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<\/p>\n

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<\/strong><\/p>\n

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<\/p>\n

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<\/p>\n

\u5176\u4e2d \u03c0c(\u00b7) \u662f\u76f8\u673a\u7684\u7578\u53d8\u548c\u6295\u5f71\u6a21\u578b\u3002 \u03c0c(\u00b7)\u22121 \u662f\u9006\u6295\u5f71\uff0c\u5b83\u5c06\u50cf\u7d20\u63d0\u5347\u5230\u7a7a\u95f4\u4e2d\u3002[Rc tc]\u662f\u6bcf\u4e2a\u76f8\u673a\u7684\u5916\u90e8\u77e9\u9635\u5173\u4e8e\u8f66\u8f86\u7684\u4e2d\u5fc3;[u v]\u662f\u50cf\u7d20\u4f4d\u7f6e\u56fe\u50cf\u5750\u6807;[xv yv] \u662f\u7279\u5f81\u5728\u8f66\u8f86\u7684\u4e2d\u5fc3\u5750\u6807;\u03bb\u662f\u6807\u91cf\u3002[]coli:\u7684\u610f\u601d\u53d6\u8be5\u77e9\u9635\u7684\u7b2c i \u5217\u3002\u56fe\u50cf\u4e2dROI \u4e2d\u7684\u6bcf\u4e2a\u6807\u8bb0\u50cf\u7d20\u90fd\u6295\u5f71\u5728\u8f66\u8f86\u524d\u65b9\u7684\u5730\u9762\u4e0a\u3002<\/p>\n

2\u3001\u59ff\u52bf\u56fe\u4f18\u5316<\/strong><\/p>\n

\u59ff\u6001\u56fe\u4f18\u5316\u6bcf\u65f6\u6bcf\u523b\u90fd\u63d0\u4f9b\u53ef\u9760\u7684\u8f66\u8f86\u59ff\u6001\u3002\u57fa\u4e8e\u8fd9\u4e2a\u4f18\u5316\u7684\u59ff\u52bf\uff0c\u7b2c i \u5e27\u4e2d\u6355\u83b7\u7684\u8bed\u4e49\u7279\u5f81\u4ece\u8f66\u8f86\u5750\u6807\u8f6c\u6362\u4e3a\u5168\u5c40\u5750\u6807\uff0c\u5982\u4e0b\u516c\u5f0f\u8868\u793a\uff1a<\/p>\n

<\/p>\n

\u8981\u6784\u5efa\u5730\u56fe\uff0c\u8f66\u8f86\u7684\u51c6\u786e\u59ff\u6001\u662f\u5fc5\u8981\u4e14\u51c6\u786e\u7684\u3002\u867d\u7136\u4f7f\u7528\u4e86 RTK-GNSS\uff0c\u4f46\u5b83\u4e0d\u80fd\u59cb\u7ec8\u4fdd\u8bc1\u53ef\u9760\u7684\u4f4d\u59ff\u3002\u56e0\u4e3a\uff0c\u5373\u4fbf\u662f\u5728\u5f00\u9614\u5730\u5e26 RTK-GNSS \u4e5f\u53ea\u80fd\u63d0\u4f9b\u5398\u7c73\u7ea7\u5b9a\u4f4d\u3002\u800c\u5728\u57ce\u5e02\u573a\u666f\u4e2d\uff0c\u5b83\u7684\u4fe1\u53f7\u5f88\u5bb9\u6613\u88ab\u9ad8\u697c\u906e\u6321\u3002 \u901a\u5e38\uff0c\u6211\u4eec\u91c7\u7528\u5bfc\u822a\u4f20\u611f\u5668\uff08IMU \u548c\u8f6e\u901f\uff09\u6765\u5b9e\u73b0\u5728 GNSS \u5c01\u9501\u533a\u57df\u63d0\u4f9b\u91cc\u7a0b\u8ba1\u3002\u7136\u800c\uff0c\u8fd9\u6837\u7684\u91cc\u7a0b\u8ba1\u957f\u671f\u4e5f\u5b58\u5728\u7d2f\u79ef\u6f02\u79fb\u95ee\u9898\u3002<\/p>\n

\u8fd9\u4e2a\u95ee\u9898\u53ef\u4ee5\u7528\u5982\u4e0b\u56fe\u6240\u793a\u7684\u793a\u610f\u56fe\u8868\u793a\u3002<\/p>\n

