可量测影像实景导航关键技术研究
|
摘要
卫星导航和位置服务融合了信息业、制造业、服务业等多行业，也成为智能手机等终端设备的必备功能。随着移动互联网生态圈的形成，卫星导航定位和基于位置的服务(LBS)必将给互联网、无线通信、物联网、车联网带来日新月异的变化，改变日常生活方式。作为国家大力培育的战略性新兴产业，卫星导航与位置服务也是世界各国抢占未来竞争的战略制高点，正成为继互联网、移动通信之后的全球第三大信息技术和新的增长点。
快速发展和应用的移动互联网络时代，用户体验直接决定一个产品或应用模式的生存。在导航定位与位置服务中，用户需要在路径引导过程中采用更加接近人们空间交际的方式组织和表达路径信息，以直观、渐进、多模式的表达多源导航信息，提高导航认知的可视性、真实性和可靠性，提高导航位置服务用户体验。可量测实景影像综合了海量实景影像可视化和可量测定位的特点，为位置导航提供了一种全新数据源，一方面可以提高位置导航应用的体验和真实性，为导航提供了更多、更高分辨率和更精细的数据资源，另一方面，可量测实景影像具有严密的内、外方位元素，可基于可量测实景影像进行测量计算，通过可量测实景影像与实时影像、卫星定位数据和惯导数据的融合处理，为提高导航定位的精准性和可靠性奠定了基础。
本文着眼于来自车载移动道路测量的海量可量测影像在导航定位和实景位置导航可视化服务两方面的技术开展研究，将可量测影像与二维导航数字地图、卫星导航定位数据、CCD实时影像数据、惯导数据和里程数据有机融合，为实景导航位置服务提供一种基于可量测影像实景导航的新思路。本文主要开展了如下研究工作：
1）从空间认知入手，系统探讨了各种位置导航方法，提出了可量测影像实景导航概念和特点，分析了基于可量测影像的实景位置导航的必要性和可行性。研究了基于车载移动测量系统的可量测影像采集与更新技术，在此基础上提出了基于可量测影像的多源信息融合实景导航技术框架。
2）研究了基于可量测影像的多源信息融合实景导航数据模型。针对可量测影像实景导航数据的特点，提出了实景导航地图的概念模型，进一步研究了实景导航地图数据组织和高效检索显示方法。提出了二维导航数字地图的“多级四叉树+R树+LOD”的索引结构、可量测实景影像的动态分段索引结构和数据分层存储模型，实现了可量测实景影像与二维导航数字地图的有效融合，提高了数据检索效率，适应了可量测实景影像的多种应用模式。在此基础上研究了车道级路线导引与可量测实景影像相集成的实景导航表达方法。
3）在可量测影像实景导航定位方面，研究了基于可量测实景影像与实时影像匹配的导航定位方法。由于实时影像与可量测实景影像获取时具有不同的光照、视角，给影像匹配带来困难。本文提出了一种旋转尺度不变的SIFT特征进行两种影像的匹配，有效解决不同照度、不同视角下的两种影像匹配的关键问题。进一步提出了基于可量测实景影像匹配的车辆导航定位方法。通过可量测实景影像与实时影像匹配实验及定位实验验证了方法的合理性和有效性。
4）研究了可量测实景影像实时匹配定位结果与卫星定位/惯性导航/里程计等多源数据融合处理导航定位方法。在对IMU零偏温度特性分析基础上，提出了IMU零温补偿模型，并通过实验验证了模型的可靠性。进一步研究了可量测实景影像实时匹配定位与GPS、IMU和里程计数据的联邦Kalman滤波导航计算方法，通过实际跑车实验验证了方法的有效性。
5）可量测影像实景导航原型构建与实验验证工作：以基于可量测实景影像的某型武器无依托发射导航系统原型为例，对可量测影像实景导航的技术体系、可量测影像实景导航的数据组织、实时匹配定位和融合处理导航计算等关键技术进行了试验与精度分析，验证本文提出的可量测影像实景导航方法的可行性和关键技术的有效性。
Satellite navigation and location based services are integrated informationtechinique, manufacturing and services, which have become the basic function of smartphones. With the rapid development of mobile internet, satellite navigation andlocation-based services (LBS) will bring new changes of Internet, wirelesscommunications, the Internet of things and Telematics in daily life style. Satellitenavigation and location based services is becoming the new cutting edge technique afterinternet technique and wireless communication technique in the IT field worldwide. Inthe rapid developing mobile Internet era, the user experience of a product or applicationdirectly determines its survival mode. For the navigation and location based services,the users need more guidance information and high precision position to improve thevisualization, authenticity and reliability of location-based services to obtain high userexperience. Digital measurement image (DMI) combine image visualization andmeasurement position feature together, which become a new data for navigation andLBS. The digital images can improve experience and authenticity of navigation. On theother hand, the DMIs have direct geo-referenced information, thus we can use DMIs formeasurement and they can integrate with real time images, satellite position data andinertial measurement unit data to improve the accuracy and reliability of navigation andpositioning system.
In this thesis, a digital measurement images from land based mobile mappingsystem are introduced into navigation both for navigation visualization and position.The DMIs,2D navigation map, satellite position data, real time images from CCDcamera and inertial measurement unit data are integrated together for a new imagenavigation approach in the following aspects:
1) The current navigation technique and new requirements are discussed from thespatial cognition. A new DMIs based image navigation concept is proposed. Thenecessity and feasibility of image navigation based DMIs are analyzed. The DMIsacquisition and updating technology based on land based mobile mapping system arediscussed.Anew image navigation technique framework is presented.
2) A digital measuable image navigation data model is proposed. The DMIs datamodel together with high efficient index method is presented. A two dimensionnavigation data model based on multiple level quadtree, R tree and LOD (level of detail)is proposed to obtain high efficiency display. A DMIs index approach based on roaddynamic segment is presented for DMI query. And a layer pyramid model based onlarge file is designed for DMIs storage. A route guidance method on the DMIs isdiscussed to achieve image based navigation visualization.
3) A navigation position approach based on real time image and DMIs ret rivalingand matching is proposed in this thesis. Considering the image matching difficulty withvarious illumination and perspective, a SIFT (Scale-invariant feature transform) imagematching algorithm is presented for real time image matching with DMIs. A navigationopposition approach based on real time image and DMIs matching is proposed. Anexperiment is designed to verify the rationality and effectiveness of the proposedmethod.
4) A new navigation position approach based on DMIs matching position, satelliteposition data, inertial measurement position data and odometer data fusion is presentedin this thesis. An IMU (inertial measurement unit) zero bias model is proposed based onthe IMU zero temperature characteristic analyst. An experiment is designed to verify thereliability of the proposed IMU zero bias model. A Federated Kalman Filter methodwith DMIs image position result, GPS, IMU and odometer is designed to achieve DMIsbased position. And the experiment result shows that the DMIs aided position canimprove the navigation position accuracy and reliability.
5) An image navigation prototype for a certain type of weapon without relying isdesigned and presented for the proposed technique experiment and verify in this thesis.The experiment result show that the proposed DMIs based image navigation canachieve high position accuracy, reliable navigation and true3D visualization.
