Based On The Quasi-three-dimensional Visual Model Integrated Navigation System

Comparing vision information to other informations that we can get, vision information has some specialty: abundant information, low cost, mellow measure technical. So, using vision information in navigation is making sense.This thesis takes many integrated navigation system which is hot domestically and abroad for reference, it is based on Sub₃D maths model, and then brings forward the scheme of utilizing the way of Kalman filter to combine the information from computer vision and SINS to navigate the aircraft's flight.During the period of designing the Kalman filter, we adopt the output correction mode. The input of Kalman filter is the differential of the two position values as follows: one is the position information of ground surface feature point that is captured in the image by the computer vision system; the other is the position information of the ground surface feature point in the projection surface that is calculated with the position and posture information of the aircraft from SINS by the video camera model. After filtering, the output of Kalman filter is the estimation of inertial navigation deviation, and then we can calibrate the SINS.After simulating the entering procedure, we find that computer vision can capture a higher resolution image, even though the precision of the gyroscope and accelerometer is low, it can still get good locating precision. In the process of simulation, I adjust the precision of the gyroscope, accelerometer and video camera, then , I can get a series of results. The comparison of the results shows that the resolution of video camera affects the locating precision most, the gyroscope does less, and the accelerometer does the least. Furthermore, the influence of video camera resolution to the locating precision expresses comparatively obvious; when the precision reaches a certain scope, continuing increasing the resolution of video camera can do little to the precision.The result of the simulation shows that the scheme from this thesis can increase the navigation precision of aircraft's flight in certain degree, and there is some practical value.