Algorithms Research And Simulation Realization For Scene Matching/Inertial Integrated Navigation System

With the advantages of high precision, autonomy, anti-jamming, scene matching/inertial integrated navigation has become the focus of integrated navigation research at present. At the other hand, with the rapid development of computer technology, the visual demonstration for navigation algorithms using digital simulation has become an important approach to study and estimate the navigation algorithms. The key algorithms of the scene matching/inertial integrated navigation system are studied in dissertation to realize the effective modification to inertial navigation by scene matching aided navigation. Furthermore, in order to provide a good application environment for estimating the algorithm performance, a visual simulation system was established to analyze and demonstrate the key algorithms directly and effectively.According to the accurate localization demand of image matching algorithm for scene matching aided navigation, the corresponding precise image matching algorithm was designed and realized. Moreover, with the error drift characteristic of inertial navigation system, the algorithm of eliminating the mismatching points was proposed and implemented to improve the accuracy of image matching. Furthermore, in terms of the working features of scene matching aided and inertial navigation system, the modification algorithm based on Kalman filter was designed and accomplished to improve the precision and performance for the integrated navigation system.Finally, a simulation platform for scene matching/inertial integrated navigation was built, the image matching algorithm and filtering algorithm finished in this dissertation were embedded in the simulation platform, and the algorithms were demonstrated and verified. These works provide a good foundation for engineering application.