The Research of A Binocular Sequence Imagery Aided Navigation Technique

摘要

This paper discusses stereo photogrammetry analytic principle of the binocular sequence images and deduces the formula of the movement parameters estimate model. An aberrance correction model and sensors 3D spatial relationship calibration method is proposed. On this foundation, the common principle, calculation model and implement preceding and methods of the binocular sequence images aided GPS/INS navigation are summarized. A method that used for positioning and orientation by GPS/INS assisted by motion analysis is proposed. Based on case of rapid scatter when GPS is lost, this method used the constraint offered by relative position and attitude from motion analysis to improve precision of position and navigation and constrain the scatter process. The experiment results of the vehicle navigation in GPS blocking case show the high navigation precision with the technique of the binocular sequence images aided GPS/INS navigation.