Optical Navigation Research Articles

Autonomous relative optical navigation based on unified modeling of external systematic errors

To solve the problem that external systematic errors of the optical camera cannot be fully estimated due to limited computing resources, a unified dimensionality reduction representation method for the external systematic errors of the optical camera is proposed, and autonomous relative optical navigation is realized. The camera translational and misalignment errors are converted into a three-dimensional rotation error, whose differential model can be established through specific attitude control and appropriate assumption. Then, the rotation error and the relative motion state are jointly estimated in an augmented Kalman filter framework. Compared with the traditional method that estimates the camera translational and misalignment errors, the proposed method reduces the computational complexity in that the estimated state dimension is reduced. Furthermore, as demonstrated by numerical simulation, the estimation accuracy is improved significantly.

Evidence of global space weathering by solar wind on asteroid 162173 Ryugu

Reflectance spectra (0.3–4 μm) of powder samples of the third largest stone C0002 returned from the asteroid Ryugu by JAXA Hayabusa2 mission were measured and compared with proximity observation data taken by the Optical Navigation Camera - Telescopic (ONC-T) and the Near-Infrared Spectrometer (NIRS3) onboard the Hayabusa2 spacecraft. Although the characteristics of the 2.7 μm absorption band due to structural hydroxyl of the Ryugu powder samples are consistent with CI1 chondrite meteorites, NIRS3 spectra of the global surface of Ryugu exhibit a wavelength shift of +6 nm in the 2.7 μm absorption band center in comparison with those of both the powder samples and an artificial crater on the asteroid formed by the Small Carry-on Impactor (SCI). This is consistent with effects of solar wind-induced space weathering being present across the global surface of asteroid Ryugu. The darkness of the Ryugu surface in comparison with the returned samples and an upturn in reflectance observed in the average ONC-T spectrum at ultraviolet wavelengths may also be due to space weathering.

The Value of Computer-Assisted Navigation for Glenoid Baseplate Implantation in Reverse Shoulder Arthroplasty: A Systematic Review and Meta-Analysis.

Glenoid baseplate malpositioning during reverse total shoulder arthroplasty can contribute to perimeter impingement, dislocation, and loosening. Despite advances in preoperative planning, conventional instrumentation may lead to considerable inaccuracy in implant positioning unless patient-specific guides are used. Optical navigation has the potential to improve accuracy and precision when implanting a reverse shoulder arthroplasty baseplate. This systematic review aimed to analyze the most recent evidence on the accuracy and precision of glenoid baseplate positioning using intraoperative navigation and its potential impact on component selection and surgical time. We conducted a systematic review following the Preferred Reporting Items for Systematic Reviews and Meta-Analyses criteria. The PubMed, Scopus, and EMBASE databases were queried in July 2022 to identify all studies that compared navigation vs. conventional instrumentation for reverse shoulder arthroplasty. Data of deviation from the planned baseplate version and inclination, the use of standard or augmented glenoid components, and surgical time were extracted. Quantitative analysis from the included publications was performed using the inverse-variance approach and Mantel-Haenszel method. Of the 2,048 records identified in the initial query, only 10 articles met the inclusion and exclusion criteria, comprising 667 shoulders that underwent reverse total shoulder arthroplasty. The pooled mean difference (MD) of the deviation from the planned baseplate position for the clinical studies was -0.44 (95% confidence interval [CI], -3.26; p = 0.76; I2 = 36%) for version and -8.75 (95% CI, -16.83 to -0.68; p = 0.02; I2 = 83%) for inclination, both in favor of navigation. The odds ratio of selecting an augmented glenoid component after preoperative planning and navigation-assisted surgery was 8.09 (95% CI, 3.82-17.14; p < 0.00001; I2 = 60%). The average surgical time was 12 minutes longer in the navigation group (MD 12.46, 95% CI, 5.20-19.72; p = 0.0008; I2 = 71%). Preoperative planning integrated with computer-assisted navigation surgery seems to increase the accuracy and precision of glenoid baseplate inclination compared with the preoperatively planned placement during reverse total shoulder arthroplasty. The surgical time and proportion of augmented glenoid components significantly increase when using navigation. However, the clinical impact of these findings on improving prosthesis longevity, complications, and patient functional outcomes is still unknown. Level III, systematic review and meta-analysis. See Instructions for Authors for a complete description of levels of evidence.

Stereotactic ablation: A game changer?

