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多参照点联合概率地形误匹配判断准则

张堃薇 王可东

张堃薇, 王可东. 多参照点联合概率地形误匹配判断准则[J]. 北京航空航天大学学报, 2018, 44(7): 1562-1568. doi: 10.13700/j.bh.1001-5965.2017.0499
引用本文: 张堃薇, 王可东. 多参照点联合概率地形误匹配判断准则[J]. 北京航空航天大学学报, 2018, 44(7): 1562-1568. doi: 10.13700/j.bh.1001-5965.2017.0499
ZHANG Kunwei, WANG Kedong. Judgement criterion for terrain false matching based on joint probability of multiple reference points[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(7): 1562-1568. doi: 10.13700/j.bh.1001-5965.2017.0499(in Chinese)
Citation: ZHANG Kunwei, WANG Kedong. Judgement criterion for terrain false matching based on joint probability of multiple reference points[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(7): 1562-1568. doi: 10.13700/j.bh.1001-5965.2017.0499(in Chinese)

多参照点联合概率地形误匹配判断准则

doi: 10.13700/j.bh.1001-5965.2017.0499
详细信息
    作者简介:

    张堃薇  女, 硕士研究生。主要研究方向:地形匹配算法

    王可东  男, 博士, 副教授, 硕士生导师。主要研究方向:卫星/惯性组合导航、天文/惯性组合导航、最优滤波算法和地形匹配算法等

    通讯作者:

    王可东.E-mail:wangkd@buaa.edu.cn

  • 中图分类号: V249.3

Judgement criterion for terrain false matching based on joint probability of multiple reference points

More Information
  • 摘要:

    针对地形轮廓匹配(TERCOM)算法容易受高程测量误差和地形相似性等影响而出现误匹配的问题,以平均平方差(MSD)匹配准则为例,提出了一种相关面内多参照点联合概率误匹配在线判断准则。首先,对测量高程数据和基准高程数据做相关运算,获得待匹配区域内各点的MSD值,即相关面;其次,通过分析高程量测噪声的统计分布,建立待匹配点的MSD概率分布密度函数;最后,计算选取待匹配点为正确匹配点的多点联合概率,并通过阈值判定此待匹配点是否为正确匹配点。仿真结果表明,选取不同的匹配序列长度和测量噪声的情况下,当判定阈值设为0.9时,对正确匹配的判断正确率达到97%以上,且90%以上的正确匹配点都能被保留下来,可以极大程度地避免误匹配。

     

  • 图 1  TERCOM算法原理图

    Figure 1.  Schematic diagram of TERCOM algorithm

    图 2  地形高程图

    Figure 2.  Terrain elevation map

    图 3  三维地形图

    Figure 3.  Three-dimensional terrain map

    图 4  MSD相关面及其对应极值点区域联合概率示意图(误匹配)

    Figure 4.  Schematic diagram of MSD correlation plane and regional joint probability of corresponding extreme point (false matching)

    图 5  MSD相关面及其对应极值点区域联合概率示意图(匹配正确)

    Figure 5.  Schematic diagram of MSD correlation plane and regional joint probability of corresponding extreme point (correct matching)

    表  1  图 4相关面对应极值点区域联合概率

    Table  1.   Regional joint probability of extreme points corresponding to correlation plane of Fig. 4

    编号 极小值点坐标 MSD值 区域联合概率
    1 (90, 90) 347.6 0.31
    2 (111, 112) 351.4 0.69
    3 (69, 9) 526.8 0
    4 (127, 161) 546.9 0
    5 (37, 142) 595.5 0
    6 (147, 153) 685.3 0
    7 (62, 181) 723.6 0
    8 (103, 119) 767 0
    9 (114, 63) 809.5 0
    10 (135, 52) 947.2 0
    下载: 导出CSV

    表  2  图 5相关面对应极值点区域联合概率

    Table  2.   Regional joint probability of extreme points corresponding to correlation plane of Fig. 5

    编号 极小值点坐标 MSD值 区域联合概率
    1 (33, 49) 67.6 0.97
    2 (108, 14) 93.5 0
    3 (102,107) 130.7 0
    4 (93, 1) 209.2 0
    5 (48,169) 289.2 0
    6 (63, 109) 303.5 0
    7 (113, 144) 315.9 0
    8 (38, 56) 358.7 0.03
    9 (199, 200) 407.5 0
    10 (129, 134) 458.9 0
    下载: 导出CSV

    表  3  遍历仿真试验结果

    Table  3.   Traversal simulation test results

    序列长度 σn/m 正确点保留率/% 匹配准确率/%
    无阈值 阈值为0.6 阈值为0.9 无阈值 阈值为0.6 阈值为0.9
    100 10 4.6 100 97.9 97.9 94.5 98.9 99.4
    17 2.7 100 95.9 94.1 86 97 98.8
    24 1.9 100 90.9 90.4 83.5 96.2 97.4
    150 10 4.6 100 99 99 98 100 100
    17 2.7 100 98.5 98.5 97.5 99.5 99.5
    24 1.9 100 96.8 96.2 92.5 98.4 98.9
    200 10 4.6 100 99.5 98.9 98.5 100 100
    17 2.7 100 99 99 97.5 99.5 100
    24 1.9 100 98.9 98.4 95.5 99.5 100
    下载: 导出CSV
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出版历程
  • 收稿日期:  2017-07-21
  • 录用日期:  2017-10-27
  • 刊出日期:  2018-07-20

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