Algorithm for inertial-visual orientation of an aircraft with two optical cameras

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The article presents an algorithm for determining the orientation angles of an aircraft using data from two optical cameras and a gyroscope triad. The cost functions required for calculating roll, yaw, and pitch are described. A simulation of the algorithm's performance was conducted using real images, along with sequential correction of orientation angles based on the proposed approach. The algorithm takes into account errors from low-accuracy angular velocity sensors. Among the advantages of the method are its independence from the need to detect the horizon line and its low computational resource requirements for the navigation system.