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Figure 1: Navigation, body, and wind frames with airspeed (V ),wind velocity(w), and UAV velocity (v), as weel as roll (φ), pitch(θ), and yaw (ψ)
Figure 2: Navigation system architecture
Figure 3: Block imaging trajectory
Table 2: Percentage of improvement in attitude determination byVDM/INS/GNSS integration compared to INS/GNSS

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