GNSS/INS/视觉组合导航数据融合研究探讨  

Discussion on development of GNSS/INS/Visual integrated navigation technology and data fusion

作　　者：李凯林 李建胜[1] 王安成 LI Kailin;LI Jiansheng;WANG Ancheng(Institute of Geospatial Information,Information Engineering University,Zhengzhou 450000,China)

机构地区：[1]信息工程大学地理空间信息学院,郑州450000

出　　处：《导航定位学报》2023年第1期9-15,共7页Journal of Navigation and Positioning

摘　　要：为了进一步提高导航定位的可靠性、精度、连续性和完好性,融合各类可用导航传感器构成组合导航系统成为必然趋势;随着全球导航卫星系统(GNSS)终端、惯性导航系统(INS)器件和视觉传感器向模块化、小型化、低成本不断发展,GNSS/INS/视觉组合导航得到了广泛关注。分析其研究进展:通过介绍GNSS/INS/视觉组合系统的基本结构与原理,总结出GNSS/INS/视觉组合系统关键技术发展现状及行业应用情况;然后梳理GNSS/INS/视觉融合架构与典型算法;最后分析GNSS/INS/视觉组合系统中当前存在的主要问题与发展趋势。In order to further improve the reliability,accuracy,continuity and integrity of navigation and positioning,it is an inevitable trend to integrate various available navigation sensors into an integrated navigation system;furthermore,with the continuous development of global navigation satellite system(GNSS)terminals,inertial navigation system(INS)devices and visual sensors towards modularization,miniaturization and low cost,GNSS/INS/visual integrated navigation has received extensive attention.The paper analyzed the research development:the basic structure and principle of GNSS/INS/visual integrated system were introduced,and the key technology development status and industry application of the integrated system were summarized;then the visual fusion architecture and typical algorithms were sorted;finally,the main problems and development trends in GNSS/INS/visual integrated system were discussed.

关 键 词：组合导航 数据融合 时空同步 联邦滤波 图优化 

分 类 号：P228[天文地球—大地测量学与测量工程]