Research On Vision Navigation Key Technique Based On Digital Measurable Image

Satellite navigation and location based services are integrated informationtechinique, manufacturing and services, which have become the basic function of smartphones. With the rapid development of mobile internet, satellite navigation andlocation-based services (LBS) will bring new changes of Internet, wirelesscommunications, the Internet of things and Telematics in daily life style. Satellitenavigation and location based services is becoming the new cutting edge technique afterinternet technique and wireless communication technique in the IT field worldwide. Inthe rapid developing mobile Internet era, the user experience of a product or applicationdirectly determines its survival mode. For the navigation and location based services,the users need more guidance information and high precision position to improve thevisualization, authenticity and reliability of location-based services to obtain high userexperience. Digital measurement image (DMI) combine image visualization andmeasurement position feature together, which become a new data for navigation andLBS. The digital images can improve experience and authenticity of navigation. On theother hand, the DMIs have direct geo-referenced information, thus we can use DMIs formeasurement and they can integrate with real time images, satellite position data andinertial measurement unit data to improve the accuracy and reliability of navigation andpositioning system.In this thesis, a digital measurement images from land based mobile mappingsystem are introduced into navigation both for navigation visualization and position.The DMIs,2D navigation map, satellite position data, real time images from CCDcamera and inertial measurement unit data are integrated together for a new imagenavigation approach in the following aspects:1) The current navigation technique and new requirements are discussed from thespatial cognition. A new DMIs based image navigation concept is proposed. Thenecessity and feasibility of image navigation based DMIs are analyzed. The DMIsacquisition and updating technology based on land based mobile mapping system arediscussed.Anew image navigation technique framework is presented. 2) A digital measuable image navigation data model is proposed. The DMIs datamodel together with high efficient index method is presented. A two dimensionnavigation data model based on multiple level quadtree, R tree and LOD (level of detail)is proposed to obtain high efficiency display. A DMIs index approach based on roaddynamic segment is presented for DMI query. And a layer pyramid model based onlarge file is designed for DMIs storage. A route guidance method on the DMIs isdiscussed to achieve image based navigation visualization.3) A navigation position approach based on real time image and DMIs ret rivalingand matching is proposed in this thesis. Considering the image matching difficulty withvarious illumination and perspective, a SIFT (Scale-invariant feature transform) imagematching algorithm is presented for real time image matching with DMIs. A navigationopposition approach based on real time image and DMIs matching is proposed. Anexperiment is designed to verify the rationality and effectiveness of the proposedmethod.4) A new navigation position approach based on DMIs matching position, satelliteposition data, inertial measurement position data and odometer data fusion is presentedin this thesis. An IMU (inertial measurement unit) zero bias model is proposed based onthe IMU zero temperature characteristic analyst. An experiment is designed to verify thereliability of the proposed IMU zero bias model. A Federated Kalman Filter methodwith DMIs image position result, GPS, IMU and odometer is designed to achieve DMIsbased position. And the experiment result shows that the DMIs aided position canimprove the navigation position accuracy and reliability.5) An image navigation prototype for a certain type of weapon without relying isdesigned and presented for the proposed technique experiment and verify in this thesis.The experiment result show that the proposed DMIs based image navigation canachieve high position accuracy, reliable navigation and true3D visualization.