Home – Home – Jornals – Avtometriya 2024 number 6

Currently, when solving the problem of autonomous navigation according to the parameters of the optical flow captured by a video camera during the movement of an object, only the components of the linear and angular velocities of the object are determined. This determination of velocities is only part of the general task of navigation (current positioning of an object and determining its angular orientation) and does not allow it to be solved as a whole. In this regard, the article describes an integration approach that allows combining the capabilities of an inertial navigation system, which provides a solution to the problem of autonomous navigation in general, and an optical flow navigation system, which allows autonomous observation of linear and angular motion parameters with the minimum hardware expenses. When using these systems, the complexity of accounting for interference with different probabilistic nature is a serious problem, and the synthesis of a stochastic model of the proposed integrated inertial optical system is carried out with due allowance for the possibility of further application of methods that take into account the influence of interference in assessing the navigation parameters of an object, i.e., methods of modern stochastic filtering theory. As a result, a modified extended Kalman filter is built to estimate the full vector of object motion parameters based on measurements of the integrated inertial optical navigation system, with the correlation of object and observer noise taken into account. A numerical experiment has been carried out to illustrate the effectiveness of the proposed approach.