Innovative Systems Design and Engineering www.iiste.org ISSN 2222-1727 (Paper) ISSN 2222-2871 (Online) Vol 2, No 3 INS/GPS Based State Estimation of Micro Air Vehicles Parametric Study Using Extended Kalman Filter (EKF) Schemes Sadia Riaz (Corresponding author) Department of Mechanical Engineering, NUST College of E&ME, National University of Sciences and Technology. PO box 46000, Rawalpindi, Pakistan Tel: 0092-334-5444650 E-mail: saadia-riaz@hotmail.com Abstract Micro Air Vehicles (MAVs) are classified as the small scale aircrafts which can be remote controlled, semi-autonomous and autonomous. They are highly sensitive to the wind gust and therefore the control of Micro Air Vehicle is a very challenging area. To control an aircraft, the first step is the precise navigation of the MAV and state estimation is the pre requisite. In this paper the states (roll, pitch, yaw, position and wind direction) are estimated with the help of Discrete Time Extended Kalman Filter operating on Inertial Measurement Unit (IMU) which consists of MEMS Gyro, MEMS Accelerometer, MEMS Magnetometer and GPS. These sensors are based on MEMS (Micro Electro Mechanical System) technique which is very helpful for size and weight reduction. Three techniques of Discrete Time Extended Kalman Filter are used named as Single state Discrete Time Extended Kalman, Cascaded Two Stage Discrete Time Extended Kalman Filter and Cascaded Three Stage Discrete Time Extended Kalman Filter. The simulations obtained from these filters are compared and analyzed. Trajectory and sensors data is recorded from Flight Simulator software, and then compared with the simulations obtained from Extended Kalman Filter with the help of MATLAB Software. Keywords: Micro Electro Mechanical System (MEMS), Micro Air Vehicle (MAV), Measurement Covariance Matrix, Process Covariance Matrix Nomenclature Inertial North Position of MAV Inertial East Position of MAV Wind from North Wind from East Total Airspeed Angular Rate about x-axis Angular Rate about y-axis Angular Rate about z-axis Roll Angle Pitch Angle Yaw Angle    r q p V W W P P air E N E N