第11卷第1期导航定位学报Vol.11，No.12023年2月JournalofNavigationandPositioningFeb.，2023引文格式：李凯林，李建胜，王安成.GNSS/INS/视觉组合导航数据融合研究探讨[J].导航定位学报,2023,11(1):9-15.（LIKailin,LIJiansheng,WANGAncheng.DiscussionondevelopmentofGNSS/INS/Visualintegratednavigationtechnologyanddatafusion[J].JournalofNavigationandPositioning,2023,11(1):9-15.）DOI:10.16547/j.cnki.10-1096.20230102.GNSS/INS/视觉组合导航数据融合研究探讨李凯林，李建胜，王安成（信息工程大学地理空间信息学院，郑州450000）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。关键词：组合导航；数据融合；时空同步；联邦滤波；图优化中图分类号：P228文献标志码：A文章编号：2095-4999(2023)01-0009-07DiscussionondevelopmentofGNSS/INS/VisualintegratednavigationtechnologyanddatafusionLIKailin,LIJiansheng,WANGAncheng（InstituteofGeospatialInformation,InformationEngineeringUniversity,Zhengzhou450000,China）Abstract：Inordertofurtherimprovethereliability,accuracy,continuityandintegrityofnavigationandpositioning,itisaninevitabletrendtointegratevariousavailablenavigationsensorsintoanintegratednavigationsystem;furthermore,withthecontinuousdevelopmentofglobalnavigationsatellitesystem(GNSS)terminals,inertialnavigationsystem(INS)devicesandvisualsensorstowardsmodularization,miniaturizationandlowcost,GNSS/INS/visualintegratednavigationhasreceivedextensiveattention.Thepaperanalyzedtheresearchdevelopment:thebasicstructureandprincipleofGNSS/INS/visualintegratedsystemwereintroduced,andthekeytechnologydevelopmentstatusandindustryapplicationoftheintegratedsystemweresummarized;thenthevisualfusionarchitec...
