基准地图测绘下的视觉导航算法

针对GPS 信号拒止环境下自主导航定位问题，提出一种基于全局定位基准地图测绘的视觉导航算法。在 卫星导航信号可用时，利用同步定位与制图(simultaneous localization and mapping，SLAM)算法对使用场景制图，利 用时间戳与实时动态定位技术(real-time kinematic，RTK)将全局定位数据进行对齐，使用在线SLAM 算法载入全局 定位基准地图并进行全局范围内的导航定位。实验结果表明：该算法只需依赖视觉图像数据即可完成全局定位，其 定位和导航精度达到亚米级，导航与定位的误差平均值为0.36 m，均方差为0.31 m，满足实际应用要求。

Visual Navigation Algorithm Based on Standard Mapping

Aiming at the problem of autonomous navigation and positioning under the circumstance of GPS signal rejection in wartime, a visual navigation algorithm based on global positioning reference map is proposed. Firstly, we map the scene by SLAM algorithm in non-wartime. To obtain the global positioning reference map, we align the global positioning data of RTK (real-time kinematic) by using the time stamp secondly. At last, we load the global positioning reference map by online SLAM algorithm, and the global navigation and positioning is running at the same time. The algorithm, which is able to complete the global positioning only according to the visual image data, is suitable for the applications of vehicle autonomous navigation. The result of the experiment shows that the accuracy of positioning and navigation reaches the level of decimeter. That is, the average error of navigation and positioning and the mean square deviation are 0.36 m and standard deviation is 0.31 m, which meets the requirements of practical applications.