Semi-physical simulation based on scene matching and inertial integrated navigation for UAV

Tian Wu Zhang, Chun Hui Zhao, Quan Pan, Huixia Liu, Dajian Li

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

With the advantage of high location accuracy, strong autonomy and anti-electromagnetic interference, scene matching navigation is one of the most effective aided navigation systems to eliminate the accumulated error of inertial navigation system (INS). In this paper, a scene matching aided inertial integrated navigation scheme is designed, and a semi-physical simulation system is presented. UAV's position and orientation are provided by the programmable attitude and heading reference system (AHRS). By noise adding, blurring and distorting, the current images are simulated based on reference images. Then scene matching is implemented with edge-response based weighted Hausdorff distance. Finally, the Extended Kalman Filter (EKF) is utilized for information fusion of scene matching system and INS. Semi-physical simulation results show that the designed scene matching aided inertial integrated navigation system has high navigation accuracy. This paper could provide theoretical guidance for engineering application of UAV navigation system.

源语言英语
主期刊名Proceedings of the 32nd Chinese Control Conference, CCC 2013
出版商IEEE Computer Society
5144-5148
页数5
ISBN(印刷版)9789881563835
出版状态已出版 - 18 10月 2013
活动32nd Chinese Control Conference, CCC 2013 - Xi'an, 中国
期限: 26 7月 201328 7月 2013

出版系列

姓名Chinese Control Conference, CCC
ISSN(印刷版)1934-1768
ISSN(电子版)2161-2927

会议

会议32nd Chinese Control Conference, CCC 2013
国家/地区中国
Xi'an
时期26/07/1328/07/13

指纹

探究 'Semi-physical simulation based on scene matching and inertial integrated navigation for UAV' 的科研主题。它们共同构成独一无二的指纹。

引用此