scholarly journals Improving Matching Accuracy of Underwater Gravity Matching Navigation Based on Iterative Optimal Annulus Point Method with a Novel Grid Topology

2021 ◽  
Vol 13 (22) ◽  
pp. 4616
Author(s):  
Shijie Zhao ◽  
Wei Zheng ◽  
Zhaowei Li ◽  
Aigong Xu ◽  
Huizhong Zhu
Keyword(s):  
Initial Position ◽  
Evaluation Index ◽  
Matching Accuracy ◽  
Optimal Matching ◽  
Distance Information ◽  
Matching Algorithm ◽  
Contour Matching ◽  
Starting Point ◽  
Grid Topology ◽  
Small Annulus

In this study, we improve the matching accuracy of underwater gravity matching navigation. Firstly, the Iterative Optimal Annulus Point (IOAP) method with a novel grid topology is proposed for breaking through the inherent grid structure limit of the canonical gravity matching algorithm and enhancing its underwater gravity matching accuracy. The theory of IOAP is as follows: (1) small-annulus matching and positioning mechanism on the tracking starting point is developed by employing the starting point and drift error of the INS (Inertial Navigation System), the fixed rotation angle, etc. The optimal matching location of the starting point is obtained by matching and comparing the matched points in this small-annulus grid, which contributes to heightening the initial-position error insensitivity of the algorithms. (2) Variable-angle three-layer annulus matching and positioning mechanisms on the tracking ending point were constructed by using the optimal matching location of the starting point and combining the tracking direction-and-distance information of the INS and the cumulative drift error, etc. It is used to generate the annulus matching points with the ring-type grid topology. (3) The optimal matching position of the ending point in this annulus is obtained by iteratively calculating the evaluation index value of the matching points and following the evaluation index optimal rule. Secondly, we comprehensively consider the main performance evaluation indexes of the underwater gravity matching algorithms, such as the statistical indicators of the matching accuracy, the average matching time and the matching success rate, and take them as a basis of the pros and cons of the matching analysis. Furthermore, under conditions that include different scale searching regions or different reference-angle ring radii, the statistical results verify that the IOAP had a different matching ability and better robustness. Finally, several trajectories with the starting points from different areas and the ending points in different gravity ranges are tested and compared to carry out the numerical simulations. These results indicate that the IOAP has many advantages, such as a high matching accuracy and strong positioning applicability in different gravity regions. Compared with the TERCOM (terrain contour matching algorithm), its average matching accuracy was the highest, increased by 40.39%.

An Improved Geomagnetic Matching Algorithm Using Rotation Angle Search Technique

2011 ◽  
Vol 383-390 ◽  
pp. 7576-7581 ◽  
Author(s):  
Ya Jie Liu ◽  
Yan Zhao ◽  
Fa Lin Wu
Keyword(s):  
Navigation System ◽  
Inertial Navigation System ◽  
Rotation Angle ◽  
Inertial Navigation ◽  
Search Technique ◽  
Matching Accuracy ◽  
Search Range ◽  
Matching Algorithm ◽  
Contour Matching ◽  
Matching Probability

The accumulation course angle error of inertial navigation system will decrease the accuracy and reliability of an geomagnetism aided inertial navigation system using a geomagnetic contour matching algorithm. To improve the matching accuracy, the matching track and true track should be as parallel as possible. An improved geomagnetic matching algorithm is presented by introducing rotation angle search technique. To reduce the computation burden, improve operation efficiency and reduce false matching probability, a new search area determination method is proposed, which redefines the search region and reduces the search range. Simulation results demonstrate the effectiveness of the proposed algorithm and the improvement in the matching accuracy.

scholarly journals Impact of the starting point chromaticity on memory color matching accuracy

2019 ◽  
Vol 27 (24) ◽  
pp. 35308 ◽  
Author(s):  
Shining Ma ◽  
Peter Hanselaer ◽  
Kees Teunissen ◽  
Kevin A. G. Smet
Keyword(s):  
Color Matching ◽  
Matching Accuracy ◽  
Starting Point

A trajectory map matching algorithm via exploring the average directional features of continuous windows

