航空学报2026，Vol.47Issue(10)：78-92,15.DOI:10.7527/S1000-6893.2025.32116
基于图像匹配的机载惯导位置和航向修正方法
Image matching based airborne inertial navigation system position and heading correction method
摘要
Abstract
To address the challenge of UAV navigation in GPS-free and nighttime environments,this paper proposes an airborne autonomous localization and navigation method based on heterogenous image matching and inertial navi-gationfusion.The proposed method enables the alignment of infrared or visible aerial images with geo-referenced sat-ellite images,and subsequently realizes autonomous localization estimation and heading correction based on the alignment results.The heterogenous image matching method in this paper consists of a fast structural feature-based image matching module and an end-to-end learning-based fine registration network.The former provides position cor-rections at approximately 20 Hz,while the latter enables high-precision position and heading refinement.A pose fusion filtering strategy is employed to integrate the position and heading information obtained from image matching with iner-tial navigation data,effectively suppressing the drift in inertial systems and ultimately improving navigation accuracy.The flight test shows that the proposed method can effectively improve the positioning accuracy and reliability com-pared with existing methods,and can reach real-time processing on the airborne embedded computing platform.关键词
异源图像匹配/惯性导航/端到端学习/融合滤波/自主定位Key words
heterogenous image matching/inertial navigation/end-to-end learning/fusion filter/autonomous localization分类
航空航天引用本文复制引用
董晶,胡权富,刘海桥,韩松来,尧雅婷,陈志康..基于图像匹配的机载惯导位置和航向修正方法[J].航空学报,2026,47(10):78-92,15.基金项目
国家重点研发计划(2023YFC2907000) （2023YFC2907000）
国家自然科学基金(62203163) （62203163）
湖南省自然科学基金(2025JJ60407) National Key Research and Development Program of China(2023YFC2907000) （2025JJ60407）
National Natural Science Foundation of China(62203163) （62203163）
Hunan Provincial Natural Science Foundation(2025JJ60407) （2025JJ60407）
