Navigation and SAR focusing with map aiding
A method for fusing synthetic aperture radar (SAR) pictures with optical aerial pictures is presented. This can be done in a very navigation framework, in that absolutely the position and orientation of the flying platform, as computed from the inertial navigation system, is corrected based on the aerial image coordinates taken as ground truth. The method is appropriate for new low-price SAR systems for little unmanned vehicles. The primary application is surveillance, and to some extent it can be applied to remote sensing, where the SAR image provides complementary info by revealing reflectivity to microwave frequencies. The strategy is based on 1st applying a position detection algorithm to the images and then optimising the most vital navigation states by matching the 2 binary pictures. To urge a live of the estimation uncertainty, we have a tendency to embed the optimisation in an exceedingly least squares framework, in that an express technique to estimate the (relative) size of the errors is presented. The performance is demonstrated on real SAR and aerial pictures, leading to a mistake of solely a few pixels (around 4 m in our case), which may be a quite satisfactory performance for applications like surveillance and navigation.
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