快速发展和应用的移动互联网络时代，用户体验直接决定一个产品或应用模式的生存。在导航定位与位置服务中，用户需要在路径引导过程中采用更加接近人们空间交际的方式组织和表达路径信息，以直观、渐进、多模式的表达多源导航信息，提高导航认知的可视性、真实性和可靠性，提高导航位置服务用户体验。可量测实景影像综合了海量实景影像可视化和可量测定位的特点，为位置导航提供了一种全新数据源，一方面可以提高位置导航应用的体验和真实性，为导航提供了更多、更高分辨率和更精细的数据资源，另一方面，可量测实景影像具有严密的内、外方位元素，可基于可量测实景影像进行测量计算，通过可量测实景影像与实时影像、卫星定位数据和惯导数据的融合处理，为提高导航定位的精准性和可靠性奠定了基础。
本文着眼于来自车载移动道路测量的海量可量测影像在导航定位和实景位置导航可视化服务两方面的技术开展研究，将可量测影像与二维导航数字地图、卫星导航定位数据、CCD实时影像数据、惯导数据和里程数据有机融合，为实景导航位置服务提供一种基于可量测影像实景导航的新思路。本文主要开展了如下研究工作：
1）从空间认知入手，系统探讨了各种位置导航方法，提出了可量测影像实景导航概念和特点，分析了基于可量测影像的实景位置导航的必要性和可行性。研究了基于车载移动测量系统的可量测影像采集与更新技术，在此基础上提出了基于可量测影像的多源信息融合实景导航技术框架。
2）研究了基于可量测影像的多源信息融合实景导航数据模型。针对可量测影像实景导航数据的特点，提出了实景导航地图的概念模型，进一步研究了实景导航地图数据组织和高效检索显示方法。提出了二维导航数字地图的“多级四叉树+R树+LOD”的索引结构、可量测实景影像的动态分段索引结构和数据分层存储模型，实现了可量测实景影像与二维导航数字地图的有效融合，提高了数据检索效率，适应了可量测实景影像的多种应用模式。在此基础上研究了车道级路线导引与可量测实景影像相集成的实景导航表达方法。
3）在可量测影像实景导航定位方面，研究了基于可量测实景影像与实时影像匹配的导航定位方法。由于实时影像与可量测实景影像获取时具有不同的光照、视角，给影像匹配带来困难。本文提出了一种旋转尺度不变的SIFT特征进行两种影像的匹配，有效解决不同照度、不同视角下的两种影像匹配的关键问题。进一步提出了基于可量测实景影像匹配的车辆导航定位方法。通过可量测实景影像与实时影像匹配实验及定位实验验证了方法的合理性和有效性。
4）研究了可量测实景影像实时匹配定位结果与卫星定位/惯性导航/里程计等多源数据融合处理导航定位方法。在对IMU零偏温度特性分析基础上，提出了IMU零温补偿模型，并通过实验验证了模型的可靠性。进一步研究了可量测实景影像实时匹配定位与GPS、IMU和里程计数据的联邦Kalman滤波导航计算方法，通过实际跑车实验验证了方法的有效性。
5）可量测影像实景导航原型构建与实验验证工作：以基于可量测实景影像的某型武器无依托发射导航系统原型为例，对可量测影像实景导航的技术体系、可量测影像实景导航的数据组织、实时匹配定位和融合处理导航计算等关键技术进行了试验与精度分析，验证本文提出的可量测影像实景导航方法的可行性和关键技术的有效性。
Satellite navigation and location based services are integrated informationtechinique, manufacturing and services, which have become the basic function of smartphones. With the rapid development of mobile internet, satellite navigation andlocation-based services (LBS) will bring new changes of Internet, wirelesscommunications, the Internet of things and Telematics in daily life style. Satellitenavigation and location based services is becoming the new cutting edge technique afterinternet technique and wireless communication technique in the IT field worldwide. Inthe rapid developing mobile Internet era, the user experience of a product or applicationdirectly determines its survival mode. For the navigation and location based services,the users need more guidance information and high precision position to improve thevisualization, authenticity and reliability of location-based services to obtain high userexperience. Digital measurement image (DMI) combine image visualization andmeasurement position feature together, which become a new data for navigation andLBS. The digital images can improve experience and authenticity of navigation. On theother hand, the DMIs have direct geo-referenced information, thus we can use DMIs formeasurement and they can integrate with real time images, satellite position data andinertial measurement unit data to improve the accuracy and reliability of navigation andpositioning system.
In this thesis, a digital measurement images from land based mobile mappingsystem are introduced into navigation both for navigation visualization and position.The DMIs,2D navigation map, satellite position data, real time images from CCDcamera and inertial measurement unit data are integrated together for a new imagenavigation approach in the following aspects:
1) The current navigation technique and new requirements are discussed from thespatial cognition. A new DMIs based image navigation concept is proposed. Thenecessity and feasibility of image navigation based DMIs are analyzed. The DMIsacquisition and updating technology based on land based mobile mapping system arediscussed.Anew image navigation technique framework is presented.
2) A digital measuable image navigation data model is proposed. The DMIs datamodel together with high efficient index method is presented. A two dimensionnavigation data model based on multiple level quadtree, R tree and LOD (level of detail)is proposed to obtain high efficiency display. A DMIs index approach based on roaddynamic segment is presented for DMI query. And a layer pyramid model based onlarge file is designed for DMIs storage. A route guidance method on the DMIs isdiscussed to achieve image based navigation visualization.
3) A navigation position approach based on real time image and DMIs ret rivalingand matching is proposed in this thesis. Considering the image matching difficulty withvarious illumination and perspective, a SIFT (Scale-invariant feature transform) imagematching algorithm is presented for real time image matching with DMIs. A navigationopposition approach based on real time image and DMIs matching is proposed. Anexperiment is designed to verify the rationality and effectiveness of the proposedmethod.
4) A new navigation position approach based on DMIs matching position, satelliteposition data, inertial measurement position data and odometer data fusion is presentedin this thesis. An IMU (inertial measurement unit) zero bias model is proposed based onthe IMU zero temperature characteristic analyst. An experiment is designed to verify thereliability of the proposed IMU zero bias model. A Federated Kalman Filter methodwith DMIs image position result, GPS, IMU and odometer is designed to achieve DMIsbased position. And the experiment result shows that the DMIs aided position canimprove the navigation position accuracy and reliability.
5) An image navigation prototype for a certain type of weapon without relying isdesigned and presented for the proposed technique experiment and verify in this thesis.The experiment result show that the proposed DMIs based image navigation canachieve high position accuracy, reliable navigation and true3D visualization.
引文
[1]李德仁.论基于实景影像的城市空间信息服务—以影像城市-武汉为例[J].武汉大学学报(信息科学版),2009,34(2):113-117
[2] ZhenFeng Shao and DeRen Li. Image City sharing platform and its typical applications[J],SCIENCE CHINAINFORMATION SCIENCES,2011,54(8):1938-1746
[3] Jeffrey, D. J.1981. Ways and means for improving driver route guidance. Transport andRoad Research Laboratory Report No.1016.
[4] Barrow, K.1991. Human factors issues surrounding the implementation of in-vehiclenavigation and information systems. SAE Society of Automotive Engineers Transactions,100(6):1243-1257.
[5] Burns, P. C.1998. Wayfinding errors while driving. Journal of Environmental Psychology,18(2):209-217.
[6] Skog, I., Handel, P.2009. In-car positioning and navigation technologies: a survey. IEEETransactions on Intelligent Transportation Systems,10(1):4-21.
[7]朱筱虹,李喜来,杨元喜.从国际卫星导航系统发展谈加速中国北斗卫星导航系统建设[J].测绘通报,2011,8:002.
[8]曹冲.卫星导航系统及产业现状和发展前景研究[J].全球定位系统,2009,4(1).
[9] Montello, D. R.2005. Navigation. The Cambridge handbook of visuospatial thinking. P.Shah andA. Miyake. Cambridge: Cambridge University Press.257-294.
[10]Tversky, B.1993. Cognitive maps, cognitive collages, and spatial mental models. COSIT1993, LNCS716. Berlin: Springer.14-24.
[11]Golledge, R. G.1995. Path selection and route preference in human navigation: Aprogress report. COSIT1995, LNCS988. Berlin: Springer.207-222.
