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ANTI-ROTATION AND ANTI-SCALE IMAGE MATCHING ALGORITHM FOR NAVIGATION SYSTEM 被引量:1
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作者 冷雪飞 刘建业 +1 位作者 李明星 熊智 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2007年第4期294-299,共6页
Based on the inertial navigation system, the influences of the excursion of the inertial navigation system and the measurement error of the wireless pressure altimeter on the rotation and scale of the real image are q... Based on the inertial navigation system, the influences of the excursion of the inertial navigation system and the measurement error of the wireless pressure altimeter on the rotation and scale of the real image are quantitatively analyzed in scene matching. The log-polar transform (LPT) is utilized and an anti-rotation and anti- scale image matching algorithm is proposed based on the image edge feature point extraction. In the algorithm, the center point is combined with its four-neighbor points, and the corresponding computing process is put forward. Simulation results show that in the image rotation and scale variation range resulted from the navigation system error and the measurement error of the wireless pressure altimeter, the proposed image matching algo- rithm can satisfy the accuracy demands of the scene aided navigation system and provide the location error-correcting information of the system. 展开更多
关键词 log-polar transform edge feature matching inertial navigation system image matching
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Unequal-interval data fusion algorithm for inertial/gravity matching integrated navigation system
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作者 DENG Zhi-hong LU Wen-dian +1 位作者 WANG Bo FU Meng-yin 《Journal of Beijing Institute of Technology》 EI CAS 2016年第3期328-336,共9页
Inertial/gravity matching integrated navigation system can effectively improve the longendurance navigation ability of underwater vehicles.Through the analysis of the matching process,the problem of unequal-interval i... Inertial/gravity matching integrated navigation system can effectively improve the longendurance navigation ability of underwater vehicles.Through the analysis of the matching process,the problem of unequal-interval in matching trajectory is addressed by an unequal-interval data fusion algorithm which is based on the unequal-interval characteristics analysis of the matching trajectory.Compared with previously available methods,the proposed algorithm improves the location precision.In conclusion,simulations of the integrated navigation system demonstrated the effectiveness and superiority of the proposed algorithm. 展开更多
关键词 inertial/gravity matching integrated navigation unequal-interval data fusion
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A Map-Matching Algorithm forGPS/DR Integrated Navigation Systems Basedon Dempster-Shafer Evidence Reasoning
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作者 陈则王 袁信 《Journal of China University of Mining and Technology》 2004年第2期157-163,共7页
GPS (Global Positioning System) has been widely used in car navigation systems. Most car navigation systems estimate the car position from GPS and DR (dead reckoning). However, the unknown GPS noise characteristic and... GPS (Global Positioning System) has been widely used in car navigation systems. Most car navigation systems estimate the car position from GPS and DR (dead reckoning). However, the unknown GPS noise characteristic and the unbounded DR accumulation of errors over time make the position information with undesirable position errors. The map matching can improve the position accuracy and availability of the vehicular position system. In this paper, general principle of map matching is investigated according to segmentation and feature extraction, and a map matching algorithm based on D-S (Dempster-Shafer) evidence reasoning for GPS integrated navigation system is proposed, which can find the exact road on which a car moves. For the experiments, a car navigation system is developed with some sensors and the field test demonstrates the effectiveness and applicability of the algorithm for the car location and navigation. 展开更多
