关键词: 移动测量系统, 数字可量测影像, 组合定位

Abstract: An integrated positioning algorithm based on the DMI (digital measurable image ) sequences, GPS and IMU(Inertial Measurement Unit) is presented in this paper. The integrated estimator of position vector is derived based on the adaptively robust filter. Calculation results show that: ① The less demand of images and coordinates of feature points reduces the requirement of memory capacity and complexity of computational; ② The reset of position in calculation is needed, since the position errors will be accumulated if only DMI is employed, the algorithm is effective in improving the precision and reliability in the integrated positioning. By analyzing this algorithm, it is shown that the algorithm makes full use of the measurements of all the sensors installed in the MMS (Mobile Mapping System), and improves the performance of the system.

Key words: mobile mapping system, digital measurable image, integrated positioning