<\/p>\n

<\/p>\n

\u84dd\u7ebf\u662fGNSS\u826f\u597d\u533a\u57df\u7684\u8f68\u8ff9\uff0c\u7531\u4e8e\u4f7f\u7528\u7684\u9ad8\u7cbe\u5ea6RTK GNSS\uff0c\u53ef\u4ee5\u8ba4\u4e3a\u5b83\u662f\u51c6\u786e\u7684\u3002 \u5728 GNSS \u963b\u65ad\u533a\uff0c\u91cc\u7a0b\u8ba1\u8f68\u8ff9\u7528\u7eff\u8272\u7ed8\u5236\uff0c\u6f02\u79fb\u5f88\u5927\u3002\u4e3a\u4e86\u7f13\u89e3\u6f02\u79fb\uff0c\u5c31\u9700\u8981\u5bf9\u4f4d\u59ff\u56fe\u6267\u884c\u4f18\u5316\u3002\u4f18\u5316\u540e\u7684\u8f68\u8ff9\u7528\u7ea2\u8272\u753b\u51fa\uff0c\u5e73\u6ed1\u65e0\u6f02\u79fb\u3002<\/p>\n

\u53f3\u56fe\u662f\u59ff\u52bf\u56fe\u793a\u610f\u56fe\u3002\u84dd\u8272\u8282\u70b9\u662f\u72b6\u6001\u7279\u5b9a\u65f6\u95f4\u7684\u8f66\u8f86\uff0c\u5176\u4e2d\u5305\u542b\u4f4d\u7f6e pt \u548c\u65b9\u5411 Rt\u3002 \u6709\u4e24\u79cd\u8fb9\u7f18\u3002\u8fd9\u91cc\u6709\u4e24\u79cd\u8fb9\u7f18\uff0c\u84dd\u8272\u8fb9\u7f18\u8868\u793a GNSS \u7ea6\u675f\uff0c\u4ec5\u5b58\u5728\u4e8e GNSS \u4fe1\u53f7\u72b6\u6001\u597d\u7684\u65f6\u523b\uff0c\u5b83\u53ea\u5f71\u54cd\u4e00\u4e2a\u8282\u70b9\uff0c\u7eff\u8272\u8fb9\u662f\u91cc\u7a0b\u8ba1\u7ea6\u675f\uff0c\u5b83\u968f\u65f6\u5b58\u5728\uff0c\u5b83 \u7ea6\u675f\u4e24\u4e2a\u76f8\u90bb\u8282\u70b9\u3002\u84dd\u8272\u8282\u70b9\u662f\u8f66\u8f86\u5728\u67d0\u4e00\u65f6\u523b\u7684\u72b6\u6001s\uff0c\u5305\u542b\u4f4d\u7f6e p \u548c\u65b9\u5411 q\u3002\u6211\u4eec\u4f7f\u7528\u56db\u5143\u6570 q \u6765\u8868\u793a\u65b9\u5411\u3002\u64cd\u4f5c R(q) \u53ef\u4ee5\u5c06\u56db\u5143\u6570\u8f6c\u6362\u4e3a\u65cb\u8f6c\u77e9\u9635\u3002<\/p>\n

\u7531\u6b64\uff0c\u4f4d\u59ff\u56fe\u4f18\u5316\u7684\u8fc7\u7a0b\u53ef\u4ee5\u8868\u793a\u4e3a\u4ee5\u4e0b\u7b49\u5f0f\uff1a<\/p>\n

<\/p>\n

\u5176\u4e2ds\u662f\u59ff\u52bf\u72b6\u6001\uff08\u4f4d\u7f6e\u548c\u65b9\u5411\uff09\u3002 ro \u662f\u91cc\u7a0b\u8ba1\u56e0\u5b50\u7684\u6b8b\u5dee\u3002m^oi\u22121 ;i \u662f\u91cc\u7a0b\u8ba1\u6d4b\u91cf\u503c\uff0c\u5b83\u5305\u542b\u4e24\u4e2a\u76f8\u90bb\u72b6\u6001\u4e4b\u95f4\u7684\u589e\u91cf\u4f4d\u7f6e \u03b4p^i\u22121;i \u548c\u65b9\u5411 \u03b4q^i\u22121;i\u3002 rg \u662f GNSS \u56e0\u5b50\u7684\u6b8b\u5dee\u3002G \u662f GNSS \u5728\u4fe1\u53f7\u597d\u533a\u57df\u7684\u72b6\u6001\u96c6\u3002m^ig \u662f GNSS \u6d4b\u91cf\u503c\uff0c\u5373\u5168\u5c40\u5750\u6807\u7cfb\u4e2d \u7684\u4f4d\u7f6e p^i\u3002<\/p>\n

