抄録
Accurate positioning of an unmanned aerial vehicle is quite important for stable and safety flight. A GPS is very useful to get correct position and velocity of an movable body. But it can not always get accurate data because of varying measurement environment of the GPS signal from satellites. This paper discribes the GPS aided inertial navigation system (INS/GPS) for small-scale unmanned helicopter. We designed simple INS/GPS based on the steady state kalman filter to obtain more accurate positioning and apply this to control system of helicopter which we have been developed. And we prove experimentally that the usefulness of the INS/GPS.
