Hi @Hacky ! That’s great know you got it working at 100m with multiple approaches. Will be interested in knowing your approach.
Yes, optical flow algorithm is also working for me good at high altitudes with position correction.
Currently I am trying with some satellite images positioning for high high altitudes and that’s working good. I am able to dead reckon and get position from satellite image. Drift is also pretty low and a low RMS error. I’ll be releasing that part soon and also how I implemented that.
If you’d like to contribute along with this approach, let me know.
You might want to take a look at this also: GSoC 2024 wrapping up: High Altitude Non-GPS Navigation