Abstract:

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.