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中文摘要：
提出基于CCD传感器获取的可量测影像序列的组合定位算法,并结合多传感器自适应融合算法,给出实用的组合定位滤波公式,利用该组合定位方法可以在已知前一历元位置的基础上,利用当前的姿态和影像观测值计算出当前的位置。实际计算表明：①该算法不需要存储大量的影像和计算控制点坐标,降低了存储和计算要求;②一般情况下单独使用可量测影像序列进行定位时存在误差积累,需要进行定时复位,若对序列可量测影像进行融合处理可以有效提高组合定位系统的可靠性和精度。利用本算法可以充分利用移动测量系统的现有设备和信息,提高系统的整体性能。
英文摘要：
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 adaptive filter.Calculation results show：① The less demand of images and coordinates of feature points reduces the requirement of memory capacity and computational complexity;② The reset of position in calculation is usually needed,if only DMI is employed since the position errors will be accumulated.However,if a series of DMI are integrated in the positioning system,the precision and reliability of the fused positions will be improved.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.
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