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W

RAHRS|i

1024 768 5fpsK

f

I(x, y)|i x y i

{W} z = 0

{D}|i

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AHRSRCAM

WRCAM|i =

WRAHRS|i

AHRSRCAM

f

DRCAM|i =

DRW

WRCAM|i

{D}|i {W}

DRW =

1 0 00 1 00 0 1

(x,x)(X,X) {D}|i

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X =

(xxnx)hi

f(xyny)hif

hi

, X(t) =

(xxnx)(hitz/tw)

f+ tx

tw(xyny)(hitz/tw)

f +tytw

hi tz

x = [xx, xy, 1]Tx =

xx, x

y, 1

Th

t t = [tx, ty , tz, tw]T

t X(t) = X {D}|i {D}|i+1

nX = {Xk|k = 1 . . . n} X

=X

k|k = 1 . . . n

t0

x y t0 0X X(0)

0t0 0 = (hi tz)/hi

t0

X

X(t) t

t X(t)

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min(tx,ty,tz,tw)

k=1...n

distX

k (t) ,Xk

distt

t

0.35m/s2

0.2 s

1m/s 4m/s

{W}

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{W}

{D} WxC {W}

5

1m/s2

2 Hz 10dB

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