| 图像辅助导航系统中量测矩阵的确定 |
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| 引用本文： | 滕科嘉,陈楸,刘焘.图像辅助导航系统中量测矩阵的确定[J].弹箭与制导学报,2008,28(1):37-38,42. |
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| 作者姓名： | 滕科嘉 陈楸 刘焘 |
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| 作者单位： | 西北工业大学自动化学院,西安,710072 |
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| 摘 要： | 文中基于准三维模型对惯导系统误差校正的思想，利用摄像机成像系统和捷联惯导系统（SINS）相结合的方法．着重对量测矩阵进行推导。然后，采用离散卡尔曼滤波方法进行导航误差估计，并用估计出来的误差对惯导系统的输出进行修正．在一定程度上提高了导航精度，理论上大大降低了导航成本。
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| 关 键 词： | 量测矩阵 摄像机成像系统 捷联惯导系统 离散卡尔曼滤波 |
| 收稿时间： | 2007-01-19 |
| 修稿时间： | 2007年1月19日 |
Deduction of Measurement Matrix in Image-aided INS |
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| TENG Kejia,CHEN Qiu,LIU Tao.Deduction of Measurement Matrix in Image-aided INS[J].Journal of Projectiles Rockets Missiles and Guidance,2008,28(1):37-38,42. |
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| Authors: | TENG Kejia CHEN Qiu LIU Tao |
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| Abstract: | Based on the INS error correction by quasi-three dimensional model, the method of the combination of camera imaging system with SINS to deduce the measurement matrix was utilized. INS error estimation was conducted by discrete Kalman filter to correct INS output. By this method, the navigation accuracy was improved to some extent and theoretically reduced navigation cost significantly. |
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| Keywords: | measurement matrix camera imaging system SINS discrete Kalman filter |
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