Research On Inertial Navigation System Assisted By Image Matching

Image matching aided inertial navigation system has three components. One is theimage matching system. The second is the inertial navigation system and the third isthe information fusion system. This paper started a study of these parts and establisheda simulation platform. Through experiments, the proposed algorithm and proposal hasbeen verified.In the image matching system, this paper proposed an image matching algorithmbased on SIFT features. After using this algorithm on image matching, the algorithm isproved to be very proper for the image matching aided inertial navigation system.In previous studies, this paper conducted a study on establishment of the inertialnavigation system error equations and inertial navigation system error correction isanalyzed.Image matching algorithm can output high-precision location information, whichmakes using image matching to correct the inertial navigation system error and inertialnavigation system working long time possible. In this paper, Kalman filtering is usedto fuse the information of image matching and the errors of the inertial navigationsystem and it makes up the image matching aided inertial navigation system. Thesystem state equations and observation equations are established in this paper.Simulation shows that the integrated navigation system is much better than the inertialnavigation system.