基于GPS/INS的图像目标实时定位方法研究

On Airborne Real-Time 3D-Positioning Based on GPS & INS

为了得到高精度的定位图像 ,采用目前广泛应用的全球定位系统 ( GPS)和惯性导航系统( INS) ,结合连续成像设备 ,进行图像目标的实时三维定位。为提高定位精度 ,将 GPS定位数据和INS姿态数据进行融合 ;应用空间几何以及误差反传 ,提高垂直精度。通过试验 ,定位精度小于1 m,能够满足要求。

This paper presents an airborne 3D-positioning method that can satisfy Chinese need. Our method integrates GPS (global positioning system), INS (inertial navigation system), and continuous mapping camera into a real-time remote sensing system. It is low-cost and highly accurate. Different from past methods that require ground control points, our method can do without them and still give the 3D coordinates of the objects mapped by the camera; in our method GPS and INS provide respectively the orientation and motion parameters of the airplane. This paper analyzes the drift error that affects the position accuracy and the effect of magnitude of space intersection angle on the altitude accuracy. In order to improve the positioning accuracy, our method fuses the orientation data obtained from GPS with attitude data obtained from INS, thus restraining the drift error of the INS with the long-time accuracy of GPS. Our method uses space geometrical relationships and back propagation algorithm to improve the altitude accuracy. Simulation results, as summarized in Table 1, show that the altitude error is less than one meter and can satisfy Chinese need.