Abstract
Abstract This paper studies the aircraft navigation problem of the 3D motion model, and attempts to apply the SLAM algorithm to the aircraft navigation, at the same time does further research on the aircraft SLAM algorithm. First, this paper establishes the aircraft motion model and the environmental observation model. Then the inertial navigation system is established and the inertial navigation EKF-SLAM model of random beacon is simulated which can reduce the error accumulation problem caused by the inertial navigation system. Compared to the inertial navigation results, simulation results using the EKF algorithm under small beacon errors condition shows that the addition of environmental beacons can enhance the aircraft navigation positioning accuracy. Compared to the inertial navigation and EKF navigation method result with known beacon position which has small errors, simulation results using SLAM algorithm show that the SLAM algorithm effectively enhances the accuracy and stability of the navigation system, and solve the error accumulation problem of the inertial navigation system.KeywordsAircraft navigationRandom beaconExtended Kalman filtersSimultaneous localization and mapping
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