图像辅助的惯性导航系统

Imagery Aided Inertial Navigation System

本文提出一类利用外部信息来修正惯导系统（ＩＮＳ）的新概念和方法。机载图像传感器获得的地形图像与从机载数字地形数据库获得的地图图像相比较，其结果用来修正ＩＮＳ，消除ＩＮＳ误差随时间增长的特性。本文论述了图像辅助的惯导系统的概念，及其原理、结构、算法；实现图像辅助的惯导系统的关键技术；图像辅助的惯导系统的应用进行了研究。

This paper proposes a new concept and method of imagery aided inertial navigationsystem that is being developed. The INS position update information can be obtained through comparison of imagery from imaging sensor with corresponding imagery from digital map database onthe basis of current navigation estimates to bound INS error build-up. In this paper, the overall system concept, the benefit, principle, configuration, algorithm, key techniques and applications of imagery aided inertial navigation system are addressed.