2021 ◽  
pp. 1-16
Author(s):  
Xiaohan Wang ◽  
Pei Wang ◽  
Weilong Chen ◽  
Wangwu Hu ◽  
Long Yang
Keyword(s):  
Road Network ◽  
Transition Probability ◽  
Location Based Services ◽  
Original Position ◽  
Map Matching ◽  
Trajectory Data ◽  
Matching Accuracy ◽  
Data Set ◽  
Matching Algorithm ◽  
Low Efficiency

Many location-based services require a pre-processing step of map matching. Due to the error of the original position data and the complexity of the road network, the matching algorithm will have matching errors when the complex road network is implemented, which is therefore challenging. Aiming at the problems of low matching accuracy and low efficiency of existing algorithms at Y-shaped intersections and roundabouts, this paper proposes a space-time-based continuous window average direction feature trajectory map matching algorithm (STDA-matching). Specifically, the algorithm not only adaptively generates road network topology data, but also obtains more accurate road network relationships. Based on this, the transition probability is calculated by using the average direction feature of the continuous window of the track points to improve the matching accuracy of the algorithm. Secondly, the algorithm simplifies the trajectory by clustering the GPS trajectory data aggregation points to improve the matching efficiency of the algorithm. Finally, we use a real and effective data set to compare the algorithm with the two existing algorithms. Experimental results show that our algorithm is effective.

Study on Optimization Matching Algorithm for Automotive Powertrain

2014 ◽  
Vol 635-637 ◽  
pp. 1890-1894
Author(s):  
Feng Ping Cao ◽  
Li Fa Zhou ◽  
Yong Di Wang
Keyword(s):  
Genetic Algorithm ◽  
Optimization Algorithm ◽  
Fuel Economy ◽  
Dynamic Performance ◽  
Evaluation Index ◽  
Reduce Fuel Consumption ◽  
Matching Algorithm ◽  
Vehicle Simulation ◽  
Before And After ◽  
Automotive Powertrain

In order to reduce fuel consumption and ensure dynamic performance of the car, an automotive powertrain optimization algorithm was presented in the paper. Firstly, the evaluation index of automobile dynamic performance and fuel economy were introduced. Then, the objective function was built, and the transmission and main reducer transmission ratios were designed as variables, and parameters of the vehicle transmission system were optimized by using the genetic algorithm. Finally, a vehicle simulation model by SimulationX software was established, and the power and economy performance before and after optimization were compared and analyzed.

An Effective Image Matching Algorithm Based on Rotation Independence

2013 ◽  
Vol 347-350 ◽  
pp. 3685-3690
Author(s):  
Xian Ying Huang ◽  
Wei Wei Chen
Keyword(s):  
Image Matching ◽  
Irregular Shape ◽  
Matching Accuracy ◽  
Similarity Comparison ◽  
Matching Algorithm ◽  
Irregular Shapes ◽  
Irregular Region ◽  
Histogram Intersection ◽  
Intersection Method ◽  
Traditional Image

Traditional image matching algorithms has poor accuracy in image comparing, such as histogram intersection method. A new image matching algorithm based on the similarity comparison of irregular shape is presented in this paper, which divides the image into a number of irregular regions according to different colors, and extracts the boundary points of the irregular region to compose an irregular shape. The direction and distance is used to comparing the two irregular shapes if the rotation of the image is not considered, otherwise circular list is used to ignore the image rotation. It can be used widely. If two irregular shapes are similar, the two images are considered similar. Experiment proves that this method can effectively improve the image matching accuracy.

Analysis of Statics and Design of Structur Parameters for a Bionic Robot Hip Joint

2015 ◽  
Vol 22 ◽  
pp. 3-12 ◽  
Author(s):  
Bing Yan Cui ◽  
Li Wen Chen ◽  
Zhi Jun Wang ◽  
Yuan Hao Zhao ◽  
Li Zhan Xian ◽  
...  
Keyword(s):  
Performance Evaluation ◽  
Hip Joint ◽  
Matrix Theory ◽  
Initial Position ◽  
Evaluation Index ◽  
Structural Parameter ◽  
Transmission Performance ◽  
Bionic Robot ◽  
Optimal Function ◽  
Performance Evaluation Index

