A model of a measurement system composed by two CCD cameras using parallel binocular line-structured light is
proposed. The singular value decomposition is used to solve the over-determined equation to obtain the parameters in the
imaging model of the cameras. The feature recognition technique is applied to segment feature information of the image
in the process of range image acquisition. Then pre-processing (image smoothing, binaryzation and image segmentation)
of the image is processed, and the image is condensed to remove useless information. The image acquisition and
condensing are carried out in parallel to gather image and extract effective data simultaneously. The proposed method
solves the difficulty of removing the disturbed information in range image and realizes parallel data processing, which
greatly simplifies the following work of image matching and image characteristic data extraction.
Terrain contour matching (TERCOM) algorithm is the main one in the conventional terrain aided navigation system. When it has been directly applied to the submarine terrain aided navigation (STAN) system, the accuracy and stability are primely reduced. To solve these problems, the detail analyses about the particularities of the STAN and the disadvantages of the conventional TERCOM algorithm have been made. The improvement for the TERCOM algorithm on the measurement function, the water depth survey error and the scheme to prevent fail positioning has been done. Moreover, experiments with pedestrian simulation confirm the effectiveness of the improved TERCOM algorithm. The system achieves higher positioning precision than that of conventional one.
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