[12]Golledge, R. G.1999. Wayfinding behavior: cognitive mapping and other spatialprocesses. Baltimore, MD: Johns Hopkins Press.
[13] Allen, G. L.1997. From knowledge to words to wayfinding: Issues in the productionand comprehension of route directions. COSIT1997, LNCS1329. Berlin: Springer.363-372.
[14]周成虎,朱欣焰,王蒙,等.全息位置地图研究[J].地理科学进展,2011,30(11):1331-1335.
[15]刘妍,赵新国,韦韬.美国地理空间情报作战应用及启示[J].装备学院学报ISTIC,2013,24(1).128-131
[16]李德仁，胡庆武．基于可量测实景影像的空间信息服务［J］．武汉大学学报(信息科学版)，2007，32(5):377-380．
[17]徐军,李大军.基于实景地图的LBS服务[J].地理空间信息,2012,10(5):157-160.
[18]马小辉,张晓东,文毅.实景地图典型应用[J].测绘科学与工程,2012,32(3):44-48.
[19]李德仁.论地球空间信息的3维可视化:基于图形还是基于影像[J].测绘学报,2010,39(2):111-114.
[20]李德仁.论空天地一体化对地观测网络[J].地球信息科学学报,2012,14(4):419-425.
[21]李德仁,胡庆武,郭晟,等.移动道路测量系统及其在科技奥运中的应用[J].科学通报,2009(3):312-320.
[22]张晓东,杨元喜,崔先强.可量测影像序列的组合定位算法及其在1∶50000地图测绘中的应用[J].测绘学报,2010,39(3):231-235.
[23]May, A. J., Ross, T., et al..2001. Using landmarks to enhance navigation systems: driverrequirements and industrial constraints. In Proceedings of the8th World Congress onIntelligent Transport Systems. Sydney,Australia.
[24]韩志刚,孔云峰,秦耀辰.地理表达研究进展[J].地理科学进展,2011,30(2):141-148.
[25]赵沁平.虚拟现实综述[J].中国科学(F辑:信息科学),2009,39(1):2-46.
[26]刘经南.增强现实在导航和位置服务中的应用探讨[J].地理信息世界,2013(1):9-11.
[27]Wikitude Drive. http://www.wikitude.org/en/drive
[28]Freksa, C., Klippel, A., et al..2007. A cognitive perspective on spatial context. InProceedings of Spatial Cognition: Specialization and Integration. A. G. Cohn, C. Freksaand B. Nebel. Schloss Dagstuhl, Germany.
[29]Mark, D. M., Freksa, C., et al..1999. Cognitive models of geographical space.International Journal of Geographical Information Science,13(8):747-774.
[30]Burnett, G.2000."Turn right at the traffic lights" The requirement for landmarks invehicle navigation systems. Journal of Navigation,53(3):499-510.
[31]May, A. J., Ross, T.2006. Presence and quality of navigational landmarks: Effect ondriver performance and implications for design. Human Factors,48(2):346-361.
[32]May, A. J., Ross, T., et al..2004. Incorporating landmarks in driver navigation systemdesign: An overview of results from the REGIONAL project. Journal of Navigation,58(1):47-65.
[33]鲁学军,秦承志,张洪岩,等.空间认知模式及其应用[J].遥感学报,2005,9(3):277-285.
[34]Klippel, A.2003. Wayfinding choremes: Conceptualizing wayfinding and route directionelements. PhD Thesis. University of Bremen.
[35]Lynch, K.1960. The image of the city. Cambridge, MA: The MIT Press
[36]Golledge, R. G.1992. Place recognition and wayfinding: Making sense of space.Geoforum23(2):199-214
[37]Cohn, A. G., Hazarika S. M.,2001. Qualitative spatial representation and reasoning: Anoverview. Fundamenta Informaticae,46(1-2):1-29
[38]Pederson, E.2003. How many reference frames? Spatial Cognition III, LNAI2685.Berlin: Springer.287-304
[39]Levinson, S. C.1996. Frames of reference and Molyneux's question: Crosslinguisticevidence. Language and space. P. Bloom, M. Peterson, L. Nadel and M. Garrett.Cambridge, MA: MIT press.109-169.
[40]Klippel, A., Tappe, H., et al..2005. Wayfinding choremes–A language for modelingconceptual route knowledge. Journal of Visual Languages and Computing,16(4):311–329.
[41]Tomko, M., Winter, S., et al.2007. Experiential hierarchies of streets. Computers,Environment and Urban Systems,31(1):41-52.
[42]Grice, H. P.1975. Logic and conversation. Speech Acts. P. Cole and J. L. Morgan.Academic Press, New York.41-58
[43]Sperber, D., Wilson, D.2004. Relevance Theory. Handbook of Pragmatics. L. Horn andG. Ward. Oxford, UK: Basil Blackwell Ltd..607-632.
[44]Frank, A. U.2003. Pragmatic information content: How to measure the information in aroute description. Foundations of Geographic Information Science. M. Duckham, M.Goodchild and M. Worboys. London and New York: Taylor&Francis.47-68.
[45]吴刚,王海涛,刘晨帆,等.基于空间认知的虚拟地理环境研究[J].测绘与空间地理信息,2011,34(6):143-146.
[46]王家耀.地图制图学与地理信息工程学科发展趋势[J].测绘学报,2010,39(2):115-119.
[47]高俊.地图空间认知与认知地图学[C]M中国地图年鉴.北京:中国地图出版社,1991
[48]胡庆武,郭晟,柳正华,等.基于可量测实景影像的数字公路体系研究[J].公路,2010(002):95-101.
[49]GOODCHILD M F，EGENHOFER M J，KEMP K K，et al. Introduction to the vareniusproject［J］. INT. J. Geographical Information Science，1999，13（8）：731-745.
[50]University Consortium for Geographic Information Sci ence.Research priorities forgeographic information science［J］. Cartography and GeographicIn formation Systems，1996，23（3）：115-127.
[51]MARK D M，FREKSA C，HIRTLE S C，et al. Cognitive model of geographical sp ace［J］. INT. J. Geographical Information Science，1999，13（8）：747-774.
[52]陈述彭.地理信息系统的应用基础研究［J］.地球信息，1997（4）：35-39.
[53]国家自然科学基金委员会.国家自然科学基金优先资助领域战略研究报告：地球空间信息科学［M］.北京：高教出版社，2001.45-50.
[54]Klippel, A.2003. Wayfinding choremes: Conceptualizing wayfinding and route directionelements. PhD Thesis. University of Bremen.
[55]朱强,武芳,钱海忠,等.基于空间认知的等高线树的构建[J].信息工程大学学报,2011,12(4):458-462.
[56]颜言,龙毅,沈倩茹,等.顾及性别差异的电子地图空间认知分析[J].地理与地理信息科学,2011,27(4):48-51.
[57]赵卫锋,李清泉,李必军.空间认知导向下利用分层强化学习的最优路径规划[J].武汉大学学报:信息科学版,2012,37(011):1271-1275.
[58]王晓明，刘瑜，张晶.地理空间认知综述[J].地理与地理信息科学,2005,21(6):1-10
[59]翟文英,郭献强.基于用户空间认知的网络信息可视化研究[J].图书情报知识,2011,4:104-110.
[60]艾廷华,周梦杰,陈亚婕.专题地图属性信息的LOD表达与TreeMap可视化[J].测绘学报,2013,42(3):453-460.
[61]艾波,唐新明,艾廷华,等.利用透明度进行时空信息可视化[J].武汉大学学报:信息科学版,2012,37(002):229-232.
[62]刘召芹,谢彩香,林宗坚,等. LBS导航认知地图服务系统设计与实现[J].测绘科学,2007,32(2):60-63.
