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Terrain matching without redundant 3D Zernike moments

Published online by Cambridge University Press:  22 August 2025

Kedong Wang Open the ORCID record for Kedong Wang [Opens in a new window] ,
Junjie Zhou ,
Wenhui Han  and
Jinling Wang
Kedong Wang*
Affiliation:
School of Astronautics, Beihang University, Beijing, China State Key Laboratory of High-Efficiency Reusable Aerospace Transportation Technology, Beijing, China
Junjie Zhou
Affiliation:
School of Astronautics, Beihang University, Beijing, China
Wenhui Han
Affiliation:
School of Astronautics, Beihang University, Beijing, China
Jinling Wang
Affiliation:
School of Civil and Environmental Engineering, University of New South Wales, Sydney, NSW, Australia
*
Corresponding author: Kedong Wang; Email: wangkd@buaa.edu.cn
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Abstract

Terrain-aided navigation with a three-dimensional (3D) map has both high accuracy and high reliability, which is crucial for applications in the global navigation satellite system (GNSS)-denied scenarios. In this paper, a new terrain matching algorithm with 3D Zernike moments (3D ZMs) is proposed. The redundant items in the even-order 3D ZMs are analysed in theory. The 3D ZMs are also correlated with the standard deviations of terrain further to identify the redundant items. The new 3D ZM descriptors are proposed for the feature vector of the matching algorithm by excluding the redundant items from the descriptors. The simulation results demonstrate that the algorithm with the revised descriptors achieves a higher matching success rate than both that with the existing descriptors and that with the odd-order descriptors under the same conditions.

Keywords

navigationterrain-aided navigationterrain matchingZernike moments

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Type
Research Article
Information
The Journal of Navigation , First View , pp. 1 - 11
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Copyright
© The Author(s), 2025. Published by Cambridge University Press on behalf of The Royal Institute of Navigation

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