The invention provides a vision-based self-aid landing
navigation system for an unattended air plane, which comprises a
software arithmetic and a hardware arrangement. The
software arithmetic comprises a
computer vision arithmetic and an information merging and state
estimation arithmetic; the hardware arrangement comprises a
runway feature, on-board sensor subsystem and an information merging subsystem. The on-board sensor subsystem comprises an on-board camera
system, an on-board
inertial navigation system, a height meter
system and a magnetic
compass, measures the real UAV state, traces and analyzes the
runway features by the on-board camera
system, gets the measurements of the
runway feature points, and sends the measurements to the information merging subsystem. The information merging subsystem gets the estimated value of the runway feature points through the runway model and the camera
system model based on the estimated value of the
airplane state at previous period as well as the measurement on the
airplane state at
current period by the on-board sensor subsystem, and compares with the measurements, merges other measurement information, and gets navigation information of high accuracy through calculation by the
data processing module.