关键词 car navigation D-S evidence REASONING GPS integrated navigation map matching
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A Sequence Image Matching Method Based on Improved High-Dimensional Combined Features 被引量:2
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作者 Leng Xuefei Gong Zhe +1 位作者 Fu Runzhe Liu Yang 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2018年第5期820-828,共9页
Image matching technology is theoretically significant and practically promising in the field of autonomous navigation.Addressing shortcomings of existing image matching navigation technologies,the concept of high-dim... Image matching technology is theoretically significant and practically promising in the field of autonomous navigation.Addressing shortcomings of existing image matching navigation technologies,the concept of high-dimensional combined feature is presented based on sequence image matching navigation.To balance between the distribution of high-dimensional combined features and the shortcomings of the only use of geometric relations,we propose a method based on Delaunay triangulation to improve the feature,and add the regional characteristics of the features together with their geometric characteristics.Finally,k-nearest neighbor(KNN)algorithm is adopted to optimize searching process.Simulation results show that the matching can be realized at the rotation angle of-8°to 8°and the scale factor of 0.9 to 1.1,and when the image size is 160 pixel×160 pixel,the matching time is less than 0.5 s.Therefore,the proposed algorithm can substantially reduce computational complexity,improve the matching speed,and exhibit robustness to the rotation and scale changes. 展开更多
关键词 SEQUENCE image matching navigation DELAUNAY TRIANGULATION HIGH-DIMENSIONAL combined feature k-nearest NEIGHBOR
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Map Aided Pedestrian Dead Reckoning Using Buildings Information for Indoor Navigation Applications 被引量:5
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作者 Mohamed Attia Adel Moussa Naser El-Sheimy 《Positioning》 2013年第3期227-239,共13页
Navigation systems play an important role in many vital disciplines. Determining the location of a user relative to its physical environment is an important part of many indoor-based navigation services such as user n... Navigation systems play an important role in many vital disciplines. Determining the location of a user relative to its physical environment is an important part of many indoor-based navigation services such as user navigation, enhanced 911 (E911), law enforcement, location-based and marketing services. Indoor navigation applications require a reliable, trustful and continuous navigation solution that overcomes the challenge of Global Navigation Satellite System (GNSS) signal unavailability. To compensate for this issue, other navigation systems such as Inertial Navigation System (INS) are introduced, however, over time there is a significant amount of drift especially in common with low-cost commercial sensors. In this paper, a map aided navigation solution is developed. This research develops an aiding system that utilizes geospatial data to assist the navigation solution by providing virtual boundaries for the navigation trajectories and limits its possibilities only when it is logical to locate the user on a map. The algorithm develops a Pedestrian Dead Reckoning (PDR) based on smart-phone accelerometer and magnetometer sensors to provide the navigation solution. Geospatial model for two indoor environments with a developed map matching algorithm was used to match and project navigation position estimates on the geospatial map. The developed algorithms were field tested in indoor environments and yielded accurate matching results as well as a significant enhancement to positional accuracy. The achieved results demonstrate that the contribution of the developed map aided system enhances the reliability, usability, and accuracy of navigation trajectories in indoor environments. 展开更多
