Image/inertial navigation integrated navigation method based on information credibility

A technology of integrated navigation and reliability, applied in the field of image/inertial navigation integrated navigation based on information reliability, which can solve the problems of deviation of results, loss of meaning, and mismatching.

Inactive Publication Date: 2015-11-18
NAT UNIV OF DEFENSE TECH
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Problems solved by technology

However, in some image regions where features are not obvious, mis-matching often occurs
Once a mismatch occurs, if the traditional method is still used for integrated navigation, the result will have a large deviation, or even completely lose its meaning. Therefore, it is urgent to design an integrated navigation method that considers the credibility of the information.

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  • Image/inertial navigation integrated navigation method based on information credibility
  • Image/inertial navigation integrated navigation method based on information credibility
  • Image/inertial navigation integrated navigation method based on information credibility

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Embodiment Construction

[0025] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0026] Such as figure 1 As shown, the image / inertial navigation integrated navigation method based on information credibility of the present invention, its specific process is:

[0027] 1. Normalization of position error: take the difference between the positions output by the image matching aided navigation system and the inertial navigation system as the observed quantity, and normalize its value to a range of 0 to 1 according to the error range of the observed quantity, and the value is z normalized .

[0028] Define the reference map loaded by the image-assisted navigation system to correspond to the north and east directions with a size of x range ×y range , the coordinates corresponding to the image matching position and the inertial navigation position on the image are (x img ,y img ), (x ins ,y ins ). The observations...

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Abstract

The invention relates to an image / inertial navigation combination navigation method based on information credibility, which comprises the following steps: 1)position error normalization: taking the position difference output by an image coupling auxiliary navigation system and an inertial navigation system as an observed quantity, performing normalization on its value between 0-1 according to the error range of the observation amount; 2) observation of matrix correction of noise covariance matrix by a Kalman filtering method: taking the position of the image coupling and the navigation system obtained from the step 1) as a reference, and calculating new observation noise covariance matrix Rnew to perform Kalman filtering. The image / inertial navigation combination navigation method has the advantages of simple principle, convenient operation, greatly increased navigation precision and the like.

Description

technical field [0001] The invention mainly relates to the field of integrated navigation, in particular to an image / inertial navigation integrated navigation method based on information reliability. Background technique [0002] The traditional image / inertial navigation integrated navigation method regards the position information obtained by image registration as "credible", and uses it as the input of the Kalman filter for integrated navigation. However, in some image regions where features are not obvious, mis-matching often occurs. Once a mismatch occurs, if the traditional method is still used for integrated navigation, the result will have a large deviation, or even completely lose its meaning. Therefore, it is urgent to design an integrated navigation method that considers the reliability of information. Contents of the invention [0003] The technical problem to be solved by the present invention is: aiming at the technical problems existing in the prior art, the...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
Inventor 潘亮肖明胡天江陈璟王克波沈林成
Owner NAT UNIV OF DEFENSE TECH
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