Kalman filter (KF) uses measurement updates to correct system states error and to limit the errors in navigation solutions. However, only when the system dynamic and measurement models are correctly defined, and the noise statistics for the process are completely known, KF can optimally estimate a system’s states. Without measurement updates, Kalman filter’s prediction diverges; therefore the p...

A new navigation system for small size Remotely Piloted Aircraft Systems (RPAS) is presented, which is based on Global Navigation Satellite System (GNSS), Micro-Electro-Mechanical System (MEMS) based Inertial Measurement Unit (IMU), Vision Based Navigation (VBN) and other low-cost avionics sensors. The objective of this research is to design a compact, lightweight and relatively inexpensive Nav...