Vision aided INS error estimation based on EKF for cruise missile

In absence of other navigation systems, cruise missile INS error will cumulate continuously with time. And Global Positioning System information is not always available since it relies on external satellite signals. To this end, this paper proposes a novel vision aided INS error estimation method based on Extended Kalman Filter (EKF). Using the vision information from the missile to single known target and altimeter information, cruise missile INS position error and velocity error were estimated simultaneously. Simulation results verify the effectiveness of this method.