[63]赵学胜,白建军,王志鹏.基于QTM的全球地形自适应可视化模型[J].测绘学报,2007,36(3):316-320.
[64]张立强,张燕,杨崇俊,等.网络环境下三维可视化信息系统的方法研究[J].中国科学D辑,2005,35(6):511-518.
[65]邹继媛.导航地图数据的空间组织[J].全球定位系统,2004,3:31-34.
[66]李清泉,徐敬海,李明峰.导航地图数据模型研究现状与趋势[J].测绘信息与工程,2007,32(6):22-25.
[67]何林波,朱欣焰,吴维静.基于MMS的手机导航地图应用研究[J].微计算机信息,2007,23(1):254-256.
[68]曹晓航. GPS车载导航系统技术趋势浅析[J].现代测绘,2006,29(1):14-17.
[69]文伯聪,张彤.一种用于导航的2.5维地图的构建[J].计算机工程与科学,2011,33(4):110-114.
[70]肖必虎.下一代导航:三维实景[J].音响改装技术,2009(1):92-93.
[71]王延朝.基于Krpano的三维全景系统的开发和应用[D].华东师范大学,2012.
[72]Medenica Z, Kun A L, Paek T, et al. Augmented reality vs. street views: a drivingsimulator study comparing two emerging navigation aids[C]//Proceedings of the13thInternational Conference on Human Computer Interaction with Mobile Devices andServices. ACM,2011:265-274.
[73]Devaux A, Paparoditis N. Increasing interactivity in street view web navigationsystems[C]//Proceedings of the international conference on Multimedia. ACM,2010:903-906.
[74]李德仁.论可量测实景影像的概念与应用——从4D产品到5D产品[J].测绘科学,2007,32(4):5-7.
[75]李德仁,胡庆武.基于可量测实景影像的空间信息服务[J].武汉大学学报:信息科学版,2007,32(5):377-380.
[76]李德仁,郭晟,胡庆武.基于3S集成技术的LD2000系列移动道路测量系统及其应用[J]测绘学报,2008,37(3):272-276.
[77]王万峰,杜明义.可量测实景影像在城市部件管理中的应用[J].北京建筑工程学院学报,2009,25(2):31-34.
[78]姜友谊,张春森,胡平波.可量测实景影像与4D产品集成研究[J].西安科技大学学报,2011,31(5):569-572.
[79]Torii A, Havlena M., Pajdla T. From Google Street View to3D city models[C].IEEE12thInternational Conference on Computer Vision Workshops,Sept.,2009,2188-2195
[80]De la Garza, J. M.Howerton, C. G.Sideris, A Study of Implementation of IP-S2MobileMapping Technology for Highway Asset Condition Assessment[C].The2011ASCEInternational Workshop on Computing in Civil Engineering,2011
[81]Dulong Carole, Filip Daniel, Frueh Christian et al. Google Street View: Capturing theWorld at Street Level[J].Computer,2010,Vol.43(6):32-38
[82]Moghadam P., Wijesoma W.S., Dong J.F Improving path planning and mapping based onstereo vision and lidar.10th International Conference on Control Automation Roboticsand Vision,2008,384-389
[83]HU Qingwu, LI Qingquan， The Research of A Binocular Sequence Imagery AidedNavigation Technique SPIE:0277-786X:523-528,2003
[84]张晓东,杨元喜,崔先强.可量测影像序列的组合定位算法及其在1∶50000地图测绘中的应用[J].测绘学报,2010,39(3):231-235.
[85]张晓东,杨元喜,胡庆武,等.可量测序列影像的加权整体最小二乘导航[J].应用科学学报,2013,31(2)：147-153.
[86]张晓东,李瑞锋,杨猛.基于DMI的定位定姿算法[J].测绘科学与工程,2011,31(2):6-8.
[87]Zhao Y L.Vehicle location and navigation systems[M]． Norwood,MA,AretchHouse,1997:88-152
[88]张其善，吴今培，杨东凯．智能车辆定位导航系统及应用[M]．北京：科学出版社,2002:12-19
[89]Gao Yang．An Improved Shortest Route Algorithm in Vehicle Navigation System[A]．20103rd International Conference on Advanced Computer Theory and Engineerin[C]．Chengdu,China:Institude of Electrical and Electronics Engineers,Inc,2010：363-366
[90]李艳.嵌入式GIS中路网数据的应用技术研究[D]．西安：西安建筑科技大学,2007
[91]张林．动态车辆导航系统车道级路径引导方法研究[D]．长春：吉林大学,2008
[92]GB/T19711—2005,导航地理数据模型与交换格式[S]．北京：中国标准出版社,2005
[93]朱庆,李渊.面向实际车道的3维道路网络模型[J].测绘学报，2007,36(4):414-420
[94]ARTME,G.Management of Geographieal Information in Mobile Enviromnent[D].Finland:Department of Computer and Information Systems,University of Jyvaskyla,2000
[95]Fang T-P, Piegl L A. Delaunay Triangulation Using a Uni-form Grid[J]. IEEEComputer&Graphics Application.1993:36-47
[96]顾军,吴长彬.常用空间索引技术分析[J].微型电脑应用,2001,17(12):40-42
[97]FINKEL R，BENTLEY J L．Quadtree：A Data Structure for Retrieval ofCompositeKeys[J]．Aeta Informatica，1974，(4):1-9
[98]GUTTMAN A．R-trees：A Dynamic Index Structure for Spatial Searching[A]．Proc ofACM SIGMOD[C]．Boston：ACM Press，1984:547-557
[99]WHITE D，JAIN R．Similarity Indexing with the SS-tree[A]．Proc of the12th Int Confon Data Engineering[C]．LosAngeles：IEEE，1996:516-523
[100] LOMET D B,SALZBERG B.The hB-tree:A Multi-attribute Indexing Method withGood Guaranteed Performance[J].ACM Transactions on DatabaseSystems,1990,15(4):625-658
[101] KOLAHDOU ZAN M,SHAHABI C.Voronoi based KNearest Neighbor Search forSpatial Network Databases[A].Proceedings of the30th International Conference onVeryLarge DataBases[C].Berlin:VLDB Endowment,2004:840-851
[102]徐敬海,李清泉,宋莺,等.基于Kiwi数据格式的地图显示研究[J].武汉大学学报:信息科学版,2005,30(10):866-868
[103]陈刚，贾奋励．超大数据量矢量电子地图显示的方法研究及实践[J]．测绘通报，2000，(2):15-17
[104]高扬,乌萌.RDSS高程数据库的研究与设计[J].微电子学与计算机，2012，29(5):161-164
[105]高扬.车辆导航系统中道路网数据结构的研究与设计[J].导航,2008,44[4]:33-36
[106]李鲁群，李成名，林宗坚．服务于PDA的矢量数据分块存储数据结构[J]．测绘学报，2002，31(2):170-174
[107]王轩，李鹤元．基于分区索引方法的地图快速显示的设计与实现[J]．测绘通报，2002，(10):56-61．
[108]高扬,李艳,金群峰,等.车辆导航系统中道路网数据结构的研究与设计[J].导航,2008,44(4):33-36
[109] NYERGES T L． Location ReferencingandHighway SegmentationinaGeographicInformationSystem[J]．ITE Journal，1990，60(2):27-31
[110]左小清,李清泉.一种面向道路网的3维数据的空间索引方法[J].测绘学报,2006,35(1):57-63
[111] VONDEROHE AP，HEPWORTH T D．AMethodology for Design of MeasurementSystems for Linear Referencing[J]．URISA Journal，1998，10(1)：48-56
[112]高扬,杨志强,乌萌.导航数字地图的快速显示技术研究[J].测绘科学,2011,36(3):236-238
[113] Loeffler C E, Anderson T. The Virtual Reality CaseBook[M]. Van Nostrand Reinhold,1994
[114]高扬，刘志镜，闫立伟，等．多线程技术在车辆导航定位系统中的应用研究[J]．计算机工程与设计，2002，23(5):48-51
[115] Kim S,Kim J H. Adaptive fuzzy-network-based measure map-matching algorithm forcar navigation system[J].IEEE Transactions on IndustrialElectronics,,2001,48(2):432-441
[116]章毓晋.图像工程上册:图像处理和分析[M].北京:清华大学出版社,1999.3:186-199.
