Open AccessUAV navigation using opto-electronic and inertial means in GNSS-denied environment
Author(s) -
Aleksey Savkin,
Д. А. Антонов,
Leonid Kolganov,
Maxim Ryabinkin,
Egor Chekhov
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1925/1/012051
Subject(s) - gnss applications , inertial navigation system , inertial frame of reference , air navigation , computer science , terrain , extended kalman filter , computer vision , artificial intelligence , inertial measurement unit , remote sensing , real time computing , kalman filter , global positioning system , geography , telecommunications , physics , cartography , quantum mechanics
The article presents an approach to improving navigation solution of unmanned aerial vehicle in GNSS-denied environment by means of optoelectronic and inertial measurements. An approach is based on locating and tracking keypoints on the underlying surface to correct inertial system errors. The approach is based on EKF-SLAM and can be applied both in the presence and in the absence of a terrain map. The simulation results of the optical-inertial navigation system readings are presented.