INS/Scene matching integrated navigation based on evidence reasoning

In view that traditional INS/scene matching integrated navigation may have the problem of mismatch, which could decrease its navigation accuracy, an INS/scene matching integrated navigation scheme based on evidence reasoning was designed. In the INS/scene matching integrated navigation, the characteristic values, which are related to scene matching confidence, were fused by evidence reasoning to get the apprehensive credibility. The proposed method can effectively improve the estimate precision of system errors by using the apprehensive credibility as the rationale of measurement update in integrated navigation. The result shows that this method improves integrated navigation precision by 25.9% compared with traditional method.