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.
Chao Huang;Weidong Zhou. Fast Scene Matching Navigation Algorithm Based on ORB[J]. , 2014, 11(11): 3857-3863.
Chao Huang;Weidong Zhou. Fast Scene Matching Navigation Algorithm Based on ORB. , 2014, 11(11): 3857-3863.
2014, Vol. 11 
