摘要
研究了动态情况下的视觉系统定位方法。针对现阶段视觉定位算法难以适应车载系统的要求,提出了一种INS/Vision组合导航中视觉系统的快速定位方法,在惯导系统的辅助下视觉系统在单个地标一次识别的情况下能够精确定位。为了使视觉系统达到更高的定位精度,通过实验标定的方法解决了视觉定位滞后和组合导航时间同步的问题,最后利用实验验证了该方法在车载系统的应用中的定位精度。
The dynamical localization of vision system is investigated. A fast localization method of vision system is proposed for high dynamical condition. The vision navigation system can localize itself by identifying single landmark only once for INS＇s aid. For improving the accuracy of localization, the problems of the hysteresis of the vision system localization and the time synchronism of the integrated navigation system are resolved by experiments. Finally the accuracy of dynamic localization is testified by the experiment results.
出处
《传感技术学报》
CAS
CSCD
北大核心
2008年第1期187-191,共5页
Chinese Journal of Sensors and Actuators
基金
高等学校博士学科点专项科研基金资助(20069998009)
关键词
视觉导航
动态定位
数据同步
地标修正
组合导航
vision navigation
dynamic localization
data synchronism
landmark modify
integrated navigation
