RT Journal Article ID 33d9438b5a813f94 A1 Zhang, Shengdi A1 Duan, Xiaojun A1 Peng, Lijun T1 UNCERTAINTY QUANTIFICATION TOWARDS FILTERING OPTIMIZATION IN SCENE MATCHING AIDED NAVIGATION SYSTEMS JF International Journal for Uncertainty Quantification JO IJUQ YR 2016 FD 2016-10-11 VO 6 IS 2 SP 127 OP 140 K1 scene matching aided navigation K1 uncertainty quantification K1 optimization scheme K1 dimension reduction K1 local sensitivity analysis AB There exist many uncertain sources for positioning process of scene matching aided navigation systems, and filter architecture and random parameters are considered mainly in this paper for the goal of trajectory optimization. In order to reduce the uncertainty of filter architecture, a practical scene matching optimization scheme is proposed, where fusion architecture and filtering parameters are both considered, in the circumstance of different sampling rates without transmission delay. The matching interval is determined by adjustment time of matching, matching points are settled from back to front, a cost function for the matching number is designed according to optimization criteria, and finally an appropriate matching number is determined by required mapping accuracy. The optimization scheme is validated by the simulation. On the other hand the filtering parameters are identified and validated by reducing parameter space in advance and local sensitivity analysis method. Simulation results illustrate that the systems are more sensitive for the measurement noise, which provides a theoretical basis for engineering applications. PB Begell House LK https://www.dl.begellhouse.com/journals/52034eb04b657aea,3cc9ec274644f0dc,33d9438b5a813f94.html