Improved Fusion of Optical Flow and Dead Reckoning for UAV Navigation Using Digital Terrain Models and Data-Driven Velocity Correction.

Accurate velocity estimation in GPS-denied environments remains a core challenge for autonomous unmanned aerial vehicle (UAV) navigation. Our previous work demonstrated that fusing optical flow (OF) with dead reckoning (DR) substantially reduces position drift compared to inertial-only solutions. However, velocity estimates derived from dense optical flow are degraded by two systematic effects: (1) incorrect metric scaling when the camera footprint covers heterogeneous terrain types-particularly at forest-field transitions where the visible surface elevation differs significantly from bare-ground elevation; and (2) flow magnitude bias introduced by scene texture and structural properties. This paper presents three targeted improvements to a software pipeline for optical flow-assisted UAV navigation. First, single-point above-ground-level (AGL) estimation is replaced by camera footprint area mean sampling over co-registered Digital Terrain Model (DTM) and Digital Surface Model (DSM) rasters, with the surface model adopted consistently for OF metric scaling. Second, a one-dimensional Kalman filter with an innovation gate suppresses velocity spikes caused by abrupt terrain transitions. Third, a compact data-driven correction module uses selected flow, texture, and terrain descriptors to estimate a multiplicative velocity correction factor aligned with GPS-derived reference speed available during calibration and offline evaluation but not required during GPS-denied operation. Experiments on three real PX4-logged flight missions (Log 258 for calibration and Logs 259-260 for independent evaluation) totalling 7.3 min show terrain-dependent behaviour. On the mixed forest-field validation flight (Log 260), the improved pipeline reduces velocity mean absolute error (MAE) by 71% (1.04 m/s → 0.30 m/s) and dead-reckoning position MAE by 88% (59.8 m → 7.1 m), compared to the baseline from our previous work. On a flat open-terrain validation flight (Log 259), the terrain-aware modifications leave the terrain-insensitive baseline essentially unchanged, providing a control case for the proposed DSM-based scaling mechanism.