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HYBRID UAV NAVIGATION SYSTEM IN GNSS-DENIED CONDITIONS: COMBINATION OF VISUAL ODOMETRY AND INERTIAL MEASUREMENTS
Oct 2026 · INTELLECTUAL INFORMATION SYSTEMS: FROM THEORY TO PRACTICE – 2026 : Proceedings of the International Scientific and Practical Conference, Voronezh, July 02, 2026 · 0 citations
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Abstract
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 proposed approach ensures an accuracy level suffi-cient for urban missions and search-and-rescue operations.