基于人工标志的视觉/SINS组合导航算法研究

摘要

针对航天器地面中性浮力实验的实验体导航问题,研究利用计算机视觉和捷联惯性导航系统(SINS)进行实验体组合导航的算法.首先对视觉导航与SINS的优缺点及其组合导航的优势互补进行了分析,提出其组合方式.然后建立了组合导航系统量测方程.最后利用卡尔曼滤波方法,实现了视觉导航图像信息与捷联惯导系统的信息融合.仿真结果表明,提出的组合导航方法提高了导航精度,具有一定的应用参考价值.%Aim at experimental navigation problem of the spacecraft ground experiment with Neutral Buoyancy Research Facility ( NBRC ) , The integrated navigation algorithm use of computer vision and Strapdown Inertial Navigation System (SINS) is researched. First, the advantages and disadvantages of vision system and SINS were anal-ysised, the integrated manner was advanced. Then the measurement equation of integrated navigation system were established. Last, Kalman filtering method was used to achieve the integration of vision navigation information and SINS. Simulation results show that the proposed navigation method to improve the navigation accuracy, has a certain reference value.