GNSS/INS Integration with Integrity Monitoring for UAV No-fly Zone Management

Abstract

The rapidly increasing use of unmanned aerial vehicles pose a significant challenge to no-fly zone management. The vehicle state in flight should be available for the whole mission, enabling an alert to be issued to the relevant users and entities at an appropriate time and location before intrusion into a no-fly zone. In addition to spatial databases and other control mechanisms, the navigation system used must have the required accuracy, integrity, continuity, and availability. In this paper, the accuracy and integrity requirements, and the positioning system for no-fly zone unmanned aerial vehicle management are specified. The proposed positioning system integrates global navigation satellite systems (GNSS) and inertial navigation system (INS) in the measurement domain. An integrity monitoring layer is incorporated for fault detection and exclusion as well as real-time horizontal protection level computation functions. Experimental results show that the algorithm proposed is capable of delivering accuracy and integrity requirements for unmanned aerial vehicle (UAV) no-fly zone management.