A Robust Image Based Navigation System for an Air

This Phase II Follow-On extends capabilities completed with SSCI’s image aided navigation system ImageNav for the Tomahawk Cruise Missile, which provides navigation and precision targeting capability in GPS denied areas. ImageNav computes an air vehicle’s inertial flight path using an onboard, high-resolution digital camera. A series of downward looking images along the vehicle’s flight path are collected; advanced image processing algorithms are then used to correlate stereo imagery generated from these images against an onboard terrain database in real-time to compute intrinsic vehicle motion in real time. A prototype ImageNav system already operational will be further tested with detailed models developed for motion estimation. Motion Estimation algorithms compute the relative motion of the vehicle from the apparent motion of image features in sequential frames and does not require the use of any stored terrain databases. A unified approach to position estimation and motion estimation will be incorporated to improve ImageNav feature matching and correspondence algorithms. ImageNav’s ability to provide position and velocity updates for mission test scenarios will also be demonstrated. ImageNav’s effectiveness is evaluated using Tomahawk CONOPS mission parameters and their effect on ImageNav guidance and control capabilities. Processor and computational performance benchmarks for ImageNav will also be established.