CAJ | 학술논문

相比于景象匹配导航,矢量地图匹配导航具有无损变换、空间效率和时间效率高等优势.针对矢量地图匹配导航过程中实时图与基准图尺度不一致的情况,提出了一种抗尺度变换的位姿解算算法,并将其应用到矢量地图匹配导航系统中.该算法将尺度因子作为未知参数,与位姿参数一起进行估计,从而避免了尺度差异造成的位姿解算误差较大的问题.仿真结果表明,抗尺度变换的位姿解算算法用于小尺度变换下的矢量地图匹配时,经度标准差和纬度标准差均小于0.06″,航向角标准差小于0.06°.
상비우경상필배도항,시량지도필배도항구유무손변환、공간효솔화시간효솔고등우세.침대시량지도필배도항과정중실시도여기준도척도불일치적정황,제출료일충항척도변환적위자해산산법,병장기응용도시량지도필배도항계통중.해산법장척도인자작위미지삼수,여위자삼수일기진행고계,종이피면료척도차이조성적위자해산오차교대적문제.방진결과표명,항척도변환적위자해산산법용우소척도변환하적시량지도필배시,경도표준차화위도표준차균소우0.06″,항향각표준차소우0.06°.
Vector map matching navigation(VMMN) has advantages such as lossless transformation, space efficiency and time efficiency when compared with scene matching navigation(SMN). Focusing on the problem that real-time image and reference image have different scales in VMMN process, a position and attitude solver algorithm with anti-scale transformation was proposed and applied to the VMMN System (VMMNS). The algorithm takes the scale factor as an unknown parameter, and can avoid the big solution errors caused by scale differences. The simulation results show that, when the proposed position and attitude solver algorithm is used in VMMNS with small-scale transformation, the solved latitude and longitude have standard deviations of less than 0.06″, and the heading angle has a standard deviation of less than 0.06°.