Terrain aided navigation based on computer vision

This paper proposes a scheme of terrain aided navigation based on the principle of computer vision. Being different from the conventional terrain matching technique, the scheme uses CCD camera rather than barometer and radio altimeter as the sensing element. Terrain elevation information within an area rather than along the course of the vehicle´s flight is drawn from CCD images according to the principle of computer vision. Shorter flight time is needed to gather sufficient information for successful terrain matching, hence, the scheme provides estimation and compensation for errors of the inertial navigation system more rapidly.