Please login first
Experimentation of an integrated Vision-aided Inertial Navigation System with Orthophoto matching on a fixed-wing UAV
* 1 , 2
1  Norwegian Defence Research Establishment (ffi)
2  Department of Defence Systems, Norwegian Defence Research Establishment (FFI)
Academic Editor: Tomasz Hadas

Published: 03 October 2025 by MDPI in European Navigation Conference 2025 topic PNT Resilience and Robustness
Abstract:

This paper presents the work on integrating a Vision-aided Inertial Navigation System (VaINS) with orthophoto matching to cope with the GNSS failure. Normalized cross-correlation is used to match onboard camera images with geo-referenced aerial imagery. Image sequences captured at a 90˚ nadir angle by VaINS on a fixed-wing UAV is used. The integrated navigation results are compared against both a smoothed GPS-aided reference solution and the standalone VaINS solution during simulated GPS-denied intervals. The results demonstrate that the integrated approach significantly outperforms the VaINS-only method. This is a preliminary investigation within an ongoing work in orthophoto matching.

Keywords: Navigation; Orthophoto matching; Normalized cross correlation; INS, UAV

 
 
Top