Abstract:It is hard for UAVs to obtain high navigation accuracy under the condition of satellite signal rejection. Therefore, studying the autonomous navigation and positioning method with sensing equipment is significant. Based on the tightly coupled visual inertia algorithm architecture VINS-Mono on aircraft platforms, a visual-inertial data simulation method is proposed in this paper. The initial motion trajectory is supplemented for solving problems that the visual scale cannot be restored in uniform linear motion. The simulation experiment results show that the navigation parameters and the scale can be correctly solved by adding the trajectory for the alignment of visual and inertial information. Under ideal conditions, the positioning error within 500m is less than 3.5% of the true value, which provides an important algorithm reference for UAV visual-inertial integrated navigation in this scene.