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.
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
.
DOI: 10.3969/j.issn.0255-8297.2013.02.007
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