Onboard image recorder simulator for analysis of operation of vision-based navigation system

Simulative generation of images that would be registered by a photo camera installed on board UAV is a complex process, consisting of a number of geometric transformations and image processing operations. The article presents a method of creating such images based on the assumed UAV navigation parameters, i.e. geographical coordinates, altitude and angles of orientation. The operation of the proposed simulator is based on the use of equations related to the geometry of the perspective photo and the principle of operation of a digital camera. The simulator may be used as a generator of testing images, especially for research works related to creating and developing algorithms for vision-based navigation. It allows to simulate and save images for the whole preprogrammed flight trajectory. It supports also creating robust algorithms for processing erroneous data from integrated navigation systems. Comparing images obtained from an onboard camera with their simulated counterparts allows to determine synchronization errors, which is important for the appropriate operation of a vision-based navigation system.