The method of inertial-visual orientation of the aircraft

Abstract

The article proposes a method for determining the orientation angles of an aerial vehicle based on information from an optical camera and a triad of angular velocity sensors. The basic formulae necessary for determining the orientation angles and calculating the size of the image area for processing are given. Simulation of the operation of the algorithm for determining the pitch angle of the airial vehicle on real images was carried out. At the same time, the errors of sensors were taken into account. The use of angular velocity sensors of low and medium accuracy class was considered. The advantages of the method are the absence of the need to detect the horizon line and low requirements for the navigation computer.