【摘要】 提出了视觉导航信息估计的MatlabSymbolicComputation方法,计算了视觉导航系统中6个自由度变量的最优估计的误差协方差阵的秩、特征值和特征向量,并得到了导航信息可估的条件及结论。通过仿真不仅进一步验证了文献[2]中理论推导及结论的正确性,而且简化了理论分析过程。本文提出的方法具有实际应用价值。更多还原

【Abstract】 The Matlab Symbolic Computation approach is proposed for estimating information in vision navigation analysis.The rank,eigenvalue and eigenvector of optimal error covariance matrix of the six-degree-of-freedom variables are calculated.And some conclusions about the observability of vision navigation information are obtained.By the simulation,the process of theoretical derivation in reference is simplified and the correctness of the conclusion in reference is verified.The method presented here is of practical value.更多还原