Journal of Systems Engineering and Electronics ›› 2011, Vol. 33 ›› Issue (9): 2055-2059.doi: 10.3969/j.issn.1001-506X.2011.09.26

• 制导、导航与控制 • 上一篇    下一篇


王先敏, 曾庆化, 熊智, 刘建业, 庄瞳   

  1. 南京航空航天大学导航研究中心, 江苏 南京 210016
  • 出版日期:2011-09-17 发布日期:2010-01-03

Speeded up scene matching algorithm based on inertial navigation characteristics

WANG Xian-min, ZENG Qing-hua, XIONG Zhi, LIU Jian-ye, ZHUANG Tong   

  1. Navigation Research Center, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
  • Online:2011-09-17 Published:2010-01-03


针对景象匹配/惯性组合导航对图像匹配算法实时性、鲁棒性、精确性的要求,结合惯性导航的工作特点,深入分析快速鲁棒特征(speeded up robust feature, SURF)算法主要技术特征,研究了其影响导航性能的主要因素。结合惯性器件的误差特性,提出针对导航应用的SURF改进方法,较好地增强了算法的实时性、稳定性、可控性。在图像匹配基础上,构建适应景象匹配算法的空间变换模型,从而在理论上检测图像匹配的正确性并求解导航参数。研究结果表明,基于SURF研究的景象匹配算法具备亚像素级精度、毫秒级实时性和优越的抗形变能力。


Considering the requirements of real time, robustness, precision in scene matching/inertial integrated navigation, the mainly technical features of the speeded up robust features (SURF) algorithm is deeply analyzed based on the characteristics of inertial navigation, and the main factors for the performance in navigation are studied. Combined with the error characteristics analyzing of inertial devices, a creative method for navigation application is proposed to greatly improve the realtime, stability and controllability of the SURF algorithm. With the results of image matching, the transformation model between images is constructed, and it is suitable for the scene matching algorithm,  the correctness of the image matching algorithm is checked and the navigation parameters are solved. Experimental results indicate that the scene matching algorithm in inertial integrated navigation based on SURF has a wonderful performance with precision in subpixel level, real timeness in millisecond level and the excellent ability for geomorphing.