Abstract
In this paper we introduced a scene matching navigation algorithm based on ORB which can meet the real-time requirement for high speed aircraft. We combined scene matching with INS to fix the accumulative error of INS and get high accuracy position data of the aircraft. In order to improve the accuracy and robust of system, we used SIFT feature as a supplement of ORB and introduced the Kalman filter to optimize the output of scene matching and INS. Based on maneuverability law, we did wrong point deleting with RANSAC. Finally, we designed a software system to simulate the scene matching/INS navigation system. From the result of experiments, we can draw a conclusion that the algorithm has good real-time performance, play a good matching effect and get high accuracy position value.
Published Version
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