This paper presents a method for improving the performance of an inertial navi-gation airborne system utilizing information from an on-line mosaicking constructionprocess. The system setup consists of an airborne platform equipped with an inertialnavigation system and a gimbaled camera, which scans the area in the flight vicinity.The images acquired by the camera are used to update the mosaic images and alsoto reduce the developing navigation errors. The main contribution of this paper is anupdated measurements model and the performance evaluation of the proposed methodbased on an extensive simulation study and experiments conduction using real imagesacquired from Google Earth. Through these experiments we have shown that a sig-niˉcant improvement may be obtained in some of the navigation states under realisticscenarios. As the relative motion measurements, upon which the proposed method isconstituted, are a by-product of the on-line mosaicking process, the navigation aidingis achieved without investing much additional effort.
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