For both primary and metastatic liver cancer, thermal ablation represents an interesting alternative to surgery. However, except for a small fraction of patients, conventional ultrasound- and CT-guided single-probe approaches have not achieved oncologic outcomes comparable with surgery. In this overview, we describe our stereotactic ablation workflow and discuss the short- and long-term results of stereotactic radiofrequency ablation (SRFA) and stereotactic microwave ablation (SMWA)for the treatment of primary and secondary liver tumours. The advantages of this method are discussed together with a summary of the existing stereotactic techniques for thermal ablation and the clinical data that support them. Stereotactic ablation is based on an optical navigation system and a specialized aiming tool. The workflow includes advanced three-dimensional planning, precise needle/probe placements according to the plan and intraoperative image fusion to check the needle positions and the ablation margins. Stereotactic ablation offers all the advantages of a minimally invasive procedure while producing oncological results comparable with surgery. The number of locally treatable liver cancers may be significantly expanded with these cutting-edge instruments and methods. We firmly believe that it can become a cornerstone in the treatment of liver cancers.

Post-flight Evaluation of Lidar-based Digital Terrain Models for OSIRIS-REx Navigation at Bennu

The Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) spacecraft spent more than 2 yr characterizing near-Earth asteroid (101955) Bennu. The OSIRIS-REx Laser Altimeter (OLA) was responsible for producing the most accurate reconstruction of the asteroid’s surface—down to a global resolution of around 5 cm with a data precision of ±1.25 cm. However, the best-quality global OLA digital terrain model (DTM), version 21 (v21), was not available for navigation during proximity operations, nor was the utility of this model evaluated for processing images and altimeter data for navigation. The focus of this paper is the post-flight assessment of the final OLA v21 DTM, its performance for navigation-related analysis, and estimates of corrections needed for the DTM and measurement models. We created 15 cm resolution maplets for processing optical navigation (OpNav) data, and 5 cm resolution DTMs for processing altimeter data, to estimate a combined spacecraft trajectory over five phases of the mission. Our estimated corrections to the OLA instrument model produce altimeter data residuals with a precision of 7.12 cm (1σ; one standard deviation from the mean). The OpNav maplets produce image residuals at 0.2 px (1σ) and estimated landmark locations accurate to ±6 cm, outperforming DTM navigation-related performance requirements. Finally, our estimate of the global DTM scale is more precise and within 1.1σ of previously reported values. We find that a slight discrepancy persists between the image and altimeter data, with image data suggesting that the DTM is too small by 0.049%, but nevertheless is exceptional for navigation.

Rendezvous in cislunar halo orbits: Hardware-in-the-loop simulation with coupled orbit and attitude dynamics

Space missions to Near Rectilinear Halo Orbits (NRHOs) in the Earth–Moon system are upcoming. A rendezvous technique in cislunar space is proposed in this investigation, one that leverages coupled orbit and attitude dynamics in the Circular Restricted Three-body Problem (CR3BP). An autonomous Guidance, Navigation and Control (GNC) technique is demonstrated in which a chaser spacecraft approaches a target spacecraft in a sample southern 9:2 synodic-resonant L2 NRHO, one that currently serves as the baseline for NASA’s Gateway. A two-layer guidance and control approach is contemplated. First, a nonlinear optimal controller identifies an appropriate baseline rendezvous path for guidance, both in position and orientation. As the spacecraft progresses along the pre-computed baseline path, navigation is performed through optical sensors that measure the relative pose of the chaser relative to the target. A Kalman filter processes these observations and offers state estimates. A linear controller compensates for any deviations identified from the predetermined rendezvous path. The efficacy of the GNC technique is tested by considering a complex scenario in which the rendezvous operation is conducted with an uncontrolled tumbling target. Hardware-in-the-loop laboratory experiments are conducted as a proof-of-concept to validate the guidance algorithm, with observations supplemented by optical navigation techniques.

Application and Development of Fiber Optic Gyroscope Inertial Navigation System in Underground Space

Fiber Optic Gyroscope Inertial Navigation System (FOG-INS) is a navigation system using fiber optic gyroscopes and accelerometers, which can offer high-precision position, velocity, and attitude information for carriers. FOG-INS is widely used in aerospace, marine ships, and vehicle navigation. In recent years, it has also played an important role in underground space. For example, in the deep earth, FOG-INS can be used in directional well drilling, which can enhance recovery in resource exploitation. While, in shallow earth, FOG-INS is a high-precision positioning technique that can guide construction in trenchless underground pipelaying. This article extensively reviews the application status and latest progress of FOG-INS in underground space from three aspects—FOG inclinometer, FOG drilling tool attitude measurement while drilling (MWD) unit, and FOG pipe-jacking guidance system. First, measurement principles and product technologies are introduced. Second, the research hot spots are summarized. Finally, the key technical issues and future trends for development are put forward. The findings of this work are useful for further research in the field of FOG-INS in underground space, which not only provides new ideas and directions for scientific research, but also offers guidance for subsequent engineering applications.

