A novel algorithm for a rotation invariant template matching is proposed when the fluctuating scope of the rotation angle is limited within the region of [-20°,20°]. The matching candidates are selected usin...A novel algorithm for a rotation invariant template matching is proposed when the fluctuating scope of the rotation angle is limited within the region of [-20°,20°]. The matching candidates are selected using a computationally low cost improved correlation algorithm. "AND" operation is adopted to reduce the computational cost. Therefore the algorithm improves the matching speed consumedly. The simulation results verify the efficiency of the proposed method. Moreover,when the size of reference image is fixed,the advantage of this time-saving algorithm is more obvious as the increase of the size of the real time image. The matching speed of the proposed method is over 20 times faster than the speed of the two-level pyramid decomposing accelerating method.展开更多
Gravity/inertial combination navigation is a leading issue in realizing passive navigation onboard a submarine. A new rotation-fitting gravity matching algorithm, based on the Terrain Contour Matching (TERCOM) algorit...Gravity/inertial combination navigation is a leading issue in realizing passive navigation onboard a submarine. A new rotation-fitting gravity matching algorithm, based on the Terrain Contour Matching (TERCOM) algorithm, is proposed in this paper. The algorithm is based on the principle of least mean-square-error criterion, and searches for a certain matched trajectory that runs parallel to a trace indicated by an inertial navigation system on a gravity base map. A rotation is then made clockwise or counterclockwise through a certain angle around the matched trajectory to look for an optimal matched trajectory within a certain angle span range, and through weighted fitting with another eight suboptimal matched trajectories, the endpoint of the fitted trajectory is considered the optimal matched position. In analysis of the algorithm reliability and matching error, the results from simulation indicate that the optimal position can be obtained effectively in real time, and the positioning accuracy improves by 35% and up to 1.05 nautical miles using the proposed algorithm compared with using the widely employed TERCOM and SITAN methods. Current gravity-aided navigation can benefit from implementation of this new algorithm in terms of better reliability and positioning accuracy.展开更多
基金the preparing Fund for defence equipment (No.6140517)
文摘A novel algorithm for a rotation invariant template matching is proposed when the fluctuating scope of the rotation angle is limited within the region of [-20°,20°]. The matching candidates are selected using a computationally low cost improved correlation algorithm. "AND" operation is adopted to reduce the computational cost. Therefore the algorithm improves the matching speed consumedly. The simulation results verify the efficiency of the proposed method. Moreover,when the size of reference image is fixed,the advantage of this time-saving algorithm is more obvious as the increase of the size of the real time image. The matching speed of the proposed method is over 20 times faster than the speed of the two-level pyramid decomposing accelerating method.
基金supported by National Natural Science Foundation of China (Grant Nos. 41074051, 41021003 and 40874037)
文摘Gravity/inertial combination navigation is a leading issue in realizing passive navigation onboard a submarine. A new rotation-fitting gravity matching algorithm, based on the Terrain Contour Matching (TERCOM) algorithm, is proposed in this paper. The algorithm is based on the principle of least mean-square-error criterion, and searches for a certain matched trajectory that runs parallel to a trace indicated by an inertial navigation system on a gravity base map. A rotation is then made clockwise or counterclockwise through a certain angle around the matched trajectory to look for an optimal matched trajectory within a certain angle span range, and through weighted fitting with another eight suboptimal matched trajectories, the endpoint of the fitted trajectory is considered the optimal matched position. In analysis of the algorithm reliability and matching error, the results from simulation indicate that the optimal position can be obtained effectively in real time, and the positioning accuracy improves by 35% and up to 1.05 nautical miles using the proposed algorithm compared with using the widely employed TERCOM and SITAN methods. Current gravity-aided navigation can benefit from implementation of this new algorithm in terms of better reliability and positioning accuracy.
