摘要
地形辅助导航(TAN)是提高低空(超低空)无人飞行器(UAV)导航精度的一种有效手段。传统的三维地形匹配算法的可靠性差,无法满足工程需求。激光成像雷达能够获得高精度三维数字地形图,有效提高地形匹配辅助导航系统的适应性。文中根据地形轮廓面的正交分解模型,提出了一种适用于激光成像雷达的新型三维地形匹配算法。该算法通过正交分解构造地形特征矢量,通过矢量匹配和在线置信度分析提高地形匹配的可靠性,并进一步结合激光成像雷达和自然地形的特点设计了相应的优化搜索策略。该算法匹配结果置信度高、稳定性好,具有良好的工程应用前景。
Terrain aided navigation （TAN） is an efficient way to improve the navigation precision for the low-flying UAV. The position credibility and computing efficiency of traditional terrain matching algorithm cannot meet the demand of the engineering practice. The imaging laser radar can get high precision 3D terrain maps, which is very suitable for TAN. According to the orthogonal decomposition model of terrain contour, a novel 3D terrain matching algorithm based on the laser radar was presented. The terrain feature vector, constructed by the orthogonal decomposition coefficients of the terrain contour, was employed to extract the main information of the terrain contour. Then vector matching and on-line confidence analysis were implemented to improve the matching confidence. And then the optimization search strategy was designed combined the imaging laser radar and natural terrain characters.At last, the final result was generated by fused the position vector. Experimental results show that the proposed algorithm can effectively decrease the mismatching rate of terrain matching, and improve the reliability of TAN in real engineering tasks.
出处
《红外与激光工程》
EI
CSCD
北大核心
2008年第5期924-928,共5页
Infrared and Laser Engineering
基金
武器装备预先研究资助项目
关键词
组合导航
地形匹配
激光成像雷达
正交分解
Integrated navigation
Terrain matching
Imaging laser radar
Orthogonal decomposition
