Dual-Frequency Multi-Constellation Global Navigation Satellite System/Inertial Measurements Unit Tight Hybridization for Urban Air Mobility Applications by Gianluca Corraro, Federico Corraro, Andrea Flora, Giovanni Cuciniello, Luca Garbarino, Roberto Senatore

“…In this framework, in this paper, the algorithms of a hybrid navigation unit (HNU) for UAM applications are detailed, implementing a tightly coupled sensor fusion between a dual-frequency multi-constellation GNSS receiver, an inertial measurements unit and the barometric altitude from an air data computer. The implemented navigation algorithm is integrated with autonomous fault detection and exclusion of GPS/Galileo/BeiDou satellites and the estimation of navigation solution integrity/accuracy (i.e., protection level and figures of merit). …”
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