Percutaneous Magnetic Resonance Imaging-Guided Coaxial Cutting Needle Biopsy of Pancreatic Lesions: Diagnostic Accuracy and Safety.

To appraise the diagnostic performance of magnetic resonance imaging-guided percutaneous coaxial cutting needle biopsy of pancreatic lesions using a 0.4-T open magnetic resonance imaging scanner with optical tracking navigation. This retrospective study included 158 patients who underwent magnetic resonance imaging-guided pancreatic lesion biopsy procedures from May 2019 to December 2020. Two to four specimens were collected from each patient. Pathological diagnosis and clinical follow-ups were conducted to establish the final diagnosis. The procedures were evaluated for sensitivity, specificity, positive and negative predictive values, diagnostic accuracy, and complications. The Cardiovascular and Interventional Radiological Society of Europe guidelines were used to classify complications. Biopsy pathology revealed 139 pancreatic tumor malignancies and 19 benign pancreatic lesions. Finally, 151 patients were diagnosed with pancreatic malignancy and 7 with benign disease confirmed by surgery, re-biopsy, and clinical follow-up. The sensitivity, specificity, positive and negative predictive value, and accuracy for diagnosis of pancreatic diseases were 92.1%, 100%, 100%, 36.8%, and 92.4%, respectively. The biopsy accuracy was significantly related to the size (≤ 2cm, 76.2%; 2-4cm, 94.0%; > 4cm, 96.2%, P = .02) and not the lesion's location (head of pancreas, 90.7%; neck of pancreas, 88.9%; body of pancreas, 94.3%; tail of pancreas, 96.7%, P = .73). Minor complications included two patients experiencing mild abdominal pain and two with a minor occurrence of hemorrhage. Percutaneous magnetic resonance imaging-guided pancreatic lesion biopsy combined with optical navigation has high diagnostic accuracy and is safe for clinical practice. Level of Evidence Level 4, Case-series.

Разработка обобщенного алгоритма расчета энергетических характеристик электронно-оптических компонентов лазерной навигационной системы, функционирующей в условиях космического вакуума

The article highlights the components of a laser navigation system and analyzes them. A mathematical model of an optical navigation system formed by a radiation source, a transmission medium (space vacuum) and a receiver are constructed. A technique for estimating the energy characteristics of the photosensitive matrix of the orbiter's receiver has been developed. Based on the constructed technique, an algorithm was developed for calculating the energy characteristics of the electron-optical components of the lunar beacon according to the given energy characteristics of the light-sensitive matrix and the optical system of the orbiter. Examples of practical calculations for lunar day and lunar night are given. The correctness of the results obtained in the examples of calculations was checked. The algorithm developed during the study can be used to select electro-optical components while solving the problem of creating a navigation system based on laser beacons. Object of research: laser navigation system. Subject of research: a generalized algorithm for calculating the energy characteristics of the electro-optical components of laser navigation system operating in space vacuum. Main results: a generalized algorithm for calculating the energy characteristics of the electron-optical components of laser navigation system and a mathematical model of a navigation system formed by a radiation source, a transmission medium (cosmic vacuum) and a receiver included in it.

Optical-referenceless optical frequency counter with twelve-digit absolute accuracy

A simpler and more accurate measurement of absolute optical frequencies (AOFs) is very important for optical communications and navigation systems. To date, an optical reference has been needed for measuring AOFs with twelve-digit accuracy because of the difficulty in measuring them directly. Here, we focus on an electro-optics-modulation comb that can bridge the vast frequency gap between photonics and electronics. We demonstrate an unprecedented method that can directly measure AOFs to an accuracy of twelve digits with an RF frequency counter by simply delivering a frequency-unknown laser into an optical phase modulator. This could open up a new horizon for optical-referenceless optical frequency metrology. Our method can also simultaneously achieve a 100-fold phase-noise reduction in a conventional signal generator. This corresponds to an increase in the transmission speed of wireless communications of by about seven times.

