Airborne LiDAR Scene Matching Aided Navigation Method
Scene matching navigation methods based on visible light visual sensor solutions are often vulnerable to external environmental changes such as illumination and weather,which leads to ineffective image information collection and divergence of navigation system errors.To address this issue,this paper proposes an airborne LiDAR-based scene matching aided navigation method.Firstly,the LiDAR point cloud data is preprocessed,stitched,and the intensity information of the point cloud is extracted to construct a LiDAR point cloud intensity image.Secondly,by employing a method for heterogeneous image feature matching,feature information from the intensity image and the prior map is extracted for matching.Finally,the extracted matching positioning information is integrated into the inertial/scene matching fusion navigation framework to correct the divergence error of the inertial navigation system.Through experimental validation with real flight data,the proposed method can effectively suppress error divergence of the inertial navigation system,with a navigation accuracy within 2m,and can be applied under all-weather conditions.
国家科技期刊平台
NSTL
万方数据
