Optical Flow Aided Navigation Inspired By Honeybee Vision

Improve the navigation accuracy become an important indicator of country's military power today. Early navigation algorithm was improved single, now by integrated navigation. It's difficult to achieve the desired effect by a single navigation method to improve the navigation accuracy, so we choose to study from integration. To correct INS position error accumulated over time, according to the terrain aided navigation and visual mechanism of insects, an aided navigation based on optical flow method is proposed in this paper.The key technologies are as follows: (1) the propose of the concept of optical flow and formulas; on the basis of the bees the visual design of the mechanism of optical flow, the establishment of a mathematical model of optical, deriving the formula (2) the certificate of optical flow characteristics; optical formula based on its properties are proved, including linear features and rotation invariance. (3) the design of optical-based Kalman filtering algorithm.(4) simulation and results analysis; Experiments with some actual aerial image sequences have proven the effectiveness of this integrated navigation method..This algorithm was simulated on a number of parameters and options, through the initial error in a different, different to a lot of latitude and longitude of the source image simulation. Experiments show that the optical flow aided navigation inspired by insect vision is an effective method of long-range precision-guided flight, no increase in other hard components and the improvement of the aircraft's mobility. Because a flight aircraft is located at certain time intervals, which make the aircraft can be arbitrary change the flight path.