ArticleSensors (Basel, Switzerland)2025
An Integrated Navigation Method Based on the Strapdown Inertial Navigation System/Scene-Matching Navigation System for UAVs.
Article in Sensors (Basel, Switzerland), 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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4 authors.
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Abstract
To address the challenges of discontinuous heterogeneous image matching, significant matching errors in specific regions, and poor real-time performance in GNSS-denied environments for unmanned aerial vehicles (UAVs), we propose an integrated navigation method based on the strapdown inertial navigation system (SINS)/scene-matching navigation system (SMNS). First, we designed a heterogeneous image-matching and positioning approach using infrared images to obtain an estimation of the UAV's position. Then, we established a mathematical model for the integrated SINS/SMNS navigation system. Finally, a Kalman filter (KF) was employed to fuse the inertial navigation data with absolute position data from scene matching, achieving high-precision and highly reliable navigation positioning. We constructed a navigation data acquisition platform and conducted simulation studies using flight data collected from this platform. The results demonstrate that the integrated SINS/SMNS navigation method significantly outperforms standalone scene-matching navigation in horizontal positioning accuracy, improving latitude accuracy by 52.34% and longitude accuracy by 45.54%.
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