| Popis: |
The paper is devoted to the map-aided method of navigation by the field of heights of terrain objects with the help of laser rangefinder. The rangefinder receives two-dimensional raster of height values. Three types of matching functional for correction aircraft coordinates are considered: quadratic, normalized quadratic, and normalized correlation function. The way to improve quality of the correction by means of a morphological filter of dilation and erosion is proposed. A new criterion of the correction failure is also proposed. It is based on analysis of the ratio of the main and side peaks of the matching functional. Statistical researches of criteria of the correction failure by a method of the theory of decision-making are carried out. In particular, using the Neumann-Pearson criterion, the optimal thresholds for the considered criteria of correction failure were found. |
