{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T01:50:56Z","timestamp":1760147456496,"version":"build-2065373602"},"reference-count":24,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2023,2,3]],"date-time":"2023-02-03T00:00:00Z","timestamp":1675382400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Project of Science and Technology Research Program of Chongqing Education Commission of China","award":["KJZD-K202104701"],"award-info":[{"award-number":["KJZD-K202104701"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In view of the difficulties regarding that airborne navigation equipment relies on imports and the expensive domestic high-precision navigation equipment in the manufacturing field of Chinese navigable aircraft, a dual-antenna GNSS (global navigation satellite system)\/MINS (micro-inertial navigation system) integrated navigation system was developed to implement high-precision and high-reliability airborne integrated navigation equipment. First, the state equation and measurement equation of the system were established based on the classical discrete Kalman filter principle. Second, according to the characteristics of the MEMS (micro-electric-mechanical system), the IMU (inertial measurement unit) is not sensitive to Earth rotation to realize self-alignment; the magnetometer, accelerometer and dual-antenna GNSS are utilized for reliable attitude initial alignment. Finally, flight status identification was implemented by the different satellite data, accelerometer and gyroscope parameters of the aircraft in different states. The test results shown that the RMS (root mean square) of the pitch angle and roll angle error of the testing system are less than 0.05\u00b0 and the heading angle error RMS is less than 0.15\u00b0 under the indoor static condition. A UAV flight test was carried out to test the navigation effect of the equipment upon aircraft take-off, climbing, turning, cruising and other states, and to verify the effectiveness of the system algorithm.<\/jats:p>","DOI":"10.3390\/s23031691","type":"journal-article","created":{"date-parts":[[2023,2,3]],"date-time":"2023-02-03T03:04:23Z","timestamp":1675393463000},"page":"1691","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Research on Algorithm of Airborne Dual-Antenna GNSS\/MINS Integrated Navigation System"],"prefix":"10.3390","volume":"23","author":[{"given":"Ming","family":"Xia","sequence":"first","affiliation":[{"name":"Department of Intelligent Manufacturing and Industrial Security, Chongqing Vocational Institute of Safety & Technology, Chongqing 404020, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pengfei","family":"Sun","sequence":"additional","affiliation":[{"name":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8803-910X","authenticated-orcid":false,"given":"Lianwu","family":"Guan","sequence":"additional","affiliation":[{"name":"College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhonghua","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Intelligent Manufacturing and Industrial Security, Chongqing Vocational Institute of Safety & Technology, Chongqing 404020, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,2,3]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"111","DOI":"10.1108\/01439911311297702","article-title":"A time-controllable Allan variance method for MEMS IMU","volume":"40","author":"Hong","year":"2013","journal-title":"Ind. 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