensuring stable suppression of accumulated errors without external correction.
Keywords:
platform-free inertial navigation system, accumulation of INS errors, BINS drift compensation, Kalman filter
platform-free inertial navigation system, accumulation of INS errors, BINS drift compensation, Kalman filter
