INS/SAR adaptive Kalman filtering algorithm based on credibility evaluation of SAR image matching results

ZHAO Yao; XIONG Zhi; TIAN Shiwei; LIU Jianye; CUI Yuchen

doi:10.7527/S1000-6893.2019.22850

ACTA AERONAUTICAET ASTRONAUTICA SINICA >

2019 , Vol. 40 >Issue 8: 322850 - 322850

DOI: https://doi.org/10.7527/S1000-6893.2019.22850

Electronics and Electrical Engineering and Control

INS/SAR adaptive Kalman filtering algorithm based on credibility evaluation of SAR image matching results

ZHAO Yao ,
XIONG Zhi ,
TIAN Shiwei ,
LIU Jianye ,
CUI Yuchen

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1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China;
2. College of Communications Engineering, Army Engineering University, Nanjing 210007, China

Received date: 2018-12-13

Revised date: 2019-02-12

Online published: 2019-04-11

Supported by

National Natural Science Foundation of China (61673208, 61601511, 61703208, 61873125, 61533008, 61533009); Advanced Research Project of the Equipment Development(30102080101); Natural Science Fund of Jiangsu Province (BK20181291,BK20170815, BK20170767); the Fundamental Research Funds for the Central Universities(NP2018108,NZ2019007); Foundation of Jiangsu Key Laboratory "Internet of Things and Control Technologies" & the Priority Academic Program Development of Jiangsu Higher Education Institutions

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Abstract

In Inertial Navigation System (INS)/Synthetic Aperture Radar (SAR) integrated navigation system, SAR image is susceptible to speckle noise. The accuracy of image matching has significant impact on the accuracy of the whole navigation system. It is especially important to accurately analyze the error characteristics in the SAR image matching process and to exploit the effective image matching information to assist the INS for integrated positioning. In response to the problems above, based on the weighted Hausdorff distance matching algorithm, the factors affecting the matching accuracy of SAR images are analyzed. Meanwhile, a set of criteria for credibility evaluation of matching results based on fuzzy reasoning is proposed, integrating the effective matching information with INS after credibility screening. Moreover, the variation of the matching error within a reasonable range will cause the statistical characteristics of the measurement noise to change, leading to the degradation of Kalman filtering accuracy. To address this problem, the improved Sage-Husa adaptive filtering method is adopted to dynamically adjust the measurement noise variance matrix closer to the current state of the system. The simulation verification platform is established to verify the proposed algorithm. The results indicate that the algorithm can effectively screen out the reliable image matching results within a reasonable range of matching error. Compared with the conventional Kalman filtering algorithm, the positioning accuracy of the INS/SAR integrated navigation system in the horizontal direction is significantly improved.

Key words： SAR image matching; credibility evaluation criteria; fuzzy reasoning; integrated navigation; adaptive filtering

Cite this article

ZHAO Yao , XIONG Zhi , TIAN Shiwei , LIU Jianye , CUI Yuchen . INS/SAR adaptive Kalman filtering algorithm based on credibility evaluation of SAR image matching results[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019 , 40(8) : 322850 -322850 . DOI: 10.7527/S1000-6893.2019.22850

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