METHOD OF IMPROVING THE ACCURACY OF NAVIGATION MEMS DATA PROCESSING OF UAV INERTIAL NAVIGATION SYSTEM
Authors: Fesenko O. D. , Bieliakov R. O. , Radzivilov H. D. , Sasin S. A. , Borysov O. V. , Borysov I. V. , Derkach T. M. , Kovalchuk O. O. 
Published: October 2022

Context. Modern theory and practice of preparation and conduct of hostilities on land, at sea, in the air, and recently in cyberspace dictates the relentless modernization of military equipment. The development of fundamentally new weapons is carried out considering one of the main requirements – maximum automation of operational processes, which allows combatants to distance themselves from each other as much as possible.
Among the newest models of armaments on the battlefield, due to the predominantly positional nature of the armed confrontation, unmanned aerial vehicles (UAVs) have become virtually indispensable due to their own multitasking. One of the ways to increase the efficiency of UAVs on the battlefield is to increase the level of technical perfection of flight control systems.
Creating new approaches to the design of unmanned aerial vehicle navigation systems, in particular, based on a platformless inertial navigation system is an urgent task that will provide automatic control of the UAV flight route in the absence of corrective signals from the global satellite navigation system.
Objective. The purpose of this work is to develop a method for improving the accuracy of MEMC navigation data processing of an inertial navigation system of an unmanned aerial vehicle based on an advanced Madgwik filter.
This method will increase the speed of data processing of navigation parameters and the accuracy of determining the positioning parameters in the space of the UAV through the use of an advanced Madgwik filter.
The paper shows the developed block diagram of MEMS PINS filtration on the basis of the improved Madgwik filter, the detailed mathematical description of filtration processes is carried out.
This method was tested experimentally in the MATLAB software environment using a real set of data collected during the flight of the UAV.
Method. To achieve this goal, the following methods were used: intelligent systems, theory of automatic control, pseudo-spectral method; methods based on genetic algorithm and fuzzy neural network apparatus.
Results. A method for improving the accuracy of MEMC navigation data processing of an inertial navigation system of an unmanned aerial vehicle based on an advanced Madgwik filter has been developed. The possibility of practical application of the obtained results and in comparison, with traditional methods is investigated. An experiment was performed in the MatLab software environment, and a comparison was made with the method of processing navigation data based on the Madgwik filter and the Kalman filter.
Conclusions. The developed method of increasing the accuracy of MEMC navigation data processing of an inertial navigation system of an unmanned aerial vehicle based on an advanced Madgwik filter shows an advantage over known methods in the absence of corrective signals from the global satellite navigation system for accuracy and speed of navigation data processing.