Autonomous navigation on analytical trajectories using inertial-optical measurements

Sokolov S.V., Pogorelov V.A., Reshetnikova I.V.
 pdf (488K)

The increased potential for jamming satellite navigation signals, which provide the highest positioning accuracy for moving objects, makes the development of alternative navigation systems comparable in accuracy but autonomous extremely important. One of the most effective such approaches is the integration of inertial and optical navigation systems (NS), as they are more resistant to artificial interference. Among NS data, one can distinguish systems that use a velocity field calculation method when processing optical flow, allowing the determination of the linear and angular velocity vectors of an object in the absence of terrain maps and reference points. However, a serious drawback of this method is the high computational cost of determining the velocity field (optical flow parameters), which is difficult to implement onboard an object. In this regard, the article considers an approach that allows for constructing a tightly coupled autonomous inertial-optical navigation scheme for objects moving along known (programmed) trajectories. This scheme utilizes a navigation algorithm that is easily implemented in onboard computers due to the discovered possibility of estimating the navigation vector without preliminary calculation of optical flow parameters, as well as by utilizing functional dependencies of navigation variables arising on analytical (orthodromic) trajectories. To illustrate the generality of the solution, cases of a rigidly mounted video camera on the object and its two-degree stabilization are studied. The navigation algorithm, providing a stochastic estimate of the full vector of linear and angular motion parameters based on measurements of an integrated tightly coupled inertial-optical NS, is built on the basis of an extended Kalman filter for correlated noise of the object and the observer. A numerical experiment illustrating the effectiveness of the proposed approach is conducted.

Keywords: analytical trajectory, orthodrome, optical flow parameters, tightly coupled inertialoptical navigation system, extended Kalman filter
Citation in English: Sokolov S.V., Pogorelov V.A., Reshetnikova I.V. Autonomous navigation on analytical trajectories using inertial-optical measurements // Computer Research and Modeling, 2026, vol. 18, no. 4, pp. 793-808
Citation in English: Sokolov S.V., Pogorelov V.A., Reshetnikova I.V. Autonomous navigation on analytical trajectories using inertial-optical measurements // Computer Research and Modeling, 2026, vol. 18, no. 4, pp. 793-808
DOI: 10.20537/2076-7633-2026-18-4-793-808
URL: http://crm-en.ics.org.ru/journal/article/3745/
Creative Commons License This work is licensed under a Creative Commons Attribution-NoDerivs 3.0 Unported License.

Copyright © 2026 Sokolov S.V., Pogorelov V.A., Reshetnikova I.V.

Indexed in Scopus

Full-text version of the journal is also available on the web site of the scientific electronic library eLIBRARY.RU

The journal is included in the Russian Science Citation Index

The journal is included in the RSCI

International Interdisciplinary Conference "Mathematics. Computing. Education"

Website Copyright © 2009–2026 Institute of Computer Science