Semi-physical simulation based on scene matching and inertial integrated navigation for UAV

摘要

With the advantage of high location accuracy, strong autonomy and anti-electromagnetic interference, scene matching navigation is one of the most effective aided navigation systems to eliminate the accumulated error of inertial navigation system (INS). In this paper, a scene matching aided inertial integrated navigation scheme is designed, and a semi-physical simulation system is presented. UAV's position and orientation are provided by the programmable attitude and heading reference system (AHRS). By noise adding, blurring and distorting, the current images are simulated based on reference images. Then scene matching is implemented with edge-response based weighted Hausdorff distance. Finally, the Extended Kalman Filter (EKF) is utilized for information fusion of scene matching system and INS. Semi-physical simulation results show that the designed scene matching aided inertial integrated navigation system has high navigation accuracy. This paper could provide theoretical guidance for engineering application of UAV navigation system.