Navigation systems of safety-critical unmanned aircraft need an alternative position aiding source to global navigation satellite system. One promising alternative, is position measurements from phased-array radio systems. The presented navigation system consist of a multiplicative extended Kalman filter that utilize these measurements, along with an exogenous altitude measurement, to aid an inertial navigation system. The reliability and accuracy of the navigation system is demonstrated through beyond-visual-line-of-sight flights with a fixed-wing unmanned aerial vehicle, without the use of global navigation satellite systems. This uses a conventional guidance controller module, which also monitor the navigation quality.

中文翻译：

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相控阵无线电导航辅助的无人机飞行控制

对安全至关重要的无人机的导航系统需要全球导航卫星系统的替代位置辅助源。一种有前途的选择是相控阵无线电系统的位置测量。提出的导航系统由一个乘性扩展卡尔曼滤波器组成，该滤波器利用这些测量值以及外在高度测量值来辅助惯性导航系统。导航系统的可靠性和准确性通过不使用全球导航卫星系统的固定翼无人驾驶飞行器在视线之外的飞行中得到证明。这使用常规的导航控制器模块，该模块还监视导航质量。