An integration algorithm for a strapdown inertial navigation system with optical horizon sensor based on Kalman filtering is presented. It allows the accuracy of the estimation of aircraft motion parameters to be improved. A self-contained horizon recognition algorithm for the video sequence that enables real-time aircraft attitude determination relative to the horizon line is developed. A scaled-down simulation and performance analysis of the operation of the integrated navigation system is carried out.
Rahmouni, M., & Malysheva, J. (2012). An integrated aircraft navigation system with optical horizon sensor. Aviation, 16(4), 109-114. https://doi.org/10.3846/16487788.2012.753681
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