CNN-based Image Processing algorithm for autonomous optical navigation of Hera mission to the binary asteroid Didymos

Hera mission is the European Space Agency’s contribution to the international collaboration with NASA for the planetary defence, i.e. Asteroid Impact Deflection Assessment aiming to deflect the trajectory of its target binary asteroid system (65803) Didymos. The Early Characterization Phase and the Detailed Characterization Phase of Hera mission are two phases of the proximity operations with the objective to physically and dynamically characterize Didymos. During these phases, an Image Processing algorithm is required to estimate the position of the centroid of the primary to enable Line of Sight navigation. However, the performance of standard Image Processing algorithms is affected by the disturbances of the image, such as poor illumination conditions, the presence of external bodies and the irregular shape of the target. This research addresses this challenge by developing a robust Convolutional Neural Networks-based Image Processing algorithm to estimate the position of the centroids of Didymos and its moon Dimorphos, the pseudorange from the primary and the Sun phase angle. The training, validation and testing datasets are generated with the software Planet and Asteroid Natural scene Generation Utility using the Early Characterization Phase and the Detailed Characterization Phase trajectories as case scenario. The position in the image of the centroids of Didymos and Dimorphos is estimated using their respective position vectors. To estimate the pseudorange, the developed algorithm regresses a set of keypoints on the visible border of Didymos and evaluates its apparent radius. For the Sun phase angle, the pixel position of the subsolar point of the primary is leveraged. The High-Resolution Network is the Convolutional Neural Network architecture applied to detect keypoints with superior spatial precision. Even with the considered disturbances, the analysis shows that the proposed algorithm is able to provide an accurate estimation of the mentioned outputs for all the Early Characterization Phase trajectory and for 77.33% of the Detailed Characterization Phase trajectory, improving the robustness and autonomy of the mission navigation.

Augmented Reality Surgical Navigation System Integrated with Deep Learning.

Most current surgical navigation methods rely on optical navigators with images displayed on an external screen. However, minimizing distractions during surgery is critical and the spatial information displayed in this arrangement is non-intuitive. Previous studies have proposed combining optical navigation systems with augmented reality (AR) to provide surgeons with intuitive imaging during surgery, through the use of planar and three-dimensional imagery. However, these studies have mainly focused on visual aids and have paid relatively little attention to real surgical guidance aids. Moreover, the use of augmented reality reduces system stability and accuracy, and optical navigation systems are costly. Therefore, this paper proposed an augmented reality surgical navigation system based on image positioning that achieves the desired system advantages with low cost, high stability, and high accuracy. This system also provides intuitive guidance for the surgical target point, entry point, and trajectory. Once the surgeon uses the navigation stick to indicate the position of the surgical entry point, the connection between the surgical target and the surgical entry point is immediately displayed on the AR device (tablet or HoloLens glasses), and a dynamic auxiliary line is shown to assist with incision angle and depth. Clinical trials were conducted for EVD (extra-ventricular drainage) surgery, and surgeons confirmed the system's overall benefit. A "virtual object automatic scanning" method is proposed to achieve a high accuracy of 1 ± 0.1 mm for the AR-based system. Furthermore, a deep learning-based U-Net segmentation network is incorporated to enable automatic identification of the hydrocephalus location by the system. The system achieves improved recognition accuracy, sensitivity, and specificity of 99.93%, 93.85%, and 95.73%, respectively, representing a significant improvement from previous studies.

A Return to the Sextant—Maritime Navigation Using Celestial Bodies and the Horizon

Satellite navigation over recent decades has become the default and, in some cases, sole source of positioning for maritime vessels. The classic sextant has been all but forgotten by a significant number of ship navigators. However, recent risks to RF-derived positioning by jamming and spoofing have resurfaced the need to train sailors again in the art. Innovations in space optical navigation have long been perfecting the art of using celestial bodies and horizons to determine a space vessel’s attitude and position. This paper explores their application to the much older ship navigation problem. Models are introduced that utilize the stars and horizon to derive latitude and longitude. When assuming good star visibility conditions on the ocean, the accuracy delivered is at the 100 m level. This can meet requirements for ship navigation in coastal and oceanic voyages.

