Engineering Physics Annotation << Back MODIFICATION OF THE KALMAN FEDERAL FILTER IN THE CORRECTION SCHEME OF NAVIGATION SYSTEMS OF AN UNMANNED AERIAL VEHICLE ZHANG LIFEI, M.S. SELEZNEVA The problem of determining the parameters of an unmanned aerial vehicle is considered. Effective maneuvers of an unmanned aerial vehicle require accurate navigation information about its parameters. Navigation information comes from an inertial navigation system and a satellite navigation system. Signal processing of navigation systems is carried out using the estimation algorithm. It is proposed to use the Kalman federal filter as an estimation algorithm. To obtain highly accurate navigation information, it is necessary to evaluate and compensate for errors in navigation systems as quickly as possible. Therefore, a special procedure is additionally included in the Kalman federal filter to speed up the process of obtaining reliable estimates of the errors of navigation systems. The proposed procedure in the Kalman federal filter is based on a criterion for the degree of observability of the state variables of the studied model. The operability of the developed Kalman filter modification is confirmed by the results of the semi-natural modeling. Keywords: unmanned aerial vehicle, inertial navigation system, correction, federated Kalman filter, degree of observability. DOI: 10.25791/infizik.01.2020.1111 Contacts: - Pp. 40-50.