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Research on UAV Flight Performance Test Method Based on Dual Antenna GPS/INS Integrated System

With higher and higher requirements for UAV position accuracy in the application areas of technical reconnaissance, inspection, fixed-point delivering and so on, the existing testing technology cannot meet the high demand of UAV flight performance testing. In order to enhance the test accuracy of unmanned aerial vehicle (UAV) flight performance, a practical method based on the combination of dual antenna global positioning system (GPS) and inertial navigation system (INS) is presented. By performing double-difference processing on the carrier phase measured by the two antennas carried by the unmanned aircraft, a double-difference observation equation is established to achieve high-precision attitude measurement. The flight performance evaluation function model of UAV is established, with which the UAV flight performance is analyzed from three aspects: hovering accuracy, attitude stability and track accuracy. The static simulation test shows that the standard deviation of the attitude angle of the measurement system is less than 0.1 degrees, and the standard deviation of the positioning is less than 1 cm, which shows great progress in the area of UAV performance testing compared with traditional methods. The method can be universally applied to the testing of various kinds of UAVs including fixed wings, multi-rotors, helicopters, etc.