关键词 INDOOR navigation MAP matching GEOSPATIAL Data Model PEDESTRIAN DEAD Reckoning (PDR)
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A Hybrid Vision Method for Autonomous Guided Vehicle Navigation 被引量:1
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作者 IKEDA Hiroyasu HAMAJIMA Kyoko 《自动化学报》 EI CSCD 北大核心 2006年第6期988-998,共11页
For the autonomous guided vehicle (AGV) used mainly in unfixed work fields, a machine vision method was proposed for the navigation system, in which a series of navigation-signs are placed along the travel route. The ... For the autonomous guided vehicle (AGV) used mainly in unfixed work fields, a machine vision method was proposed for the navigation system, in which a series of navigation-signs are placed along the travel route. The navigation system detects and recognizes these signs, and accordingly informs the travel control system. In order for the navigation to have balanced ability of 1) covering a large area and 2) recognizing details of the sign, the proposed vision method was designed to be a hybrid one, using both the stereo vision and the traditional 2D template matching. The former implemented a coarse recognition function for above 1), and the later implemented a fine recognition function for above 2). The results from the coarse recognition were used in the fine recognition for the gaze control to input suitable 2D image of the signs. Experiments on a prototype system show the feasibility of the proposed hybrid method in achieving the objective specifications for a typical AGV. 展开更多
关键词 AGV navigation machine vision disparity image stereo vision template matching
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A Fast Image Matching Algorithm Using a Combination of Line Segment Features 被引量:1
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作者 FU Runzhe LENG Xuefei +2 位作者 ZHU Yiming LIU Rui HAO Xiang 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2021年第3期501-511,共11页
The scene matching navigation is a research focus in the field of autonomous navigation,but the real-time performance of image matching algorithm is difficult to meet the needs of real navigation systems.Therefore,thi... The scene matching navigation is a research focus in the field of autonomous navigation,but the real-time performance of image matching algorithm is difficult to meet the needs of real navigation systems.Therefore,this paper proposes a fast image matching algorithm.The algorithm improves the traditional line segment extraction algorithm and combines with the Delaunay triangulation method.By combining the geometric features of points and lines,the image feature redundancy is reduced.Then,the error with confidence criterion is analyzed and the matching process is completed.The simulation results show that the proposed algorithm can still work within 3°rotation and small scale variation.In addition,the matching time is less than 0.5 s when the image size is 256 pixel×256 pixel.The proposed algorithm is suitable for autonomous navigation systems with multiple feature distribution and higher real-time requirements. 展开更多
关键词 image matching navigation Hough transform Delaunay triangulation combined feature
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Scene Visual Perception and AR Navigation Applications 被引量:2
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作者 LU Ping SHENG Bin +1 位作者 SHI Wenzhe 《ZTE Communications》 2023年第1期81-88,共8页
With the rapid popularization of mobile devices and the wide application of various sensors,scene perception methods applied to mobile devices occupy an important position in location-based services such as navigation... With the rapid popularization of mobile devices and the wide application of various sensors,scene perception methods applied to mobile devices occupy an important position in location-based services such as navigation and augmented reality(AR).The development of deep learning technologies has greatly improved the visual perception ability of machines to scenes.The basic framework of scene visual perception,related technologies and the specific process applied to AR navigation are introduced,and future technology development is proposed.An application(APP)is designed to improve the application effect of AR navigation.The APP includes three modules:navigation map generation,cloud navigation algorithm,and client design.The navigation map generation tool works offline.The cloud saves the navigation map and provides navigation algorithms for the terminal.The terminal realizes local real-time positioning and AR path rendering. 展开更多
