Siberian Federal University 
- Issue
- Journal of Siberian Federal University. Engineering & Technologies. 2026 19 (7)
- Authors
- Mikhov, Evgeniy D.; Dmitriev, Dmitry D.; Karavanov, Alexander V.
- Contact information
- Mikhov, Evgeniy D. : Siberian Federal University (Krasnoyarsk, Russian Federation); ; Dmitriev, Dmitry D. : Siberian Federal University (Krasnoyarsk, Russian Federation); ; Karavanov, Alexander V.: Siberian Federal University (Krasnoyarsk, Russian Federation)
- Keywords
- UAV; mathematical model of UAV motion; deep integration of navigation systems; GNSS; INS
- Abstract
This article presents a method for navigating unmanned aerial vehicles (UAVs) in conditions of insufficient radio visibility from navigation satellites (NS). It involves integrating data from an inertial navigation system (INS) and a global navigation satellite system (GNSS). Numerical experiments based on the developed mathematical model demonstrated that the method significantly outperforms the accuracy of a standalone INS and a hybrid approach that switches from a GNSS receiver to an INS in NS signal «shadowing» zones (zones where the number of NS visible to the user is insufficient to determine the user’s coordinates). The model demonstrates that the approach is robust to changes in visibility conditions and maintains high accuracy even when maneuvering in shadowing zones. The paper analyzes the geometric interpretation of the method. The authors also outline potential applications of the method and areas for further research, from full–scale experiments to testing the system’s operation in the absence of inertial sensor data. This article is intended for specialists in the fields of unmanned aircraft, navigation, and mathematical modeling
- Pages
- 994–1005
- EDN
- XNHUIM
- Paper at repository of SibFU
- https://elib.sfu-kras.ru/handle/2311/160200
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License (CC BY-NC 4.0).