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。