Aimed at improving the navigation accuracy of the fixed-wing UAVs in GNSS-denied environments. this paper proposes an algorithm of nongravitational acceleration estimation based on airspeed and IMU sensors. which use a differential tracker (TD) model to further supplement the effect of linear acceleration for UAVs under dynamic flight. We further establish the mapping relationship bet... https://danddcollectiblers.shop/product-category/flame-module/