NGPS: GPS-Denied Aerial Geo-Localization and 2.5D Reconstruction via Deep Satellite Image Matching and Multi-Rate Sensor Fusion

We present NGPS (Next-Generation Positioning System), a visual geo-localization framework for high-altitude UAVs that provides GPS-free absolute positioning by matching down-facing images to georeferenced satellite imagery with deep features. The system combines (1) adaptive confidence-weighted UKF fusion, where NGPS covariance is modulated by RANSAC inlier ratio, reprojection error, and match confidence; (2) velocity-predictive kernel extraction, using VIO velocity to predict the satellite search region; and (3) an asynchronous multi-rate temporal priority queue that interleaves absolute position (1-2 Hz), VIO (10-20 Hz), and IMU (100-200 Hz) updates in chronological order. Globally optimized poses from VINS pose-graph optimization, anchored by NGPS corrections, further enable real-time 2.5D georeferenced orthomosaic reconstruction. On five flight sequences (60-150 m AGL), NGPS achieves 2.94 m position RMSE, with worst-case ATE 6.04 m at 150 m AGL and 2 m/s, yielding a 3.5x improvement over standalone monocular VIO. The system runs in real time on an NVIDIA Jetson Orin NX. Part of the implementation is open-sourced at https://github.com/snktshrma/ngps_flight.