3\u3001\u672c\u5730\u6620\u5c04<\/strong><\/p>\n

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<\/strong><\/p>\n

\u5176\u4e2d q \u548c p \u662f\u56db\u5143\u6570\u548c\u5f53\u524d\u5e27\u7684\u4f4d\u7f6e\u3002S \u662f\u5f53\u524d\u7279\u5f81\u70b9\u7684\u96c6\u5408\uff0c[xvk ykv 0]\u4e3a\u8f66\u8f86\u5750\u6807\u4e0b\u7684\u5f53\u524d\u7279\u5f81\uff0c[xwk ykw zkw]\u662f\u5168\u5c40\u5750\u6807\u4e0b\u76ee\u6807\u5728\u5730\u56fe\u4e2d\u7684\u6700\u8fd1\u70b9\u3002<\/p>\n

\u6700\u540e\u91c7\u7528\u6269\u5c55\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668EKF \u6846\u67b6\uff0c\u5c06\u91cc\u7a0b\u8ba1\u4e0e\u89c6\u89c9\u5b9a\u4f4d\u7ed3\u679c\u878d\u5408\u5728\u4e00\u8d77\u3002\u8be5\u6ee4\u6ce2\u5668\u4e0d\u4ec5\u589e\u52a0\u4e86\u5b9a\u4f4d\u7684\u9c81\u68d2\u6027\uff0c\u800c\u4e14\u5e73\u6ed1\u4e86\u4f30\u8ba1\u7684\u8f68\u8ff9\u3002<\/p>\n

4\u3001\u5730\u56fe\u5408\u5e76\/\u66f4\u65b0<\/strong><\/p>\n

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5\u3001\u5730\u56fe\u538b\u7f29<\/strong><\/p>\n

\u4e91\u670d\u52a1\u5668\u751f\u6210\u7684\u8bed\u4e49\u5730\u56fe\u5c06\u7528\u4e8e\u5927\u91cf\u91cf\u4ea7\u8f66\u7684\u5b9a\u4f4d\u3002\u7136\u800c\uff0c\u4f20\u8f93\u5e26\u5bbd\u548c\u8f66\u8f7d\u5b58\u50a8\u5728\u91cf\u4ea7 \u8f66\u4e0a\u662f\u6709\u9650\u7684\u3002\u4e3a\u6b64\uff0c\u8bed\u4e49\u5730\u56fe\u5728\u4e91\u7aef\u8fdb\u4e00\u6b65\u538b\u7f29\u3002\u7531\u4e8e\u8bed\u4e49\u56fe\u53ef\u4ee5\u901a\u8fc7\u8f6e\u5ed3\u6709\u6548\u5730\u5448\u73b0\uff0c \u53ef\u4ee5\u4f7f\u7528\u8f6e\u5ed3\u63d0\u53d6\u6765\u538b\u7f29\u5730\u56fe\u3002\u751f\u6210\u8bed\u4e49\u5730\u56fe\u7684\u9876\u89c6\u56fe\u56fe\u50cf\uff0c\u6bcf\u4e2a\u50cf\u7d20\u5448\u73b0\u4e00\u4e2a\u7f51\u683c\u3002\u5176\u6b21\uff0c \u63d0\u53d6\u6bcf\u4e2a\u8bed\u4e49\u7ec4\u7684\u8f6e\u5ed3\u3002\u6700\u540e\uff0c\u8f6e\u5ed3\u70b9\u88ab\u4fdd\u5b58\u5e76\u5206\u53d1\u7ed9\u91cf\u4ea7\u8f66\u3002<\/p>\n

6\u3001\u5730\u56fe\u89e3<\/strong><\/p>\n

\u538b\u5f53\u6700\u7ec8\u7528\u6237\u6536\u5230\u538b\u7f29\u5730\u56fe\u65f6\uff0c\u8bed\u4e49\u5730\u56fe\u4ece\u8f6e\u5ed3\u70b9\u89e3\u538b\u7f29\u3002\u5728\u4fef\u89c6\u56fe\u50cf\u5e73\u9762\u4e2d\uff0c\u6211\u4eec\u7528\u76f8 \u540c\u7684\u8bed\u4e49\u6807\u7b7e\u586b\u5145\u8f6e\u5ed3\u5185\u7684\u70b9\u3002\u7136\u540e\u5c06\u6bcf\u4e2a\u6807\u8bb0\u7684\u50cf\u7d20\u4ece\u56fe\u50cf\u5e73\u9762\u6062\u590d\u5230\u4e16\u754c\u5750\u6807\u7cfb\u4e2d\u3002<\/p>\n

