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.
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.
[1] LI Deren, HU Qingwu, GUO Sheng, CHEN Zhiyong. Land-based mobile mapping system with its applications for the Olympic Games [J]. CHINESE SCIENCE BULLETIN, 2009, 54(13): 2286-2293.
[2] BARBER D, MILLS J, SMITH-VOYSEY S. Geometric validation of a ground-based mobile laser scanning system [J]. ISPRS Journal of Photogrammetry and Remote Sensing, January 2008, 63(1): 128-141.
[3] 李德仁，胡庆武. 基于可量测影像的地理信息服务[J]. 武大学报信息科学版，2007, 5: 377-380, 418.
LI Deren, HU Qingwu. Digital measurable image based geo-spatial information service [J]. Geomatics and Information Science of Wuhan University, 2007, 5: 377-380, 418. (in Chinese)
[4] 康国华，刘建业，祝燕华，熊智. GPS/SST/SINS组合导航系统研究[J]. 应用科学学报，2006: 293-297.
KANG Guohua , LIU Jianye , ZHU Yanhua , XIONG Zhi. GPS/SST/SINS integrated navigation system. Journal of Applied Sciences, 2006, 24(3): 293-297. (in Chinese)
[5] 张晓东，杨元喜. 可量测影像序列的组合定位算法及其在1：50000地图测绘中的应用[J]. 测绘学报，2010, 39(3): 231-235.
ZHANG Xiaodong, YANG Yuanxi. Integrated positioning algorithm based on digital measurable image and its application in mapping 1:50,000 scale topographic maps [J]. Acta Geodaetica et Cartographica Sinica, 2010, 39(3): 231-235. (in Chinese)
[6] HAFSKJOLD B H, JALVING B, HAGEN P E. Integrated camera-based navigation[J]. The Journal of Navigation, 2000, 53(2): 237-245.
[7] Yakimenko O A. Kaminer, I I; Pascoal A M. Linear parametrically varying system with brief instabilities: an application to vision / inertial navigation [J]. IEEE Transaction. Aerospace and Electronic Systems, 2004, 40 (3): 889-902.
[8] RAU J Y, CHEN L C, HSIEH C C, HUANG Tingming. Static error budget analysis for a land-based dual-camera mobile mapping system [J]. Journal of the Chinese Institute of Engineers, 2011, 34(7): 849-862.
[9] CHENG C L, PALGE C, KUKUSH A. Total least squares and errors-in-variables modeling [J]. Computational Statistices data Analysis, 2007, 52: 1076-1079.
[10] 赵辉，张书毕，张秋昭. 基于加权总体最小二乘法的GPS高程拟合[J]. 大地测量与地球动力学，2011, 31(5): 88-90.
ZHAO Hui, ZHANG Shubi, ZHANG Qiuzhao. GPS height fitting of weighted total least squares adjustment [J]. Journal of Geodesy and Geodynamics, 2011, 31(5): 88-90. (in Chinese)
[11] 陆珏，陈义，郑波．总体最小二乘方法在坐标转换中的应用[J]．大地测量与地球动力学，2008, (5): 77-81.
LU Jue, CHEN Yi, ZHEN Bo. Applying total least squares to three dimensional datum transformation [J]. Journal of Geodesy and Geodynamics, 2008, (5): 77-81. (in Chinese)
[12] GLOUB H G, VAN LOAN F C．Analysis of the total least squares problem [J]. SIAM Journal on Numerical Analysis, 1980, 17(6): 883-893.
[13] 鲁铁定，周世健，张立亭，官云兰．基于整体最小二乘的地面激光扫描标靶球定位方法[J]．大地测量与地球动力学，2009, (4): 102-105．
LU Tieding, ZHOU Shijian, ZHANG Liting, GUAN Yunlan. Sphere target fixing of point cloud data based on TLS [J]. Journal of Geodesy and Geodynamics, 2009, (4): 102-105. (in Chinese)
[14] SCHAFFRIN B, WIESER A. On weighted total least-squares adjustment for linear regression [J]. 2008, 82: 415-421.
