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In allusion to the character of aircraft orientation error in inertial navigation system increasing with its working time and error accumulation, airborne image aided navigation system is imported in inertial navigation system to combine integrated navigation system. To acquire high orientation accuracy and high matching speed a new algorithm based on multi-scale edge detection and generalized point theory is put forward. At first multi-scale edge detection algorithm is adopted to realize airborne image edge detection, then image matching algorithm is used based on generalized point theory is used to eliminate error accumulation of peg-top excursion and accelerometer error to correction aircraft aircraft pose error to increase navigation accuracy of aircraft. To prove the algorithm is effective and robust, simulative experiment is done. The simulative experiment indicated that aircraft orientation accuracy is better than inertial navigation system, and its orientation error is less than 15 meters after airborne image aided navigation correction.