\u611f\u77e5\u5730\u56fe\u7684\u5173\u952e\u80fd\u529b\u603b\u7ed3<\/strong><\/p>\n

\u901a\u8fc7\u4ee5\u4e0b\u5173\u952e\u6280\u672f\u548c\u65b9\u6cd5\u7684\u53d1\u5c55\u548c\u5b8c\u5584\uff0c\u8f7b\u5730\u56fe\u5728\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u4e2d\u7684\u5e94\u7528\u5c06\u66f4\u52a0\u5e7f\u6cdb\u548c \u6709\u6548\uff0c\u4e3a\u5b9e\u73b0\u5b89\u5168\u3001\u9ad8\u6548\u7684\u81ea\u52a8\u9a7e\u9a76\u505a\u51fa\u8d21\u732e\u3002<\/p>\n

1\uff09 \u5730\u56fe\u6570\u636e\u538b\u7f29\u548c\u5b58\u50a8\uff1a<\/strong><\/p>\n

\u4e3a\u4e86\u63d0\u9ad8\u5730\u56fe\u6570\u636e\u4f20\u8f93\u548c\u67e5\u8be2\u7684\u6548\u7387\uff0c\u8f7b\u5730\u56fe\u9700\u8981\u8fdb\u884c\u6709\u6548\u7684\u538b \u7f29\u548c\u5b58\u50a8\u3002\u91c7\u7528\u77e2\u91cf\u6570\u636e\u5b58\u50a8\u548c\u5c42\u7ea7\u7ed3\u6784\u8bbe\u8ba1\uff0c\u53ef\u4ee5\u5c06\u5730\u56fe\u6570\u636e\u6309\u7167\u4e0d\u540c\u7c92\u5ea6\u8fdb\u884c\u5b58\u50a8\uff0c\u6709 \u52a9\u4e8e\u51cf\u5c0f\u6570\u636e\u91cf\u5e76\u63d0\u9ad8\u67e5\u8be2\u901f\u5ea6\u3002<\/p>\n

2\uff09 \u4f20\u611f\u5668\u878d\u5408\uff1a<\/strong><\/p>\n

\u81ea\u52a8\u9a7e\u9a76\u7cfb\u7edf\u901a\u5e38\u9700\u8981\u878d\u5408\u591a\u79cd\u4f20\u611f\u5668\u6570\u636e\uff0c\u5982 GPS\u3001IMU\u3001\u6fc0\u5149\u96f7\u8fbe\u3001\u6444 \u50cf\u5934\u7b49\uff0c\u4ee5\u83b7\u53d6\u66f4\u51c6\u786e\u7684\u8f66\u8f86\u5b9a\u4f4d\u548c\u73af\u5883\u611f\u77e5\u4fe1\u606f\u3002\u4f20\u611f\u5668\u878d\u5408\u7b97\u6cd5\u9700\u8981\u8003\u8651\u5404\u79cd\u4f20\u611f\u5668\u7684 \u8bef\u5dee\u7279\u6027\uff0c\u5b9e\u73b0\u9ad8\u7cbe\u5ea6\u7684\u5b9a\u4f4d\u548c\u611f\u77e5\u3002<\/p>\n

3\uff09 SLAM\uff08Simultaneous Localization and Mapping\uff09\u6280\u672f\uff1a<\/strong><\/p>\n

SLAM \u662f\u4e00\u79cd\u5728\u672a\u77e5\u73af\u5883\u4e2d \u5b9e\u65f6\u6784\u5efa\u5730\u56fe\u5e76\u5b9a\u4f4d\u7684\u6280\u672f\uff0c\u901a\u5e38\u7528\u4e8e\u673a\u5668\u4eba\u548c\u81ea\u52a8\u9a7e\u9a76\u9886\u57df\u3002\u901a\u8fc7 SLAM \u6280\u672f\uff0c\u81ea\u52a8\u9a7e\u9a76 \u7cfb\u7edf\u53ef\u4ee5\u5b9e\u73b0\u5b9e\u65f6\u5730\u56fe\u66f4\u65b0\u548c\u9ad8\u7cbe\u5ea6\u5b9a\u4f4d\u3002<\/p>\n

4\uff09 \u673a\u5668\u5b66\u4e60\u4e0e\u6df1\u5ea6\u5b66\u4e60\uff1a<\/strong><\/p>\n

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