MEMS IMU/LADAR integrated navigation method based on mixed feature match

作者：Hang Yijun; Liu Jianye^*; Li Rongbing; Sun Yongrong

来源：Acta Aeronautica et Astronautica Sinica, 2014, 35(9): 2583-2592.

DOI：10.7527/S1000-6893.2014.0013

• Adaptive segmentation method
• Extraction algorithms
• Feature matching algorithms
• Inertial measurement unit
• Integrated location algorithm
• Integrated navigation
• Integrated navigation systems
• Simultaneous localization and mapping

Usually, there are observation blind areas existing in that the distribution of land marks like angular point and line segment is parse in indoor environment. Then the locating accuracy of vehicle and the estimating precision of land marks is affected by the lack of observed quantities when using the traditional single feature matching algorithm. To solve these problems, the adaptive segmentation method of LADAR is studied, and the extraction algorithm of different types of land marks is researched, then the extended Kalman filter is presented based on the mixed feature matching observation model. At the same time, a test prototype of MEMS IMU/LADAR integrated navigation system is designed. To validate the filtering fusion algorithm, the analysis and tests are carried out in the indoor environment. The test results show that the accuracy of proposed algorithm relative to the traditional algorithm(a single point or line feature match integrated location algorithm) in the structured indoor environment increass about 60%. This indicates that the algorithm is efficient when used to improve accuracy of the MEMS IMU/LADAR integrated navigation system.

• 出版日期2014
• 单位南京航空航天大学