[117]周明全,耿国华,韦娜.基于内容的图像检索技术[M].北京：清华大学出版社，2007.7:5-9.
[118]王永明,王贵锦.图像局部不变性特征与描述[M].北京：国防工业出版社，2010.4:2-7.
[119] Moravec H P. Towards Automatic Visual Obstacle Avoidance[A]. Proc.5thInternational Joint Conference onArtificial Intelligence,1977:69-75.
[120] Harris C, Stephens M. A Combined Corner and Edge Detector[C]. Proc. AlveyVision Conf..Univ. Manchester,1988:1497-1403.
[121] Lindeberg T. Edge detection and ridge detection with automatic scale selection[J].International Journal of Computer Vision.1998.2.30:1873-1879.
[122] Mikolajczyk K. Schmid C. An affine invariant interest point detector[C]. InProceedings of the8th International Conference on Computer Vision. Vancouver,Canada，2002:69-75.
[123] Lowe D G. Object recognition from local scale-invariant features[C]. InternationalConference on Computer Vision. Corfu, Greece,1999:1758-1762.
[124] Bay H, Tuytelaars T,van Gool L. SURF: Speeded up robust features[C].ECCV.2006:1562-1568.
[125] Matas J, Chum O,Urban M,et.al. Robust wide baseline stereo from maximally stableextremal regions[C]. BMVC.2002:844-853.
[126] Iijima T. Basic theory of pattern normalization (for the case of a typical onedimensional pattern)[J]. Bulletin of the Electrotechnical Laboratory.1962:26:368-388.
[127] Koenderink J J. The structure of images[J]. Biological Cybernetics.1984,(50):52-53.
[128] Lindeberg T. Scale-space theory in computer vision[M]. Kluwer AcademicPublishers.1994:88-89.
[129] Florack L M J. Ter Haar Romeny B M, Koenderink J J, et.al. Scale and thedifferential structure of images[J]. Image and vision Computing.1992,10(6):145-148.
[130] Lowe D G. Distinctive Image Features from Scale-Invariant Keypoints[J].International Journal of Computer Vision.2004:781-789.
[131] Martin A.Fischler, Robert C.Bolles. Random sample consensus: a paradigm formodel fitting with applications to image analysis and automated cartography[J].Communication of theACM.1981:568-569.
[132] Richard Hartley，Andrew Zisserman(著).韦穗，杨尚骏，章权兵，胡茂林(译).计算机视觉中的多视几何[M].合肥：安徽大学出版社，2002:145-150.
[133] Y.Gao.A.Wojciechowski.High Precision Kinematic Position using singledual-freqency GPS receiver[C].IAPRS.2004.V34:1545-1548.
[134] Berthold K.P.Horn. Closed-form Solution of Absolute Orientation Using UnitQuaternions[J]. Journal of the Optical Society ofAmericaA.1987,4.V4:629.
[135] H.C.Longuet-Higgins.A computer algorithm forreconstructing a scene from twoprojections[J].Nature.1981,9. V293:133-135.
[136] R.I.Hartly. Projective reconstruction and in variants frommultiple images[J].IEEETransactionson PatternAnalysis and Machine Intelligence.1994,10. V16:1036-1041.
[137]张天光,王秀萍,等.捷联惯性导航技术[M].国防工业出版社，2007.
[138]邓正隆.惯性技术[M].哈尔滨工业大学出版社，2006.
[139]秦永元.惯性导航[M].科学出版社,2006.
[140]鲍其莲.微型组合导航系统设计与实现[D].上海交通大学硕士学位论文,2007.
[141] David H.Titterton, J.L.W. Strapdown Inertial Navigantion Technology[M]. SecondEdition. Lexington,Massachusetts,USA: American Institute of Aeronautics andAstronautics, Inc,2004.
[142]王淑娟，吴广玉．惯性器件温度误差补偿方法综述[J]．中国惯性技术学报，1998，6(3)：44-49页
[143]徐晨，赵瑞珍，甘小冰．小波分析应用算法[M]。北京：科学出版社，2004：107—109．
[144] SHCHEGLOV K,EVANS C,GUTIERREZ R,et a1.Temperature dependentcharacteristics of the silicon MEMSgyroscope[C]2000IEEE Aerospace ConferenceProceed-ings.Montana,USA,2000:403-411.
[145] SYED Z F,AGGARWAL P,GOODALL C.A new multi-position calibration methodfor MEMS inertial navigationsystems[J].Measurement Science andTechnology,2007(18):1897-1907.
[146] AGGARWAL P,SYED Z,NIU X,et a1.A standardtesting and calibration procedurefor low cost MEMSinertial sensors and units[J].The Journal ofNavigation,2008,61:323-336.
[147]许德新,何昆鹏,梁海波. MEMS惯性测量组件的温度误差补偿模型研究[J].哈尔滨工程大学学报,2010,5(5):607:613.
[148]何晓峰,胡小平,吴美平,吴文启.基于半参数回归模型的微陀螺仪温度补偿技术[J].压电与声光,2009,12(6):794:797.
[149]陈怀,张嵘,周斌,陈志勇.微机械陀螺仪温度特性及补偿算法研究[J].传感器技术,2004,23(10):24:27.
[150]房建成,李建利,盛蔚.改进的内框架驱动式硅MEMS陀螺温度误差模型[J].北京航空航天大学学报,2006,11(32):1277:1281.
[151]王新洲.非线性模型参数估计理论与应用[M].武汉：武汉大学出版社，2002.
[152]杨元喜.自适应动态导航定位[M].北京:测绘出版社，2006。
[153]黄晓瑞,崔平远.基于信息融合的组合导航系统研究[J].数据采集与处理,2001(2):210-214.
[154]刘准,陈哲.基于联邦滤波器的新型故障检测结构及算法[J].北京航空航天大学学报,2002,28(5):550-554.
[155]何友等.多传感器信息融合及应用[M].北京：电子工业出版社，2000.
[156]杨晓亚.GPS/INS/TAN组合导航系统应用研究[D].西北工业大学硕士论文，2006.
[157]吕小红,金彦斌,郑利.陆基机动导弹发射技术[J].航天发射技术,2001(2):11-14.
[158]鲜勇,肖龙旭,李刚.组合制导弹道导弹无依托快速发射技术研究[J].宇航学报,2010,31(8):1915-1919.
[159]程洪杰,钱志博,赵媛,等.导弹无依托发射场坪承载能力分析[J].起重运输机械,2011,12:48-52
[2] ZhenFeng Shao and DeRen Li. Image City sharing platform and its typical applications[J],SCIENCE CHINAINFORMATION SCIENCES,2011,54(8):1938-1746
[3] Jeffrey, D. J.1981. Ways and means for improving driver route guidance. Transport andRoad Research Laboratory Report No.1016.
[4] Barrow, K.1991. Human factors issues surrounding the implementation of in-vehiclenavigation and information systems. SAE Society of Automotive Engineers Transactions,100(6):1243-1257.
[5] Burns, P. C.1998. Wayfinding errors while driving. Journal of Environmental Psychology,18(2):209-217.
[6] Skog, I., Handel, P.2009. In-car positioning and navigation technologies: a survey. IEEETransactions on Intelligent Transportation Systems,10(1):4-21.
