This test campaign was conducted to validate the integration and performance one of our INS products (Ekinox Micro), using the PX4 driver in real-world UAV flight conditions. The goal was to reproduce a customer-like setup as accurately as possible and evaluate system behavior across several representative operating scenarios. The Orange Cube autopilot was selected as the test platform. However, the methodology and results are applicable to any hardware running the PX4 firmware. To fully assess the interaction between SBG navigation data and the PX4 estimator, three integration configurations were evaluated:
1 – Position-only integration (Ekinox Micro as a GNSS source)
- Our INS provides position and velocity only, emulating an external GNSS receiver.
- PX4’s internal estimator performs the complete sensor fusion.
- Attitude stabilization is handled entirely by PX4 using its own IMUs.
2 – Fused-position integration (Ekinox Micro as full navigation source)
- Our INS provides fused navigation outputs (position, velocity).
- PX4’s estimator is disabled for navigation.
- PX4 remains responsible for low-level stabilization using its internal IMU data.
3 – Full attitude + position integration (Ekinox Micro controlling navigation and stabilization)
- Our INS provides both attitude and position.
- The autopilot uses SBG’s sensor data as the primary source for navigation and stabilization.
- This configuration represents the highest integration level.
These tests were enabled by the SBG PX4 driver, available in the official PX4 GitHub repository.
The driver ensures a seamless communication layer between SBG navigation systems and PX4-based autopilots, supporting high-rate MAVLink data exchange and multiple integration strategies depending on customer architecture and fusion requirements.
Test conditions
The table below summarizes the environmental, GNSS, and onboard system setup conditions used to evaluate navigation performance during flight testing.
| Parameter | Description |
|---|---|
| Weather | Clear sky, light wind. |
| Ground altitude | ~33 m above sea level. |
| GNSS conditions | Good visibility of the sky, low multipath environment. |
| Hardware setup | Ekinox Micro connected via SBG Driver to Orange Cube (UART). External GNSS antennas mounted on top of the drone. |
| Power supply | Dual battery configuration. |
| Logging | Logging Ekinox Micro binary logs + Orange Cube * .ulg flight logs. |
UAV navigation setup
The flight tests were conducted using a Quad 450 multirotor drone platform equipped with an Ekinox Micro inertial navigation system. The INS was operated using firmware version 5.3. Vehicle control and flight management were handled by an Orange Cube autopilot running PX4 firmware version 1.16.0-Alpha.
Pre-flight procedures
Comprehensive checks were performed before each flight to ensure safe and reliable operation across progressively complex flight modes. These checks included magnetometer calibration, GNSS, communication, and hop tests.
| Parameter | Description | Result |
|---|---|---|
| Magnetometer calibration | Drone rotated around all axes. | ✅ Successful |
| GNSS acquisition | Verified satellite lock and position quality in QGroundControl. | ✅ Stable fix |
| Communication test | Confirmed real-time INS data streaming through SBG driver. | ✅ Operational |
| Hop test | Basic throttle and control surface response. | ✅ Passed |
For each configuration, described below, multiple flight modes and behaviors were assessed. The level of autonomy increased gradually, always beginning with the most permissive mode.
We started with Acro mode, which is fully managed by the pilot. In this mode, no dynamic constraints are applied, and sensor inputs are not used. Then we switched to Stabilized mode, where the pilot still uses the remote control, but the attitude of the drone is controlled using the attitude data provided by the sensors. Next, in Altitude mode, the vertical axis is additionally stabilized, typically using barometric data or telemetry, enabling the autopilot to maintain a consistent altitude. Finally we concluded this series of manual tests with Position mode, which requires reliable GNSS data to hold position and assist the pilot in maintaining a stable hover.
Flight scenarios
This section presents the flight scenarios designed to evaluate the performance of the SBG navigation system in both partial (EKF2-enabled) and full (EKF2-disabled) integration modes, covering manual mode sweeps, autonomous missions, and complete navigation and stabilization tests.
EKF2 enabled – GNSS position & velocity from our INS
Our Ekinox Micro provides GNSS position and velocity only. While the autopilot’s internal EKF remains active.
Flight 1 – Manual modes evaluation
Test acro, switch to stabilized mode then altitude and finally position for 1 minute each.
Flight 2 – Autonomous mission (square path)
The drone executed a predefined automated square mission. GNSS data from our INS ensured smooth trajectory tracking and stable waypoint transitions.
The mission starts by a stabilized phase, then position, to perform a free running, during which we perform 8 shapes to initialize and align the filter, then begins a mission, following way points that form a square, then runs a straight line back and forth.
EKF2 disabled – Full navigation by our Extended Kalman Filter (EKF)
In this configuration, the Ekinox Micro provides full navigation data (attitude, velocity, position). PX4 uses its IMUs only for low-level stabilization.
Flight 3 – Complete mode sweep
The purpose of this flight was to verify that the behaviors achievable with EKF2 on the autopilot can also be achieved with the SBG Extended Kalman Filter (EKF), without any noticeable difference from the pilot’s perspective. To ensure this, all relevant flight modes were tested sequentially, switching from one mode to the next after approximately one minute, and concluding with free-movement maneuvers.
Flight 4 – Autonomous mission
After gaining some confidence about our integration, we switched to mission mode, by ordering the drone to follow waypoints, that start by a straight line back and forth and then following a square shape and landing.
Flight 5 – Full INS integration (navigation + stabilization)
For the last flight, it was important for us to test all the integration levels by handling not only the navigation part, but also the stabilization. So, we lowered Orange Cube’s IMUs priority, to make our highest. And flight in a stabilized mode.
Results and conclusions
All integration levels were successfully validated. The Ekinox Micro provided stable, reliable, and high-quality navigation data under all configurations, from basic GNSS injection to full navigation and stabilization. These results confirms:
- A clear understanding of user challenges, allowing us to build a practical, experience-based integration guide.
- Excellent compatibility between SBG Systems sensors and PX4/Orange Cube.
- Reliable driver implementation enabling seamless MAVLink communication.
- Robustness of SBG’s Extended Kalman Filter (EKF) for both manual and autonomous modes.
- Smooth behavior even with reduced reliance on onboard PX4 sensors.
This test campaign highlights the strong synergy between SBG Systems’ navigation technologies and the PX4 ecosystem. Across all integration levels, our INS solutions delivered reliable, high-quality navigation data, enabling smoother control, improved mission consistency, and greater overall flight confidence. By validating configurations ranging from simple GNSS augmentation to full navigation and stabilization takeover, we demonstrated the adaptability of SBG products to a wide variety of UAV architectures and mission profiles.
These results also confirm the maturity of our PX4 driver and our ability to provide customers with proven, field-tested best practices. We empower them to reduce integration time, enhance performance, and accelerate deployment. SBG Systems continues to position itself as a trusted partner for UAV manufacturers and integrators seeking robust, high precision navigation in demanding operational environments.
