Affordable Vision-Based GNSS-Denied Strapdown Celestial Navigation for UAVs
This paper presents a low-cost, lightweight strapdown celestial navigation solution for Uncrewed Aerial Vehicles (UAVs) operating in Global Navigation Satellite System (GNSS)-denied environments. Utilizing a modular system with a stabilized imaging system and a low-cost Attitude and Heading Reference System (AHRS), the algorithm achieves position estimates within 4 km accuracy. By performing an orbital maneuver through a full compass rotation and averaging position outputs, biases inherent in the strapdown system are nullified. An iterative method for in-flight geometric alignment of the camera with the AHRS, without external position input, is also presented. The results demonstrate the potential for low-cost celestial navigation as a redundant navigation modality in affordable, lightweight drones.