基于准三维视觉模型的组合导航系统性能研究

The Research of Integrated Navigation Based on Sub-3D Model

为了达到用较低精度的惯性仪器达到导航目的,文中基于准三维模型对惯导系统误差校正的思想,将摄像机成像系统和捷联惯导系统(SINS)相结合,使用准三维数学模型,用离散卡尔曼滤波对导航误差进行估计,并利用得出的结果对惯导系统的输出进行修正,通过仿真,结果表明本方法一定程度上提高了导航精度,理论上,该方法能够达到导航要求,并能降低导航成本。

In order to navigate with low accurate inertia apparatus, based on the thought of correcting INS error with approximate three-dimension model, the combination of camera imaging system with SINS was conducted, the measure- ment matrix was deduced, then, the INS error was estimated by discrete Kalman filter, and the INS output was calibrated with the error. The simulation result shows that the scheme can improve navigation accuracy to a certain degree and reduce navigation cost.