Missile-borne Inertial Aided Scene Matching Navigation Method with Large Inclination Angle
Aiming at the positioning error caused by the flight attitude in a visual scene matching navigation of guided muni-tions,an inertial aided visual scene matching navigation method is proposed for high dynamic and inclined viewing angles. This method improves the existing scene matching navigation method. It uses inertial attitude to assist visual scene matching naviga-tion to solve the homography matrix and the resampling scale between the images before and after correction,and corrects the distortion of the real-time images,which can avoid the blind matching of multiple iterations in the subsequent matching algo-rithm and improve the algorithm efficiency. At the same time,the position information of the matching points obtained by the matching algorithm is corrected to reduce the positioning deviation during the flight. Experimental results show that this method can effectively reduce the navigation and positioning errors caused by flight attitude in high dynamic environment. The average error of the image correction algorithm is 1.07 pixels and the time consumption is 0.005 s,which reduces the average error by 69％ and the time is shortened by 88％ compared with the traditional method. The position error of the whole navigation system is 11.23 m ( RMSE),and the update frequency is better than 10 Hz,which can effectively cope with the high dynamic and in-clined environment of mid-terminal guidance. It provides a low-cost autonomous navigation solution for guided munitions under satellites denial conditions
high dynamicscene matchingmidterminal guidancevisual navigation
万方数据
维普
