A novel and effective scene matching algorithm for INS/SMNS integrated navigation of UAV

作者：Shengjie Qu^*; Quan Pan; Yongmei Cheng; Chunhui Zhao

来源：Journal of Northwestern Polytechnical University, 2012, 30(3): 361-366.

• Basic belief assignment
• Combination rules
• Decision criterions
• Dempster rule
• Dezert-Smarandache theory
• Integrated navigation
• Integrated navigation systems
• Matching correlation
• Normalized cross correlation
• Novel algorithm
• Phase congruency
• Scene matching navigation system
• Scene-matching algorithms
• Spatial-temporal correlation
• UAV (unmanned aerial vehicle)

A novel scene matching algorithm based on sequential frames fused by PCR-DSmT is put forward for INS/SMNS integrated navigation system of UAV (unmanned aerial vehicle), where PCR stands for Proportional Conflict Redistribution, DSmT stands for Dezert-Smarandache Theory, INS stands for Inertial Navigation System, and SMNS stands for Scene Matching Navigation System. Section 1 of the full paper explains this algorithm, which we believe is novel and effective. The core of section 1 consists of; "Single frame course matching and sequential frame precise matching are involved in this algorithm. Phase congruency image is extracted and fast NCC (Normalized Cross Correlation) matching is processed in the first step, and then spatial-temporal correlation of sequential frames is founded and identification framework is constructed with the maximal peaks of the matching correlation matrix. Then the basic belief assignment of the peaks is calculated self-adaptively and discounted by suitable-matching factors. A PCR-DSmT combination rule is proposed to fuse the data of sequential frames because of the illogical fusion of Dempster rule and DSmT. At last matching confidence or error alarm is outputted according to the decision criterion." Simulation results, presented in Tables 1 through 4, and their analysis show preliminarily that our novel algorithm is indeed feasible and effective.

• 出版日期2012
• 单位西北工业大学