Research on the image mismatching points eliminating and the integrated arithmetic in the INS/SAR integrated navigation

摘要

The error of the inertia navigation system can be modulated critically by using the real-time SAR image through image matching and positioning. The mismatching points are inevitable in the SAR aided navigation. In the integrated navigation, the measurement outliers will affect the filter seriously. In order to eliminate the effect of the mismatching points, combining the discontinuous working characteristics of the SAR image matching navigation, the paper proposes the image mismatching points eliminating arithmetic and the integrated navigation arithmetic. We found the mathematical models of the INS/SAR integrated navigation system which has the discontinuous working characteristics. And basing on the Kalman filtering information we design the arithmetic to eliminate and displace the image mismatching points. The simulation indicates the arithmetic proposed in this paper can eliminate and displace the image mismatching points availably and consequently improves the accuracy of the integrated navigation greatly.