2164

Proceedings of the 4~ World Congress on Intelligent Control and Automation

June 10-14, 2002, Shanghai, P.R.China

Terrain Aided Navigation based on Computer Vision

ZHOU Hao, ZHANG Chang-yun

School of Automation Science and Electrical Engineering, BeiJing University of Aeronautics and
Astronautics, BeiJing. 10083
E-mail: hardyzhou@263.net
Abstract This paper proposes a scheme of terrain aided navigation based on principle of computer vision.
Being different from the conventionalterrain matching technique, the scheme uses CCD camera rather than
barometer and radio altimeter as sensing element. Terrain elevation information within an area rather than along
the course of vehicle's flight is drawn from CCD images according to the principle of computer vision. Shorter
flight time is needed to gather sufficient information for successful terrain matching, hence, the scheme provides
estimation and compensation for errors of inertial navigation system more rapidly.

Key words TERCOM; aided navigation; computer vision

Proceedings of the 8 World Congress on Intelligent Control and Automation

June 10-14, 2002, Shanghai, P.R.China

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2166

Proceedings of the 4'" World Congress on Intelligent Control and Automation

June 10-14, 2002, Shanghai, P.R.China