The invention discloses an inertial vision integrated navigation method based on an
optical flow method, relates to an inertial vision integrated navigation method, and has the purpose of solving theproblems that the navigation information is inaccurate due to cumulative errors caused by the existing inertial navigation working for a long time, a
mask interruption or an excessive dynamic error may happen when the existing
satellite navigation is indoor or shielded by a building, and the
algorithm of the existing vision navigation is complex and susceptible to camera
pose, illumination changes,
image noise and the like. The method comprises the following processes: 1, defining a coordinate
system; 2, carrying three sensors of an IMU (
Inertial Measurement Unit), a camera and an
altimeter onthe
drone to obtain two-dimensional
optical flow data; 3, obtaining the position of the
drone in the world coordinate
system; 4, performing inertial navigation according to the IMU measuring information to calculate the position and attitude of the
drone in the world coordinate
system; and 5, obtaining the position and attitude information of the merged drone in the world coordinate system. The method is used in the technical field of autonomous navigation of drones.