航空科学技术2024，Vol.35Issue(12)：40-46,7.DOI:10.19452/j.issn1007-5453.2024.12.005
机载激光雷达景像匹配辅助导航方法
Airborne LiDAR Scene Matching Aided Navigation Method
摘要
Abstract
Scene matching navigation methods based on visible light visual sensor solutions are often vulnerable to external environmental changes such as illumination and weather,which leads to ineffective image information collection and divergence of navigation system errors.To address this issue,this paper proposes an airborne LiDAR-based scene matching aided navigation method.Firstly,the LiDAR point cloud data is preprocessed,stitched,and the intensity information of the point cloud is extracted to construct a LiDAR point cloud intensity image.Secondly,by employing a method for heterogeneous image feature matching,feature information from the intensity image and the prior map is extracted for matching.Finally,the extracted matching positioning information is integrated into the inertial/scene matching fusion navigation framework to correct the divergence error of the inertial navigation system.Through experimental validation with real flight data,the proposed method can effectively suppress error divergence of the inertial navigation system,with a navigation accuracy within 2m,and can be applied under all-weather conditions.关键词
激光雷达/图像匹配/景像匹配导航/惯性导航/融合导航Key words
LiDAR/image matching/scene matching navigation/inertial navigation/fusion navigation分类
航空航天引用本文复制引用
王晓龙,赵龙..机载激光雷达景像匹配辅助导航方法[J].航空科学技术,2024,35(12):40-46,7.基金项目
国家自然科学基金(42274037) （42274037）
航空科学基金(2022Z022051001) National Natural Science Foundation of China(42274037) （2022Z022051001）
Aeronautical Science Foundation of China(2022Z022051001) （2022Z022051001）
