Abstract:

In order to realize landmarks’ selecting and location solving during the environment perception in unmanned combat aerial vehicles （UCAV） cognitive navigation, a method based on the incremental hierarchical discriminant regression (IHDR） tree is proposed to select and position landmarks. The IHDR tree is built by the landmarks’ information which is combined by the description vector of feature points got by the speeded up robust feature (SURF) algorithm and its position in geographic space, so the perception information can be saved and remembered. If the landmarks’ information is known in the UCAV environment perception, the information is used to retrieve the IHDR tree, then the landmarks can be selected by analyzing the error’s size between the known location and the output location. If the landmarks’ information is unknown, the IHDR tree is retrieved by the description vector of landmarks got by the SURF algorithm, then the output landmarks are purified by the ratio method, and the location of the purified landmarks is used as the positioning results. The simulation results show that the proposed method can select landmarks within the scope of the set location error effectively, and the positioning of landmarks can obtain high accuracy in low noise.