关键词 3D reconstruction image matching visual localization AR navigation deep learning
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An Improved Particle Filter Map Matching Algorithm for Personal Inertial Positioning
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作者 Xiaolong Zhang Tao Zhou +2 位作者 Jing Wang Tao Wang Hui Zhao 《Journal of Computer and Communications》 2023年第6期103-112,共10页
The current particle filtering map matching algorithm has problems such as low map utilization and poor accuracy of turnoff positioning, etc. This paper proposed an improved particle filtering-based map-matching algor... The current particle filtering map matching algorithm has problems such as low map utilization and poor accuracy of turnoff positioning, etc. This paper proposed an improved particle filtering-based map-matching algorithm for the inertial positioning of personnel. The historical moment position constraint and feasible region constraint of particles were introduced in this paper. A resampling method based on multi-stage backtracking of particles was proposed. Therefore, the effectiveness of newly generated particles could be guaranteed. The utilization rate of map information could be improved, thus enhancing the accuracy of personnel localization. The walking experiment results showed that, compared with the traditional PDR algorithm, the proposed method had higher localization accuracy and better repeatability of the localization trajectory for multi-turn paths. Under the total travel of 480 meters, the deviation of the starting end point was less than 2 meters, which was about 0.4% of the total travel. 展开更多
关键词 Personal Positioning Inertial navigation Dead Reckoning Map matching Particle Filtering
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A new navigation approach of terrain contour matching based on 3-D terrain reconstruction from onboard image sequence 被引量:5
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作者 LI LiChun1,2,YU QiFeng2,SHANG Yang2,YUAN Yun2,LU HongWei3 & LIU XiaoLin4 1 Beijing Aerospace Control Center,Beijing 100094,China 2 College of Aerospace and Material Engineering,National University of Defense Technology,Changsha 410073,China +1 位作者 3 Equipment Research Institute of PLA’s Second Artillery,Beijing 100085,China 4 College of Mechatronic Engineering and Automation,National University of Defense Technology,Changsha 410073,China 《Science China(Technological Sciences)》 SCIE EI CAS 2010年第5期1176-1183,共8页
This article presents a passive navigation method of terrain contour matching by reconstructing the 3-D terrain from the image sequence(acquired by the onboard camera).To achieve automation and simultaneity of the ima... This article presents a passive navigation method of terrain contour matching by reconstructing the 3-D terrain from the image sequence(acquired by the onboard camera).To achieve automation and simultaneity of the image sequence processing for navigation,a correspondence registration method based on control points tracking is proposed which tracks the sparse control points through the whole image sequence and uses them as correspondence in the relation geometry solution.Besides,a key frame selection method based on the images overlapping ratio and intersecting angles is explored,thereafter the requirement for the camera system configuration is provided.The proposed method also includes an optimal local homography estimating algorithm according to the control points,which helps correctly predict points to be matched and their speed corresponding.Consequently,the real-time 3-D terrain of the trajectory thus reconstructed is matched with the referenced terrain map,and the result of which provides navigating information.The digital simulation experiment and the real image based experiment have verified the proposed method. 展开更多
