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摘要:
针对地形高程匹配定位精度低及遍历搜索方式实时性差的问题，提出一种基于神经网络的地形等高线辅助导航方法。研究二维等高线特征匹配以提高匹配算法在高程噪声下的鲁棒能力，考虑小波变换具备旋转、平移不变性特点，利用小波变换子提取等高线边缘特征；同时提出基于神经网络的等高线边缘特征匹配算法，利用多个子网进行分类识别代替传统遍历搜索匹配过程，显著提高算法实时性及匹配准确度。仿真实验表明：所提算法与地形高程匹配相比匹配成功率提高30%以上，较基于遍历搜索的地形等高线匹配算法匹配时长缩短97%以上。
Abstract:Addressing the issues of low accuracy in terrain elevation matching and poor real-time performance in iterative search methods, we propose a neural network-based method for terrain contour-aided navigation. This study focuses on two-dimensional contour feature matching to enhance the robustness of matching algorithms under elevation noise. Considering the rotational and translational invariance characteristics of wavelet transforms, we extract contour edge features using wavelet transform sub-bands. Furthermore, we present a contour edge feature matching algorithm based on neural networks that replaces the conventional iterative search matching process by using multiple sub-networks for classification recognition, greatly enhancing the algorithm's matching accuracy and real-time performance. In comparison to terrain elevation matching, simulation results show that the suggested approach improves the matching success rate by more than 30% and reduces the matching time by more than 97% when compared to iterative search-based terrain contour matching techniques.
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图 2 基于神经网络的等高线边缘特征匹配算法示意图
Figure 2. Schematic diagram of contour line edge feature matching algorithm based on neural network
图 3 区域网络划分及分类标签示意图
Figure 3. Schematic diagram of regional networks division and classification label
图 6 仿真预设飞行轨迹及子区域划分示意图
Figure 6. Schematic diagram of simulation preset flight trajectory and sub area division
图 7 各分区地形熵分布及各子网测试准确率统计
Figure 7. Statistics of terrain entropy distribution and test accuracy of each subnet in each division
表 1 仿真主要参数设置
Table 1. Setting of main simulation parameters
参数 数值 数字地图分辨率/m 30$\subseteq $30 子区域大小/（″） $80 \times 80$ 子区域内位置点数量 6400 测量地形高程图大小/m 630×630（21×21） 高度量测误差/m 5 (1倍标准差) 
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表 2 惯导仿真参数设置
Table 2. SINS parameters setting
参数 数值 SINS解算周期/s 0.01 陀螺常值漂移/((°)·h−1) $ [0.01,0.015,0.02] $ 陀螺角度随机游走/((°)·h−1/2) 0.001 加速度计常值零偏/μg $[80,90,100]\;$ 加速度计速度随机游走/(μg·Hz−1/2) 0.5
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表 3 2 m高度量测误差时匹配成功率统计
Table 3. Statistics of matching success rate with a height measurement error of 2 m
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表 4 5 m高度量测误差时匹配成功率统计
Table 4. Statistics of matching success rate with a height measurement error of 5 m
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