[7]朱筱虹,李喜来,杨元喜.从国际卫星导航系统发展谈加速中国北斗卫星导航系统建设[J].测绘通报,2011,8:002.
[8]曹冲.卫星导航系统及产业现状和发展前景研究[J].全球定位系统,2009,4(1).
[9] Montello, D. R.2005. Navigation. The Cambridge handbook of visuospatial thinking. P.Shah andA. Miyake. Cambridge: Cambridge University Press.257-294.
[10]Tversky, B.1993. Cognitive maps, cognitive collages, and spatial mental models. COSIT1993, LNCS716. Berlin: Springer.14-24.
[11]Golledge, R. G.1995. Path selection and route preference in human navigation: Aprogress report. COSIT1995, LNCS988. Berlin: Springer.207-222.
[12]Golledge, R. G.1999. Wayfinding behavior: cognitive mapping and other spatialprocesses. Baltimore, MD: Johns Hopkins Press.
[13] Allen, G. L.1997. From knowledge to words to wayfinding: Issues in the productionand comprehension of route directions. COSIT1997, LNCS1329. Berlin: Springer.363-372.
[14]周成虎,朱欣焰,王蒙,等.全息位置地图研究[J].地理科学进展,2011,30(11):1331-1335.
[15]刘妍,赵新国,韦韬.美国地理空间情报作战应用及启示[J].装备学院学报ISTIC,2013,24(1).128-131
[16]李德仁，胡庆武．基于可量测实景影像的空间信息服务［J］．武汉大学学报(信息科学版)，2007，32(5):377-380．
[17]徐军,李大军.基于实景地图的LBS服务[J].地理空间信息,2012,10(5):157-160.
[18]马小辉,张晓东,文毅.实景地图典型应用[J].测绘科学与工程,2012,32(3):44-48.
[19]李德仁.论地球空间信息的3维可视化:基于图形还是基于影像[J].测绘学报,2010,39(2):111-114.
[20]李德仁.论空天地一体化对地观测网络[J].地球信息科学学报,2012,14(4):419-425.
[21]李德仁,胡庆武,郭晟,等.移动道路测量系统及其在科技奥运中的应用[J].科学通报,2009(3):312-320.
[22]张晓东,杨元喜,崔先强.可量测影像序列的组合定位算法及其在1∶50000地图测绘中的应用[J].测绘学报,2010,39(3):231-235.
[23]May, A. J., Ross, T., et al..2001. Using landmarks to enhance navigation systems: driverrequirements and industrial constraints. In Proceedings of the8th World Congress onIntelligent Transport Systems. Sydney,Australia.
[24]韩志刚,孔云峰,秦耀辰.地理表达研究进展[J].地理科学进展,2011,30(2):141-148.
[25]赵沁平.虚拟现实综述[J].中国科学(F辑:信息科学),2009,39(1):2-46.
[26]刘经南.增强现实在导航和位置服务中的应用探讨[J].地理信息世界,2013(1):9-11.
[27]Wikitude Drive. http://www.wikitude.org/en/drive
[28]Freksa, C., Klippel, A., et al..2007. A cognitive perspective on spatial context. InProceedings of Spatial Cognition: Specialization and Integration. A. G. Cohn, C. Freksaand B. Nebel. Schloss Dagstuhl, Germany.
[29]Mark, D. M., Freksa, C., et al..1999. Cognitive models of geographical space.International Journal of Geographical Information Science,13(8):747-774.
[30]Burnett, G.2000."Turn right at the traffic lights" The requirement for landmarks invehicle navigation systems. Journal of Navigation,53(3):499-510.
[31]May, A. J., Ross, T.2006. Presence and quality of navigational landmarks: Effect ondriver performance and implications for design. Human Factors,48(2):346-361.
[32]May, A. J., Ross, T., et al..2004. Incorporating landmarks in driver navigation systemdesign: An overview of results from the REGIONAL project. Journal of Navigation,58(1):47-65.
[33]鲁学军,秦承志,张洪岩,等.空间认知模式及其应用[J].遥感学报,2005,9(3):277-285.
[34]Klippel, A.2003. Wayfinding choremes: Conceptualizing wayfinding and route directionelements. PhD Thesis. University of Bremen.
[35]Lynch, K.1960. The image of the city. Cambridge, MA: The MIT Press
[36]Golledge, R. G.1992. Place recognition and wayfinding: Making sense of space.Geoforum23(2):199-214
[37]Cohn, A. G., Hazarika S. M.,2001. Qualitative spatial representation and reasoning: Anoverview. Fundamenta Informaticae,46(1-2):1-29
[38]Pederson, E.2003. How many reference frames? Spatial Cognition III, LNAI2685.Berlin: Springer.287-304
[39]Levinson, S. C.1996. Frames of reference and Molyneux's question: Crosslinguisticevidence. Language and space. P. Bloom, M. Peterson, L. Nadel and M. Garrett.Cambridge, MA: MIT press.109-169.
[40]Klippel, A., Tappe, H., et al..2005. Wayfinding choremes–A language for modelingconceptual route knowledge. Journal of Visual Languages and Computing,16(4):311–329.
[41]Tomko, M., Winter, S., et al.2007. Experiential hierarchies of streets. Computers,Environment and Urban Systems,31(1):41-52.
[42]Grice, H. P.1975. Logic and conversation. Speech Acts. P. Cole and J. L. Morgan.Academic Press, New York.41-58
[43]Sperber, D., Wilson, D.2004. Relevance Theory. Handbook of Pragmatics. L. Horn andG. Ward. Oxford, UK: Basil Blackwell Ltd..607-632.
[44]Frank, A. U.2003. Pragmatic information content: How to measure the information in aroute description. Foundations of Geographic Information Science. M. Duckham, M.Goodchild and M. Worboys. London and New York: Taylor&Francis.47-68.
[45]吴刚,王海涛,刘晨帆,等.基于空间认知的虚拟地理环境研究[J].测绘与空间地理信息,2011,34(6):143-146.
[46]王家耀.地图制图学与地理信息工程学科发展趋势[J].测绘学报,2010,39(2):115-119.
[47]高俊.地图空间认知与认知地图学[C]M中国地图年鉴.北京:中国地图出版社,1991
[48]胡庆武,郭晟,柳正华,等.基于可量测实景影像的数字公路体系研究[J].公路,2010(002):95-101.
[49]GOODCHILD M F，EGENHOFER M J，KEMP K K，et al. Introduction to the vareniusproject［J］. INT. J. Geographical Information Science，1999，13（8）：731-745.
[50]University Consortium for Geographic Information Sci ence.Research priorities forgeographic information science［J］. Cartography and GeographicIn formation Systems，1996，23（3）：115-127.
[51]MARK D M，FREKSA C，HIRTLE S C，et al. Cognitive model of geographical sp ace［J］. INT. J. Geographical Information Science，1999，13（8）：747-774.
[52]陈述彭.地理信息系统的应用基础研究［J］.地球信息，1997（4）：35-39.
[53]国家自然科学基金委员会.国家自然科学基金优先资助领域战略研究报告：地球空间信息科学［M］.北京：高教出版社，2001.45-50.
[54]Klippel, A.2003. Wayfinding choremes: Conceptualizing wayfinding and route directionelements. PhD Thesis. University of Bremen.
[55]朱强,武芳,钱海忠,等.基于空间认知的等高线树的构建[J].信息工程大学学报,2011,12(4):458-462.
[56]颜言,龙毅,沈倩茹,等.顾及性别差异的电子地图空间认知分析[J].地理与地理信息科学,2011,27(4):48-51.
[57]赵卫锋,李清泉,李必军.空间认知导向下利用分层强化学习的最优路径规划[J].武汉大学学报:信息科学版,2012,37(011):1271-1275.