The significance and related technologies of asteroid detection

Asteroid detection mission plays an important role in the field of deep space exploration, and it has multiple theoretical and practical guidance advantages for asteroid detection missions, and also promotes all critical technologies of deep space exploration. At present, many asteroid exploration missions have been carried out around the world, and China also plans to launch the "Tianwen-2" probe around 2025 to carry out an integrated exploration mission of fly-by, orbit detection, attachment control and sample-return mission for asteroid 2016HO3. In this paper, we discuss the significance of asteroid detection and several related critical technologies. The theoretical value of asteroid detection covers such as promoting theoretical research on the formation and evolution of the solar system, solar system material, geohazard early warning and early warning of spacecraft orbit. As for the key technologies involved in asteroid detection, this paper discusses the design of transfer trajectory and near-orbit operation, autonomous landing, optical navigation, laser communication and electric propulsion, and summarizes the research and application results of these technologies in the international deep space exploration field.

Robust Centroid Estimation Method with the Rough and Refined Estimation for Interplanetary Optical Navigation

As the interest in probing deep space increases, it is necessary to enhance the autonomous navigation capabilities of the spacecraft. Since traditional navigation methods rely on ground-based radiometric tracking, the vehicle has a significant communication delay resulting in no ability to handle unexpected situations on time. Image-based optical navigation allows interplanetary spacecraft to determine their orbits autonomously. This paper explores how to accurately extract optical observations from the original images to perform autonomous navigation. First, we introduce a simple and efficient idea to locate valuable contours of the celestial body based on gradient variations. Then, we establish a rough estimation with RANSAC to remove the outliers around the edges. Next, we propose a refined estimation based on the hybrid genetic algorithm to precisely estimate the navigation observations. Lastly, numerous experiments have confirmed that our method achieves outstanding accuracy and robustness.

Short-Arc Horizon-Based Optical Navigation by Total Least-Squares Estimation

Horizon-based optical navigation (OPNAV) is an attractive solution for deep space exploration missions, with strong autonomy and high accuracy. In some scenarios, especially those with large variations in spacecraft distance from celestial bodies, the visible horizon arc could be very short. In this case, the traditional Christian–Robinson algorithm with least-squares (LS) estimation is inappropriate and would introduce a large mean residual that can be even larger than the standard deviation (STD). To solve this problem, a simplified measurement covariance model was proposed by analyzing the propagation of measurement errors. Then, an unbiased solution with the element-wise total least-squares (EW-TLS) algorithm was developed in which the measurement equation and the covariance of each measurement are fully considered. To further simplify this problem, an approximate generalized total least-squares algorithm (AG-TLS) was then proposed, which achieves a non-iterative solution by using approximate measurement covariances. The covariance analysis and numerical simulations show that the proposed algorithms have impressive advantages in the short-arc horizon scenario, for the mean residuals are always close to zero. Compared with the EW-TLS algorithm, the AG-TLS algorithm trades a negligible accuracy loss for a huge reduction in execution time and achieves a computing speed comparable to the traditional algorithm. Furthermore, a simulated navigation scenario reveals that a short-arc horizon can provide reliable position estimates for planetary exploration missions.

Leveraging neural network uncertainty in adaptive unscented Kalman Filter for spacecraft pose estimation

This paper introduces an adaptive Convolutional Neural Network (CNN)-based Unscented Kalman Filter for the pose estimation of uncooperative spacecraft. The validation is carried out at Stanford’s robotic Testbed for Rendezvous and Optical Navigation on the Satellite Hardware-In-the-loop Rendezvous Trajectories (SHIRT) dataset, which simulates vision-based rendezvous trajectories of a servicer spacecraft to PRISMA’s Tango spacecraft. The proposed navigation system is stress-tested on synthetic as well as realistic lab imagery by simulating space-like illumination conditions on-ground. The validation is performed at different levels of the navigation system by first training and testing the adopted CNN on SPEED+, Stanford’s spacecraft pose estimation dataset with specific emphasis on domain shift between a synthetic domain and an Hardware-In-the-Loop domain. A novel data augmentation scheme based on light randomization is proposed to improve the CNN robustness under adverse viewing conditions, reaching centimeter-level and 10 degree-level pose errors in 80% of the SPEED+ lab images. Next, the entire navigation system is tested on the SHIRT dataset. Results indicate that the inclusion of a new scheme to adaptively scale the heatmaps-based measurement error covariance based on filter innovations improves filter robustness by returning centimeter-level position errors and moderate attitude accuracies, suggesting that a proper representation of the measurements uncertainty combined with an adaptive measurement error covariance is key in improving the navigation robustness.

