【摘要】 计算机视觉及其应用是目前研究的一个热点。在介绍计算机视觉和计算机视觉导航的基础上,提出了利用计算机视觉和SINS进行组合导航的方法。由于地球上的基准位置是三维点,而计算机视觉形成的是二维的图像,因此随后详细介绍了成像以及坐标转换的方法,并对提出的组合导航方法进行详细的分析,建立了组合导航的误差方程,然后利用卡尔曼滤波算法对误差进行估算。最后的试验仿真结果说明,提出的组合导航方法提高了导航精度,具有一定应用价值。更多还原

【Abstract】 After introducing what are computational vision and computational vision navigation,an combined navigation method of computational vision and SINS is brought out,since the reference marks on earth are three dimensional,and what computational vision get are two dimensional images,methods of imaging and coordinates conversion are discussed,then the combined navigation method is analyzed in detail,error equations are set up,and a filtering algorithm based on Kalman filter is proposed.Simulation results show that the navigation method can improve the guidance precision and is useful.更多还原