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Scene matching method for raising navigation precision and simulating combined navigation system

A scene matching and navigation system technology, applied in the field of integrated navigation simulation system, can solve the problems of filter divergence, consumption of matching calculation time, difficulty in satisfying the real-time performance of scene matching auxiliary navigation system, etc.

Inactive Publication Date: 2007-10-03
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

It was proposed by Daniel P. Huttenlocher et al. when studying target detection. Its disadvantage is that it cannot handle the situation where the target is covered and the external point exists.
At the same time, due to the certain error drift of the navigation system, there are different degrees of rotation and scale changes between the measured image and the digital map used for matching. Therefore, this requires the scene matching method to have the ability to intelligently adapt to rotation and scale changes. , while the Hausdorff distance method can only overcome the value change in a small range
Therefore, the usual Hausdorff distance method is not yet suitable for unknown rotation scale changes
Moreover, the scene matching method is generally based on the global search method, which is time-consuming and difficult to meet the special real-time requirements of the scene matching auxiliary navigation system.
[0005] In the scene-matching assisted navigation system combining high-precision inertial navigation and scene matching, it takes unequal matching calculation time to output scene matching positioning. Therefore, the positioning information output by scene matching has an inherent hysteresis effect. If only Using a conventional Kalman filter for combined filtering will result in low filtering accuracy or even filtering divergence

Method used

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  • Scene matching method for raising navigation precision and simulating combined navigation system
  • Scene matching method for raising navigation precision and simulating combined navigation system

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Embodiment 1

[0180] Embodiment 1: This implementation is a method for utilizing scene matching to improve the accuracy of the navigation system, comprising the following steps:

[0181] 1.1 The terrain scene matching module in the integrated navigation system reads terrain data according to the terrain digital picture: the terrain digital picture adopts BMP format: 4 bytes of file header, 50 bytes of file information header, and the data of the picture is from bottom to top storage. First read in the file header and file information header, where the file information header contains the width and height values ​​of the picture, and the picture data can be read in correctly according to this information. Since the picture data format required by the scene matching method is top-down, it is necessary to reverse the order of the obtained picture data before matching;

[0182] 1.2 According to the latitude and longitude obtained by the current inertial navigation system, find the mapping poin...

Embodiment 2

[0262] Embodiment 2: The integrated navigation simulation system of this embodiment includes a track planning module, a flight control module, a track generator, an inertial navigation module, a terrain scene matching module and an image display module, wherein, after the system accepts user instructions, Select and open the terrain digital picture file in the track planning module and display it in the image display module, then set the geographic location of the terrain picture, and then select the waypoint in the terrain area to obtain the waypoint information in the terrain area to complete the track planning; the output signal of the trajectory planning module is input into the flight control module, in the flight control module, firstly, the formula

[0263] head=a tan(R N cos Lδλ / R M δL)

[0264] Where head is heading angle, a is heading angle change rate, L is longitude, λ is latitude, R N is the radius of Maoyou circle, R M is the radius of the meridian circle, c...

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Abstract

The scene matching method for raising navigation precision includes the following steps: 1. for the topographic scene matching module in combined navigation system to read in topographic data based on the digital topographic picture; 2. to search mapping point in the topographic picture based on the current geographic location the inertial navigation system obtains; 3. to intercept the reference map data from the topographic picture around the mapping point; 4. matching the measured map and the reference map; and 5. correcting inertial navigation with the matched result so as to raise the precision of inertial navigation system greatly. One simulating combined navigation system is also disclosed, which includes an aviation trace planning module, a flight control module, an aviation trace generator, an inertial navigation module, a topographic scene matching module matching module and an image displaying module. It has high locating precision, high autonomy and excellent man-computer operation interface.

Description

1. Technical field [0001] The invention relates to a method for improving the navigation precision of a navigation system, in particular to a method for using scene matching to assist navigation so as to improve the navigation precision, and at the same time relates to a combined navigation simulation system for verifying the method. 2. Background technology [0002] The core of precision guidance technology lies in precise navigation and positioning. At present, both the inertial / GPS integrated navigation system and the inertial / Beidou dual-star integrated navigation system still have technical limitations and are inconvenient to use. The inertial / terrain-aided navigation system plays an increasingly important role in precise navigation technology because of its unique anti-jamming and autonomous navigation capabilities. [0003] Inertial / terrain-assisted navigation systems are divided into two types: elevation matching assistance and scene matching assistance. Although the...

Claims

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Application Information

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IPC IPC(8): G01C21/26G01C21/30G01S1/00G01S5/00G01C11/00
Inventor 冷雪飞刘建业熊智赖际舟曾庆化李荣冰孙永荣赵伟
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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