基于证据推理的惯性/景象匹配组合导航方法

摘要

In view that traditional INS/scene matching integrated navigation may have the problem of mismatch, which could decrease its navigation accuracy, an INS/scene matching integrated navigation scheme based on evidence reasoning was designed. In the INS/scene matching integrated navigation, the characteristic values, which are related to scene matching confidence, were fused by evidence reasoning to get the apprehensive credibility. The proposed method can effectively improve the estimate precision of system errors by using the apprehensive credibility as the rationale of measurement update in integrated navigation. The result shows that this method improves integrated navigation precision by 25.9%compared with traditional method.%针对传统的惯性/景象匹配组合导航中出现的愁误匹配导致组合导航精度低的问题，设计了惊种基于证据推理的惯性/景象匹配组合导航方法。在惯性/景象匹配组合导航中，使用证据推理对与景象匹配置信度相关的特征量进行融合计算，将融合计算得到的综合信度作为组合导航量测更新的惏据，惣降低误匹配对导航精度的愝响。试悚结果表明该方法可行，组合导航精度相比传统方法提高了25.9%。