Inflight calibration of the optical navigation camera for the extended mission phase of Hayabusa2

After delivering its sample capsule to Earth, the Hayabusa2 spacecraft started its extended mission to perform a flyby of asteroid 2001 CC21 in 2026 and rendezvous with asteroid 1998 KY26 in 2031. During the extended mission, the optical navigation camera (ONC) of Hayabusa2 will play an important role in navigation and science observations, but it has suffered from optical deterioration after the spacecraft’s surface contact with and sampling of asteroid Ryugu. Furthermore, the sensitivity of the telescopic camera (ONC-T) has continued to decrease for more than a year, posing a serious problem for the extended mission. These are problems that could potentially be encountered by other sample-return missions involving surface contact. In this study, we evaluated the long-term variation of ONC performance over the 6.5 years following the launch in 2014 to predict how it will perform during observations of the two target asteroids in its extended mission (6 and 11 years from the Earth return, respectively). Our results showed several important long-term trends in ONC performance, such as transmission, dark noise level, and hot pixels. During the long cruising period of the extended mission, we plan to observe both zodiacal light and exoplanet transits as additional science targets. The accuracy of these observations is sensitive to background noise level and stray-light contamination, so we conducted new test observations to search for the lowest stray light, which has been found to depend on spacecraft attitude. The results of these analyses and new test observations suggest that the Hayabusa2 ONC will be able to conduct cruising, flyby, and rendezvous observations of asteroids with sufficient accuracy.Graphical

A multi-sensor optical relative navigation system for small satellite servicing

This paper presents an innovative multi-sensor relative navigation module conceived to enable close-proximity operations for on-orbit servicing of small satellites. The module is composed of a Near-Infrared Laser Range Finder, acting both as range measurer and illuminator, and a monocular camera able to detect a set of reflecting fiducial markers installed on the target for pose estimation. Sensor fusion is performed in several points of the proposed processing pipeline, first following a cross-cueing logic in which the range aids the pose determination process, and later through the integration of both measurements into a Multiplicative Extended Kalman Filter for relative state estimation. The entire relative navigation architecture is first tested by numerically reproducing a close-range rendezvous trajectory of a chaser spacecraft moving toward the target, and using the open-source software Blender for synthetic image generation. Simulations are aimed at determining nominal relative state estimation accuracy (also considering variable sensors' acquisition rates) as well as performance under non-nominal conditions (e.g., due to a temporary loss of measurements). Focusing on the image processing and pose estimation pipeline, an in-depth analysis of the computational efficiency is then carried out by running the proposed algorithms on an embedded processing unit (i.e., the Raspberry Pi 4 Model B) using both synthetic data and real images collected within a dedicated experimental testbed. Numerical and experimental results demonstrate capability to attain pose and relative state estimates in line with accuracy requirements to ensure autonomous and safe close-proximity operations, e.g., up to sub-cm and sub-degree error levels in relative position and attitude respectively. In addition, the algorithm's computational runtime has shown to be compatible with real-time implementation at an acquisition frequency of 2 Hz.

The accuracy of determining the coordinates of an unmanned aerial vehicle with a navigation complex integrating an electro-optical positioning system

The article proposes the approaches to updating a strapdown inertial navigation system (SINS) based on data of the airborne electro-optical system (EOS) of an unmanned aerial vehicle (UAV). It is specified that the EOS is presented as a navigation data sensor. The rationale for the feasibility of such an approach is formed, especially in the terms of signal lack or suppression of satellite radio-navigation systems. It is proposed to ensure the accuracy of self-contained navigation by assigning an UAV route, including waypoints with terrestrial references (TRs). Notably, TR-associated image information is preliminarily downloaded into the flight management computer (FMC). The automated TR identification system with denoted coordinates at next waypoints, using airborne data, in fact, allows for alternative global positioning. The reliable operation of such an integrated navigation system over sufficiently extended legs of flight path, first, depends on the accuracy of its constituent elements. Taking into consideration the fact that conventional sensors of navigation information, such as a SINS and an altimeter, are quite well studied in numerous contributions. The article focuses on the UAV airborne electro-optical system and, specifically, on its application features as a navigation sensor. The factors influencing the accuracy of the UAV positioning data determination at waypoints according to the data of the airborne EOS are considered. The developed mathematical model of errors for the UAV inertial optical navigation complex (IONC) is presented. The analysis of the impact of airborne altimeter inaccuracies, earth’s surface features and the shift of the onboard digital camera optical axis, caused by random evolutions of the carrier body in turbulent atmosphere on the positioning accuracy, was conducted. The results of calculating lapses in determining the UAV positioning data, equipped with IONC, are given.