可量测序列影像的加权整体最小二乘导航

doi:10.3969/j.issn.0255-8297.2013.02.007

应用科学学报 ›› 2013, Vol. 31 ›› Issue (2): 147-153.doi: 10.3969/j.issn.0255-8297.2013.02.007

可量测序列影像的加权整体最小二乘导航

张晓东1,2，杨元喜2，胡庆武3，王元明2

1. 解放据信息工程大学测绘学院，郑州450052
2. 西安测绘研究所，西安710054
3. 武汉大学遥感信息工程学院，武汉430079

收稿日期:2012-06-25 修回日期:2012-09-03 出版日期:2013-03-25 发布日期:2012-09-03
作者简介:张晓东，博士生，研究方向：大地测量、导航定位，E-mail：zxdst@163.com; 杨元喜：院士，研究方向：动态大地测量、测量数据处理及质量控制
基金资助:
国家自然科学基金(No.41271452)；国家“973”重点基础研究发展计划基金(No.2010CB723106)资助

Weighted Global Least Square Navigation Based on Measurable Image Sequence

ZHANG Xiao-dong1,2, YANG Yuan-xi2, HU Qing-wu3, WANG Yuan-ming2

1. School of Surveying and Mapping, PLA Information Engineering University, Zhengzhou 450002, China
2. Xi’an Institute of Surveying and Mapping, Xi’an 710054, China
3. School of Remote Sensing and Information Engineering, Wuhan University, Wuhan 430079, China

Received:2012-06-25 Revised:2012-09-03 Online:2013-03-25 Published:2012-09-03

摘要/Abstract

摘要： 提出顾及观测方程系数矩阵误差的可量测影像定位定姿算法及其权值确定方法，实现了利用可量测序列视觉影像与DGPS/IMU 融合导航计算. 计算结果表明：采用加权最小二乘算法可较好地克服可量测序列影像定位定姿算法中系数矩阵误差的影响，精度高于最小二乘法，当GPS 失锁2.5 km 时可达到优于13 m的定位精度和
0.1m 的定姿精度.

关键词: 移动测量系统, 可量测序列影像, 整体最小二乘, 定位定姿

Abstract: A measurable sequential images positioning and attitude determination model which considered the coeffient matrix error of observing equation and its weight determination mothod is presented. The method can realize measurable image sequence aided DGPS/IMU navigation with reliable accuracy. Experiment results show that the proposed algorithm can overcome the effects of coefficient matrix errors with accuracy better than the traditional least square method. With the GPS outage in 2.5 km, the position accuracy is better than 13 m and the attitude error is better than 0.1m.

Key words: mobile mapping system, digital measurable sequence images, global least square, position and attitude determination

中图分类号:

TP391

张晓东1,2，杨元喜2，胡庆武3，王元明2. 可量测序列影像的加权整体最小二乘导航[J]. 应用科学学报, 2013, 31(2): 147-153.

ZHANG Xiao-dong1,2, YANG Yuan-xi2, HU Qing-wu3, WANG Yuan-ming2. Weighted Global Least Square Navigation Based on Measurable Image Sequence[J]. Journal of Applied Sciences, 2013, 31(2): 147-153.

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可量测序列影像的加权整体最小二乘导航

Weighted Global Least Square Navigation Based on Measurable Image Sequence

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