IMAGE GEO-REGISTRATION FOR ABSOLUTE NAVIGATION AIDING USING UNCERTAINY INFORMATION FROM THE ON-BOARD NAVIGATION SYSTEM

摘要

A system and method for feeding back and incorporating the uncertainty distribution of the state estimate output by the INS in the image geo-registration process to handle larger navigation errors, provide a full six degree of freedom position and attitude absolute navigation update for the navigation system and provide a more accurate update for autonomous aerial, underwater or ground vehicles. Generating the update simultaneously for multiple images may provide a more robust solution to address any observability issues that may be present, the ability to fuse different sensor modalities and in general more accurate updates. Key frames may be used to improve the computational efficiency of the method.