Based on the INS error correction by quasi-three dimensional model, the method of the combination of camera imaging system with SINS to deduce the measurement matrix was utilized.
文中基于准三维模型对惯导系统误差校正的思想，利用摄像机成像系统和捷联惯导系统（SINS）相结合的方法，着重对量测矩阵进行推导。
Based on the INS error correction by quasi-three dimensional model, the method of the combination of camera imaging system with SINS to deduce the measurement matrix was utilized.
文中基于准三维模型对惯导系统误差校正的思想，利用摄像机成像系统和捷联惯导系统（SINS）相结合的方法，着重对量测矩阵进行推导。
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