[58]王晓明，刘瑜，张晶.地理空间认知综述[J].地理与地理信息科学,2005,21(6):1-10
[59]翟文英,郭献强.基于用户空间认知的网络信息可视化研究[J].图书情报知识,2011,4:104-110.
[60]艾廷华,周梦杰,陈亚婕.专题地图属性信息的LOD表达与TreeMap可视化[J].测绘学报,2013,42(3):453-460.
[61]艾波,唐新明,艾廷华,等.利用透明度进行时空信息可视化[J].武汉大学学报:信息科学版,2012,37(002):229-232.
[62]刘召芹,谢彩香,林宗坚,等. LBS导航认知地图服务系统设计与实现[J].测绘科学,2007,32(2):60-63.
[63]赵学胜,白建军,王志鹏.基于QTM的全球地形自适应可视化模型[J].测绘学报,2007,36(3):316-320.
[64]张立强,张燕,杨崇俊,等.网络环境下三维可视化信息系统的方法研究[J].中国科学D辑,2005,35(6):511-518.
[65]邹继媛.导航地图数据的空间组织[J].全球定位系统,2004,3:31-34.
[66]李清泉,徐敬海,李明峰.导航地图数据模型研究现状与趋势[J].测绘信息与工程,2007,32(6):22-25.
[67]何林波,朱欣焰,吴维静.基于MMS的手机导航地图应用研究[J].微计算机信息,2007,23(1):254-256.
[68]曹晓航. GPS车载导航系统技术趋势浅析[J].现代测绘,2006,29(1):14-17.
[69]文伯聪,张彤.一种用于导航的2.5维地图的构建[J].计算机工程与科学,2011,33(4):110-114.
[70]肖必虎.下一代导航:三维实景[J].音响改装技术,2009(1):92-93.
[71]王延朝.基于Krpano的三维全景系统的开发和应用[D].华东师范大学,2012.
[72]Medenica Z, Kun A L, Paek T, et al. Augmented reality vs. street views: a drivingsimulator study comparing two emerging navigation aids[C]//Proceedings of the13thInternational Conference on Human Computer Interaction with Mobile Devices andServices. ACM,2011:265-274.
[73]Devaux A, Paparoditis N. Increasing interactivity in street view web navigationsystems[C]//Proceedings of the international conference on Multimedia. ACM,2010:903-906.
[74]李德仁.论可量测实景影像的概念与应用——从4D产品到5D产品[J].测绘科学,2007,32(4):5-7.
[75]李德仁,胡庆武.基于可量测实景影像的空间信息服务[J].武汉大学学报:信息科学版,2007,32(5):377-380.
[76]李德仁,郭晟,胡庆武.基于3S集成技术的LD2000系列移动道路测量系统及其应用[J]测绘学报,2008,37(3):272-276.
[77]王万峰,杜明义.可量测实景影像在城市部件管理中的应用[J].北京建筑工程学院学报,2009,25(2):31-34.
[78]姜友谊,张春森,胡平波.可量测实景影像与4D产品集成研究[J].西安科技大学学报,2011,31(5):569-572.
[79]Torii A, Havlena M., Pajdla T. From Google Street View to3D city models[C].IEEE12thInternational Conference on Computer Vision Workshops,Sept.,2009,2188-2195
[80]De la Garza, J. M.Howerton, C. G.Sideris, A Study of Implementation of IP-S2MobileMapping Technology for Highway Asset Condition Assessment[C].The2011ASCEInternational Workshop on Computing in Civil Engineering,2011
[81]Dulong Carole, Filip Daniel, Frueh Christian et al. Google Street View: Capturing theWorld at Street Level[J].Computer,2010,Vol.43(6):32-38
[82]Moghadam P., Wijesoma W.S., Dong J.F Improving path planning and mapping based onstereo vision and lidar.10th International Conference on Control Automation Roboticsand Vision,2008,384-389
[83]HU Qingwu, LI Qingquan， The Research of A Binocular Sequence Imagery AidedNavigation Technique SPIE:0277-786X:523-528,2003
[84]张晓东,杨元喜,崔先强.可量测影像序列的组合定位算法及其在1∶50000地图测绘中的应用[J].测绘学报,2010,39(3):231-235.
[85]张晓东,杨元喜,胡庆武,等.可量测序列影像的加权整体最小二乘导航[J].应用科学学报,2013,31(2)：147-153.
[86]张晓东,李瑞锋,杨猛.基于DMI的定位定姿算法[J].测绘科学与工程,2011,31(2):6-8.
[87]Zhao Y L.Vehicle location and navigation systems[M]． Norwood,MA,AretchHouse,1997:88-152
[88]张其善，吴今培，杨东凯．智能车辆定位导航系统及应用[M]．北京：科学出版社,2002:12-19
[89]Gao Yang．An Improved Shortest Route Algorithm in Vehicle Navigation System[A]．20103rd International Conference on Advanced Computer Theory and Engineerin[C]．Chengdu,China:Institude of Electrical and Electronics Engineers,Inc,2010：363-366
[90]李艳.嵌入式GIS中路网数据的应用技术研究[D]．西安：西安建筑科技大学,2007
[91]张林．动态车辆导航系统车道级路径引导方法研究[D]．长春：吉林大学,2008
[92]GB/T19711—2005,导航地理数据模型与交换格式[S]．北京：中国标准出版社,2005
[93]朱庆,李渊.面向实际车道的3维道路网络模型[J].测绘学报，2007,36(4):414-420
[94]ARTME,G.Management of Geographieal Information in Mobile Enviromnent[D].Finland:Department of Computer and Information Systems,University of Jyvaskyla,2000
[95]Fang T-P, Piegl L A. Delaunay Triangulation Using a Uni-form Grid[J]. IEEEComputer&Graphics Application.1993:36-47
[96]顾军,吴长彬.常用空间索引技术分析[J].微型电脑应用,2001,17(12):40-42
[97]FINKEL R，BENTLEY J L．Quadtree：A Data Structure for Retrieval ofCompositeKeys[J]．Aeta Informatica，1974，(4):1-9
[98]GUTTMAN A．R-trees：A Dynamic Index Structure for Spatial Searching[A]．Proc ofACM SIGMOD[C]．Boston：ACM Press，1984:547-557
[99]WHITE D，JAIN R．Similarity Indexing with the SS-tree[A]．Proc of the12th Int Confon Data Engineering[C]．LosAngeles：IEEE，1996:516-523
[100] LOMET D B,SALZBERG B.The hB-tree:A Multi-attribute Indexing Method withGood Guaranteed Performance[J].ACM Transactions on DatabaseSystems,1990,15(4):625-658
[101] KOLAHDOU ZAN M,SHAHABI C.Voronoi based KNearest Neighbor Search forSpatial Network Databases[A].Proceedings of the30th International Conference onVeryLarge DataBases[C].Berlin:VLDB Endowment,2004:840-851
[102]徐敬海,李清泉,宋莺,等.基于Kiwi数据格式的地图显示研究[J].武汉大学学报:信息科学版,2005,30(10):866-868
[103]陈刚，贾奋励．超大数据量矢量电子地图显示的方法研究及实践[J]．测绘通报，2000，(2):15-17
[104]高扬,乌萌.RDSS高程数据库的研究与设计[J].微电子学与计算机，2012，29(5):161-164
[105]高扬.车辆导航系统中道路网数据结构的研究与设计[J].导航,2008,44[4]:33-36
[106]李鲁群，李成名，林宗坚．服务于PDA的矢量数据分块存储数据结构[J]．测绘学报，2002，31(2):170-174
[107]王轩，李鹤元．基于分区索引方法的地图快速显示的设计与实现[J]．测绘通报，2002，(10):56-61．
[108]高扬,李艳,金群峰,等.车辆导航系统中道路网数据结构的研究与设计[J].导航,2008,44(4):33-36
[109] NYERGES T L． Location ReferencingandHighway SegmentationinaGeographicInformationSystem[J]．ITE Journal，1990，60(2):27-31
[110]左小清,李清泉.一种面向道路网的3维数据的空间索引方法[J].测绘学报,2006,35(1):57-63
[111] VONDEROHE AP，HEPWORTH T D．AMethodology for Design of MeasurementSystems for Linear Referencing[J]．URISA Journal，1998，10(1)：48-56
[112]高扬,杨志强,乌萌.导航数字地图的快速显示技术研究[J].测绘科学,2011,36(3):236-238
[113] Loeffler C E, Anderson T. The Virtual Reality CaseBook[M]. Van Nostrand Reinhold,1994
[114]高扬，刘志镜，闫立伟，等．多线程技术在车辆导航定位系统中的应用研究[J]．计算机工程与设计，2002，23(5):48-51
[115] Kim S,Kim J H. Adaptive fuzzy-network-based measure map-matching algorithm forcar navigation system[J].IEEE Transactions on IndustrialElectronics,,2001,48(2):432-441
[116]章毓晋.图像工程上册:图像处理和分析[M].北京:清华大学出版社,1999.3:186-199.
