Correlation-extreme navigation system based on morphological analysis

Abstract

Relevance of research topic is caused by the fact that the comparison of images based only on the brightness characteristics is not sufficient sometimes, but morphological comparison considers also geometric characteristics. Purpose of research is to disclose the principle of work and efficiency of Correlation-Extreme Navigation System (CENS) based on morphological analysis. Unmanned Aerial Vehicles (UAVs) always contains Global Positioning System (GPS) and Inertial Measurement Unit (IMU). It usually has the ability to perform automatic navigation along planned waypoints. Nevertheless, if the GPS signal becomes unavailable, the state estimation solution provided by data from IMU alone drifts in time and will be unusable. Correlation-extreme navigation is one of alternative solution in such case and may be additional source of data fusion in the integrated navigation complex.