HYBRID UAV NAVIGATION SYSTEM IN GNSS-DENIED CONDITIONS: COMBINATION OF VISUAL ODOMETRY AND INERTIAL MEASUREMENTS
This paper addresses the autonomous navigation of unmanned aerial vehicles (UAVs) in GNSS-denied environments. A hybrid visual-inertial system based on an Extended Kal-man Filter is proposed. The primary focus is on correcting the scale drift of a monocular camera and enhancing the robustness of the algorithms. The pro...