关键词 TERRAIN CONTOUR matching VISION-BASED navigation 3-D reconstruction control points key frame registration optimal local HOMOGRAPHY
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Simulation research on a minimum root-mean-square error rotation-fitting algorithm for gravity matching navigation 被引量:12
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作者 WANG HuBiao WANG Yong +2 位作者 FANG Jian CHAI Hua ZHENG Hui 《Science China Earth Sciences》 SCIE EI CAS 2012年第1期90-97,共8页
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
关键词 Terrain Contour matching algorithm minimum root-mean-square error rotation of coordinates weighted fit gravityaided navigation
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Direction navigability analysis of geomagnetic field based on Gabor filter
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作者 XIAO Jing DUAN Xiusheng +1 位作者 QI Xiaohui WANG Jianchen 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2018年第2期378-385,共8页
Direction navigability analysis is a supplement to the navigability analysis theory, in which extraction of the direction suitable-matching features(DSMFs) determines the evaluation performance. A method based on the ... Direction navigability analysis is a supplement to the navigability analysis theory, in which extraction of the direction suitable-matching features(DSMFs) determines the evaluation performance. A method based on the Gabor filter is proposed to estimate the direction navigability of the geomagnetic field. First,the DSMFs are extracted based on the Gabor filter’s responses.Second, in the view of pattern recognition, the classification accuracy in fault diagnosis is introduced as the objective function of the hybrid particle swarm optimization(HPSO) algorithm to optimize the Gabor filter’s parameters. With its guidance, the DSMFs are extracted. Finally, a direction navigability analysis model is established with the support vector machine(SVM), and the performances of the models under different objective functions are discussed. Simulation results show the parameters of the Gabor filter have a significant influence on the DSMFs, which, in turn, affects the analysis results of direction navigability. Moreover, the risk of misclassification can be effectively reduced by using the analysis model with optimal Gabor filter parameters. The proposed method is not restricted in geomagnetic navigation, and it also can be used in other fields such as terrain matching and gravity navigation. 展开更多
关键词 geomagnetic navigation navigability analysis direction navigability Gabor filter direction suitable-matching feature
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无人机立体视觉识别船舶航行风险仿真 被引量:1
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作者 刘小飞 李明杰 喻佳 《计算机仿真》 2024年第2期29-33,共5页
由于船舶交通受碰撞、搁浅、走锚等随机干扰因素的影响,导致对船舶航行目标的跟踪与风险预警具有较大难度。为增强海上航行的安全性,提出一种基于无人机立体视觉的船舶航行风险识别方法。引入双目视觉立体技术,获得目标船舶在航行过程... 由于船舶交通受碰撞、搁浅、走锚等随机干扰因素的影响,导致对船舶航行目标的跟踪与风险预警具有较大难度。为增强海上航行的安全性,提出一种基于无人机立体视觉的船舶航行风险识别方法。引入双目视觉立体技术,获得目标船舶在航行过程中的图像数据。利用卡尔曼预测器优化连续性自适应均值漂移算法,跟踪目标船舶,通过高斯混合模型识别船舶航行风险。实验结果表明,研究方法对不同海域的船舶跟踪曲线与船舶实际航行曲线具有较高拟合度,且上述方法的船舶航行风险识别正确率高于90%,且误报率低于0.2%,说明提出方法的应用可靠性较高。 展开更多
关键词 无人机立体视觉 立体匹配 卡尔曼预测器 连续性自适应均值漂移算法 船舶航行风险识别
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一种单信标测距辅助INS的导航方法
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作者 童余德 查峰 +2 位作者 黄晓颖 陈永冰 李文魁 《中国惯性技术学报》 EI CSCD 北大核心 2024年第6期586-591,597,共7页
传统基于地球物理场的匹配辅助惯性导航方法在基础数据变化特征不明显或数据缺乏等苛刻条件下,难以实现有效匹配定位。为解决这一问题,提出了一种单信标测距辅助惯性导航系统(INS)的方法。首先,在单信标测距解析基准图上引入相关极值匹... 传统基于地球物理场的匹配辅助惯性导航方法在基础数据变化特征不明显或数据缺乏等苛刻条件下,难以实现有效匹配定位。为解决这一问题,提出了一种单信标测距辅助惯性导航系统(INS)的方法。首先,在单信标测距解析基准图上引入相关极值匹配辅助导航算法并进行重新建模。然后,采用差分进化寻优算法对该模型进行解算,并设计了一种固定匹配序列长度的建模方法以解决相关极值匹配算法实时性差的缺点。所提方法在缺乏地球物理基础数据条件下,仅需在海底布放单只声信标即可实现局部海域水下高精度实时定位。同时,由于采用的测距基准图为解析形式,所提方法也能较好地解决离散匹配算法定位精度受限于基准图分辨率等问题。最后,设计了相关实测实验,实验结果表明当惯导定位误差累积为1529.4 m时,采用所提方法与单信标匹配,定位误差减小为111.8 m,算法的有效性得到了验证。 展开更多
