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Entropy Flow-Aided Navigation

Published online by Cambridge University Press:  26 November 2010

He Deng ,
Chao Pan ,
Tongxin Wen  and
Jianguo Liu
He Deng
Affiliation:
(National Key Laboratory of Science and Technology, Huazhong University, Wuhan, PRC)
Chao Pan
Affiliation:
(National Key Laboratory of Science and Technology, Huazhong University, Wuhan, PRC)
Tongxin Wen
Affiliation:
(National Key Laboratory of Science and Technology, Huazhong University, Wuhan, PRC)
Jianguo Liu*
Affiliation:
(National Key Laboratory of Science and Technology, Huazhong University, Wuhan, PRC)
*
(Email: jgliu@ieee.org)
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Abstract

Integrating the visual navigation mechanism of flying insects with a nonlinear Kalman filter, this paper proposes a novel navigation algorithm. New concepts of entropic map and entropy flow are presented, which can characterize topographic features and measure changes of the image respectively. Meanwhile, an auto-selecting algorithm of assessment threshold is proposed to improve computational accuracy and efficiency of global motion estimation. The simulation results suggest that the navigation algorithm can perform real-time rectification of the missile's trajectory well, and can reduce the cost of the missile's hardware.

Keywords

entropy flowoptical flownavigation
Type
Research Article
Information
The Journal of Navigation , Volume 64 , Issue 1 , January 2011 , pp. 109 - 125
Copyright
Copyright © The Royal Institute of Navigation 2010

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