04179693 is referenced by 62 patents and cites 5 patents.

An autonomous navigational system for an airborne vehicle is disclosed which automatically updates its position and heading coordinates at each of a plurality of checkpoints along a preselected flight path. Prestored in a memory of the navigational system is a plurality of reference map images respectively associated with the plurality of checkpoints. Each reference map image is comprised of a plurality of terrain features associated with the terrain about an associated checkpoint. In operation, an acquisition unit senses an image of local terrain at each checkpoint. The relative sizes of reference and sensed map images vary with the mission requirements. A terrain feature extractor detects a plurality of terrain features contained in the sensed map image. The detected terrain features in the sensed map image are selectively matched in a feature pattern matcher against the terrain features of the associated reference map image to determine the position and orientation of the sensed map image within the associated reference map image. The output of the feature pattern matcher comprises error signals which are used by an inertial guidance system to update the position and heading coordinates of the airborne vehicle.

Title
Autonomous, check-pointing, navigational system for an airborne vehicle
Application Number
5/799423
Publication Number
4179693
Application Date
May 23, 1977
Publication Date
December 18, 1979
Inventor
James E Paul
Anaheim
CA, US
Gregory W Evans
Whittier
CA, US
Agent
Rolf M Pitts
H Frederick Hamann
L Lee Humphries
Assignee
Rockwell Internation Corporation
CA, US
IPC
G01S 9/02
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