UAV navigation using opto-electronic and inertial means in GNSS-denied environment

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. (paper)