An algorithm of terrain matching Aided Navigation for UAVs

Based on TERCOM (Terrain Contour Matching) algorithm and SITAN (Sandia Inertial Terrain-Aided Navigation) algorithm, the paper proposes a terrain matching method of aided navigation for UAV, which synthesizes the advantages of TERCOM and SITAN to meet the requirements of aided navigation for inertial system. It is demonstrated by experiments that the proposed algorithm can perform real-time and continuous navigation as well as improve navigation accuracy under the conditions of large initial error and maneuvering flight.