关键词 单信标 实时 相关极值 匹配 惯性导航
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航空平台地磁矢量匹配导航算法研究进展
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作者 陈棣湘 陈卓 +1 位作者 张琦 潘孟春 《中国测试》 CAS 北大核心 2024年第5期1-10,共10页
航空地磁矢量导航技术因其具有自主、无源、可靠性强的优势,在卫星导航系统受到攻击等情况下可有效发挥替代作用,在军民用领域均具有极高的战略意义和应用价值。航空平台具有飞行速度快、短时间跨越地域广的特性,对地磁矢量测量与导航... 航空地磁矢量导航技术因其具有自主、无源、可靠性强的优势,在卫星导航系统受到攻击等情况下可有效发挥替代作用,在军民用领域均具有极高的战略意义和应用价值。航空平台具有飞行速度快、短时间跨越地域广的特性,对地磁矢量测量与导航方法提出高精度和高可靠性等要求。该文梳理近年来航空地磁矢量导航系统的研究与发展现状,介绍地磁矢量导航的关键技术,重点对地磁矢量匹配导航算法的研究进展进行分析。针对现有算法存在的不足,提出进一步提升算法的精度和鲁棒性、发展基于机器学习的地磁矢量匹配导航方法、推动无人机等新型航空平台地磁矢量导航技术发展等后续研究方向,意在促进航空地磁矢量导航技术的进一步发展。 展开更多
关键词 航空平台 地磁矢量 匹配导航算法 神经网络 模式识别
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一种基于改进ORB特征匹配的无人机视觉导航方法
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作者 陈明强 张勇 +2 位作者 冯树娟 周子杨 解靖涛 《电讯技术》 北大核心 2024年第3期382-389,共8页
为了解决在全球导航卫星系统(Global Navigation Satellite System)拒止情况下无人机导航能力缺失等问题,提出了一种基于改进快速提取旋转描述子(Oriented FAST and Rotated Brief,ORB)图像特征匹配的无人机视觉导航方法。首先,为了实... 为了解决在全球导航卫星系统(Global Navigation Satellite System)拒止情况下无人机导航能力缺失等问题,提出了一种基于改进快速提取旋转描述子(Oriented FAST and Rotated Brief,ORB)图像特征匹配的无人机视觉导航方法。首先,为了实现无人机的绝对定位,提出了一种特征图像基准数据库构建方法;其次,为提取图像数据集的特征点,采用了一种结合尺度不变特征变换(Scale Invariant Feature Transform,SIFT)的尺度空间优化ORB特征提取算法;最后,为了将图像特征与图像基准数据库快速匹配并提高其匹配精度,提出了一种改进ORB特征匹配算法——ORB+GMS+PROSAC算法。通过在ArcGIS中分割图像构建基准数据库并进行实验分析,结果表明,基于ORB+GMS+PROSAC特征匹配算法性能显著提升,其中匹配准确率上升5.05%,匹配时间减少41.61%,明显优于其他传统特征匹配算法。 展开更多
关键词 视觉导航 特征提取 特征匹配 ORB
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基于无人艇的导航雷达目标检测跟踪算法
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作者 王伟 杜旭洋 +1 位作者 杨志伟 吴凡 《系统工程与电子技术》 EI CSCD 北大核心 2024年第5期1561-1572,共12页
在无人艇利用导航雷达进行环境感知的过程中,针对雷达回波图中出现的区域破碎现象以及对运动目标进行跟踪时存在较大误差的问题,提出了一种应用于导航雷达的目标检测跟踪方法提高无人艇对水面目标的检测能力。首先,对雷达原始回波图像... 在无人艇利用导航雷达进行环境感知的过程中,针对雷达回波图中出现的区域破碎现象以及对运动目标进行跟踪时存在较大误差的问题,提出了一种应用于导航雷达的目标检测跟踪方法提高无人艇对水面目标的检测能力。首先,对雷达原始回波图像解析并进行预处理操作;其次,在图像连通的基础上,设计自适应阈值分割Hausdorff匹配算法对回波图和地图进行匹配,区分属于目标和陆地的回波;然后,对连续两帧的雷达回波图进行目标匹配;最后,通过加入预测序列模型的经验模态分解算法优化检测跟踪结果,提高获取目标信息的准确性。实验验证结果表明:对1 km内相对运动速度低于30节的水面目标,所提方法目标检测概率提升了6.5%,距离误差低于2%,航速误差低于6%,航向误差低于6°,整体性能优于工程中常用的检测跟踪方法。 展开更多
关键词 环境感知 导航雷达 连通算法 地图匹配 经验模态分解算法
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水下重力匹配导航关键技术及其研究进展 被引量:1
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作者 周文健 高春峰 +4 位作者 李金龙 魏国 杨泽坤 刘万青 罗晖 《导航定位学报》 CSCD 北大核心 2024年第1期59-69,共11页
针对现有导航手段无法满足载体水下高精度安全航行的问题,研究分析水下重力匹配导航关键技术:介绍了国内外水下重力匹配导航及水下重力信息获取手段发展现状;然后从水下重力匹配导航的关键技术点出发,论述重力基准图构建技术、重力匹配... 针对现有导航手段无法满足载体水下高精度安全航行的问题,研究分析水下重力匹配导航关键技术:介绍了国内外水下重力匹配导航及水下重力信息获取手段发展现状;然后从水下重力匹配导航的关键技术点出发,论述重力基准图构建技术、重力匹配导航适配区选择技术和重力匹配定位算法的基本原理和相关进展,指出3个领域存在的关键问题和研究方向;最后结合水下重力智能建图与匹配的相关需求,针对水下重力匹配导航未来的发展趋势进行展望。 展开更多
关键词 重力辅助导航 惯性导航 匹配算法 重力基准图
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水下地形匹配导航研究综述
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作者 丁鹏 杨申申 +1 位作者 王磊 沈丹 《科学技术与工程》 北大核心 2024年第14期5690-5706,共17页
地形辅助导航系统以地形高程特征为定位信息源,可为水下航行器提供有界的定位误差,并能显著地抑制捷联惯性导航系统的误差漂移。而地形匹配算法是地形辅助导航系统的关键技术,其输出的匹配位置可作为组合导航滤波器的观测值以修正导航参... 地形辅助导航系统以地形高程特征为定位信息源,可为水下航行器提供有界的定位误差,并能显著地抑制捷联惯性导航系统的误差漂移。而地形匹配算法是地形辅助导航系统的关键技术,其输出的匹配位置可作为组合导航滤波器的观测值以修正导航参数,地形匹配精度直接决定了整个导航系统性能。首先概述了现有水下导航定位技术,然后阐述了地形辅助导航基本原理与组成,最后详细总结了中外地形辅助导航系统和地形匹配算法的研究进展,为中国地形辅助导航系统的开发和研制提供有益参考和支撑。 展开更多
关键词 水下航行器 惯性导航 地形辅助导航 地形匹配 组合导航
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重力插值重构在重力匹配导航中的应用研究
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作者 吴睿盈 李东明 +1 位作者 李海兵 郭子伟 《导航定位与授时》 CSCD 2024年第5期91-101,共11页
重力匹配导航的定位精度与重力基准图分辨率紧密相关,重力基准图可以通过插值算法细化重构,提高分辨率。为了验证重力基准图的细化重构是否可以有效提高定位精度,对多面函数插值法、Shepard插值法及综合Shepard插值法的插值效果进行了... 重力匹配导航的定位精度与重力基准图分辨率紧密相关,重力基准图可以通过插值算法细化重构,提高分辨率。为了验证重力基准图的细化重构是否可以有效提高定位精度,对多面函数插值法、Shepard插值法及综合Shepard插值法的插值效果进行了比较分析,并采用这3种插值算法对重力基准图进行细化重构,选用地形轮廓匹配(TERCOM)算法和迭代最近等值线点(ICCP)算法作为重力匹配算法,通过海上船测数据的离线仿真验证了插值处理后重力基准图的重力匹配导航效果。试验结果表明,使用3种插值算法将重力图分辨率由1′×1′提高到0.5′×0.5′后,TERCOM算法和ICCP算法的定位精度分别提升了约30%和20%,但分辨率提高到0.25′×0.25′后,定位精度不再有明显提升。此外,3种插值算法的插值效果虽不尽相同,但导航结果却具有一致性,试验结果也表明,当基准图分辨率提升仅为1倍时,插值算法的选择对导航结果影响甚微。 展开更多
关键词 重力匹配导航 惯性导航系统 插值算法 重力匹配算法
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