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This paper presents an integrated INS (Inertial Navigation System) and camera-based navigation system. The camera-based navigation system provides position measurement aiding to the INS. This is an alternative to the conventional GPS (Global Positioning System) aided INS. The system is intended for UAVs (Unmanned Aerial Vehicles) and long range missiles. The basic principles of camera-based navigation are presented. The Kalman filter based integration of INS and camera-based navigation isdoi:10.1017/s0373463300008821 fatcat:o4zt75d3avbrfgqtjk3xtpldxu