Miniature unmanned aerial vehicle autonomous navigation based on terrain matching

The invention provides a small unmanned aerial vehicle autonomous navigation technology based on terrain matching, which realizes autonomous navigation of a small unmanned aerial vehicle without global navigation satellite system signals through a camera, a laser range finder and a terrain matching module. Wherein the camera collects ground images in real time, the ground images are matched with an existing ground orthoimage database, and current longitude and latitude information of the unmanned aerial vehicle is calculated; and the laser range finder measures the real-time relative height of the unmanned aerial vehicle and calculates the altitude of the unmanned aerial vehicle in combination with digital elevation model data. The calculated longitude, latitude and altitude are used for replacing the longitude, latitude and altitude in a global navigation satellite system, autonomous navigation of the unmanned aerial vehicle in the absence of signals of the global navigation satellite system is achieved, dif