A novel location method based on 2D laser scanning sensor terrain matching for UAV autonomous flight

Terrain contour matching is one of the key techniques for unmanned air vehicles(UAVs) terrain-aided navigation and autonomous flight. To solve real-time and reliable problems of terrain matching, a novel UAV terrain contour match method of multi-path terrain matching was proposed. Terrain contour match and integrating solution are introduced. Laser scanning radar is used to provide terrain-scanning data. An improved multi-path terrain elevation contour matching algorithm which is intended to promote flexibility and real-time performance of terrain matching is introduced. Simulation results demonstrate the feasibility of the proposed method for UAV. The experimental result shows that the improved terrain-matching algorithm will provide more efficient and effective g integrating ability for future UAVs autonomous flight and control.