High Altitude Non-GPS Position Estimation

This project involves developing High Altitude Non-GPS Position Estimation algorithm for UAVs, so that they can localize and navigate in the GPS-Denied area with altitudes of at-least 100m using a downward facing camera. This project will involve development using python, opencv and pymavlink on a companion computer and other modifications on firmware using C++ for FCU. All the communication between FCU and Companion Computer will be over MAVLINK. If time permits a GPS/Non-GPS transition Lua script could be developed that switches between AHRS/EKF sources based on the pilot's source selection switch or using an automatic source selection algorithm. The script will automatically switch between GPS and gimbal based high altitude non-GPS navigation.