[117]周明全,耿国华,韦娜.基于内容的图像检索技术[M].北京：清华大学出版社，2007.7:5-9.
[118]王永明,王贵锦.图像局部不变性特征与描述[M].北京：国防工业出版社，2010.4:2-7.
[119] Moravec H P. Towards Automatic Visual Obstacle Avoidance[A]. Proc.5thInternational Joint Conference onArtificial Intelligence,1977:69-75.
[120] Harris C, Stephens M. A Combined Corner and Edge Detector[C]. Proc. AlveyVision Conf..Univ. Manchester,1988:1497-1403.
[121] Lindeberg T. Edge detection and ridge detection with automatic scale selection[J].International Journal of Computer Vision.1998.2.30:1873-1879.
[122] Mikolajczyk K. Schmid C. An affine invariant interest point detector[C]. InProceedings of the8th International Conference on Computer Vision. Vancouver,Canada，2002:69-75.
[123] Lowe D G. Object recognition from local scale-invariant features[C]. InternationalConference on Computer Vision. Corfu, Greece,1999:1758-1762.
[124] Bay H, Tuytelaars T,van Gool L. SURF: Speeded up robust features[C].ECCV.2006:1562-1568.
[125] Matas J, Chum O,Urban M,et.al. Robust wide baseline stereo from maximally stableextremal regions[C]. BMVC.2002:844-853.
[126] Iijima T. Basic theory of pattern normalization (for the case of a typical onedimensional pattern)[J]. Bulletin of the Electrotechnical Laboratory.1962:26:368-388.
[127] Koenderink J J. The structure of images[J]. Biological Cybernetics.1984,(50):52-53.
[128] Lindeberg T. Scale-space theory in computer vision[M]. Kluwer AcademicPublishers.1994:88-89.
[129] Florack L M J. Ter Haar Romeny B M, Koenderink J J, et.al. Scale and thedifferential structure of images[J]. Image and vision Computing.1992,10(6):145-148.
[130] Lowe D G. Distinctive Image Features from Scale-Invariant Keypoints[J].International Journal of Computer Vision.2004:781-789.
[131] Martin A.Fischler, Robert C.Bolles. Random sample consensus: a paradigm formodel fitting with applications to image analysis and automated cartography[J].Communication of theACM.1981:568-569.
[132] Richard Hartley，Andrew Zisserman(著).韦穗，杨尚骏，章权兵，胡茂林(译).计算机视觉中的多视几何[M].合肥：安徽大学出版社，2002:145-150.
[133] Y.Gao.A.Wojciechowski.High Precision Kinematic Position using singledual-freqency GPS receiver[C].IAPRS.2004.V34:1545-1548.
[134] Berthold K.P.Horn. Closed-form Solution of Absolute Orientation Using UnitQuaternions[J]. Journal of the Optical Society ofAmericaA.1987,4.V4:629.
[135] H.C.Longuet-Higgins.A computer algorithm forreconstructing a scene from twoprojections[J].Nature.1981,9. V293:133-135.
[136] R.I.Hartly. Projective reconstruction and in variants frommultiple images[J].IEEETransactionson PatternAnalysis and Machine Intelligence.1994,10. V16:1036-1041.
[137]张天光,王秀萍,等.捷联惯性导航技术[M].国防工业出版社，2007.
[138]邓正隆.惯性技术[M].哈尔滨工业大学出版社，2006.
[139]秦永元.惯性导航[M].科学出版社,2006.
[140]鲍其莲.微型组合导航系统设计与实现[D].上海交通大学硕士学位论文,2007.
[141] David H.Titterton, J.L.W. Strapdown Inertial Navigantion Technology[M]. SecondEdition. Lexington,Massachusetts,USA: American Institute of Aeronautics andAstronautics, Inc,2004.
[142]王淑娟，吴广玉．惯性器件温度误差补偿方法综述[J]．中国惯性技术学报，1998，6(3)：44-49页
[143]徐晨，赵瑞珍，甘小冰．小波分析应用算法[M]。北京：科学出版社，2004：107—109．
[144] SHCHEGLOV K,EVANS C,GUTIERREZ R,et a1.Temperature dependentcharacteristics of the silicon MEMSgyroscope[C]2000IEEE Aerospace ConferenceProceed-ings.Montana,USA,2000:403-411.
[145] SYED Z F,AGGARWAL P,GOODALL C.A new multi-position calibration methodfor MEMS inertial navigationsystems[J].Measurement Science andTechnology,2007(18):1897-1907.
[146] AGGARWAL P,SYED Z,NIU X,et a1.A standardtesting and calibration procedurefor low cost MEMSinertial sensors and units[J].The Journal ofNavigation,2008,61:323-336.
[147]许德新,何昆鹏,梁海波. MEMS惯性测量组件的温度误差补偿模型研究[J].哈尔滨工程大学学报,2010,5(5):607:613.
[148]何晓峰,胡小平,吴美平,吴文启.基于半参数回归模型的微陀螺仪温度补偿技术[J].压电与声光,2009,12(6):794:797.
[149]陈怀,张嵘,周斌,陈志勇.微机械陀螺仪温度特性及补偿算法研究[J].传感器技术,2004,23(10):24:27.
[150]房建成,李建利,盛蔚.改进的内框架驱动式硅MEMS陀螺温度误差模型[J].北京航空航天大学学报,2006,11(32):1277:1281.
[151]王新洲.非线性模型参数估计理论与应用[M].武汉：武汉大学出版社，2002.
[152]杨元喜.自适应动态导航定位[M].北京:测绘出版社，2006。
[153]黄晓瑞,崔平远.基于信息融合的组合导航系统研究[J].数据采集与处理,2001(2):210-214.
[154]刘准,陈哲.基于联邦滤波器的新型故障检测结构及算法[J].北京航空航天大学学报,2002,28(5):550-554.
[155]何友等.多传感器信息融合及应用[M].北京：电子工业出版社，2000.
[156]杨晓亚.GPS/INS/TAN组合导航系统应用研究[D].西北工业大学硕士论文，2006.
[157]吕小红,金彦斌,郑利.陆基机动导弹发射技术[J].航天发射技术,2001(2):11-14.
[158]鲜勇,肖龙旭,李刚.组合制导弹道导弹无依托快速发射技术研究[J].宇航学报,2010,31(8):1915-1919.
[159]程洪杰,钱志博,赵媛,等.导弹无依托发射场坪承载能力分析[J].起重运输机械,2011,12:48-52