The hip joint is one of the body's important joints, most of the lower limb activities of the human body are inseparable from the hip joint, a novel bionic robot hip joint was proposed based on 3-DOF spherical parallel mechanism. The statics performance of the bionic robot hip joint was analyzed, and the structure parameters were designed. First, the static transmission equation of the bionic robot hip joint was established using the principle of virtual works, which simplifies the calculation process of the bionic robot hip joint. Further, using the norm in Matrix theory, the force Jacobian matrix was introduced into the statics performance evaluation index, and the statics performance evaluation index and the global torque performance evaluation index was defined, and the performance atlas of the statics performance evaluation index was plotted at the workspace of the bionic robot hip joint. Moreover the objective optimal function was established basing on the global torque performance evaluation index, and the relation of the objective optimal function and the global torque performance evaluation index were analyzed. By use of fully automatic searching method, the optimal structural parameter ranges of the bionic robot hip joint were obtained. Analysis results show that the bionic robot hip joint has good static transmission performance at initial position, and the static transmission performance is decreased with increasing the workspace. Finally, using a set of optimal structural sizes parameters, a novel bionic robot hip joint was designed, which established the theoretical foundation for the bionic robot design and apply.

Stereo Matching Algorithm Based on Edge Feature of Segmented Image

2013 ◽  
Vol 333-335 ◽  
pp. 948-953
Author(s):  
Yi Zhang ◽  
Cheng Liang Huang ◽  
Lian Fa Bai
Keyword(s):  
Stereo Matching ◽  
Mean Shift ◽  
Weighting Factor ◽  
Reference Image ◽  
Matching Accuracy ◽  
Matching Algorithm ◽  
Mean Shift Algorithm ◽  
Fast Speed ◽  
Segmented Image ◽  
Edge Feature

Stereo matching of the disparity discontinuous boundaries and weak texture regions is still a problem of computer vision. Local-based stereo matching algorithm with the advantages of fast speed and high accuracy is the most common method. In order to improve the matching accuracy of the mentioned regions,a stereo matching algorithm based on edge feature of segmented image is proposed. Firstly, the reference image was segmented by Mean-Shift algorithm. Then, support window was dynamically allocated based on edge feature of segmented image. Finally, the disparity distribution of support window was adjusted by introducing weighting factor. The experimental results show that this algorithm can reduce noise and effectively improve the matching accuracy.

Tracking Compensation of a Moving Target for a Biped Robot Based on Vision Sensor

2010 ◽  
Vol 44-47 ◽  
pp. 788-793
Author(s):  
Yun De Shen ◽  
Dong Soo Cho ◽  
Chang Doo Kee ◽  
Zhen Zhe Li
Keyword(s):  
Rotation Angle ◽  
Biped Robot ◽  
Position Estimation ◽  
Moving Target ◽  
Vision Sensor ◽  
Matching Algorithm ◽  
Image Frame ◽  
Affine Transform ◽  
Search Area ◽  
Starting Point

In this paper, the visual tracking algorithm for a moving target is proposed for the biped robot of which camera movement is irregular. Hexagonal Matching Algorithm is used to measure the changes of size, location, and rotation angle for a moving object from its image frame. For enhancing the efficiency of the tracking, we can adaptively adjust the starting point and the size of search area from the image information obtained. Finally, by using Affine Transform and Kalman Filter, the position estimation of the moving target is refined against the swing of the camera. Experiments with 20-DOF biped robot using mono vision sensor are implemented to prove the reliability of the proposed method.

Research of Stereo Matching Based on HALCON

2013 ◽  
Vol 415 ◽  
pp. 361-364
Author(s):  
Hui Yu Xiang ◽  
Zhe Li ◽  
Jia Jun Huang ◽  
Baoan Han
Keyword(s):  
Image Matching ◽  
Stereo Matching ◽  
Vision System ◽  
Difficult Problem ◽  
Matching Method ◽  
Matching Accuracy ◽  
Matching Algorithm ◽  
Binocular Stereo Vision ◽  
Binocular Stereo ◽  
Matching Window

Binocular stereo matching is a hot and difficult problem in machine vision. In this paper, based on the matching method of Halcon which is visual software perform image matching. First, performing binocular stereo vision system calibration, based on the calibration results acquired the epipolar standard geometric structure. Then, image matching researched under this structure. At last, using ncc matching algorithm, through comparing the different parameters matching window obtain ideal match results. Experiments prove that this method not only can effectively shorten matching time, but also can achieve higher matching accuracy.

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