The integrated navigation scheme based on vision, GPS and MEMS-INS for the MUAV is proposed,using the vision and GPS,combine with the MEMS-SINS for two fliter system. The simulation shows the scheme proposed in this paper has high navigation precise which is against the MEMS-INS,and the high is shown in the GPS ,has certain application cost.%提出了基于视觉/GPS/MEMS-SINS的微小型无人机(MUAV)数据融合导航方案,利用视觉测量和GPS测量分别与INS组成子滤波器系统,依靠主滤波器对2个子滤波器的估计值进行数据融合.通过仿真验证,说明提出的组合导航方案具有很高的导航精度,能够有效抑制MEMS-INS的漂移,并且在GPS信号失效时,具有很高的容错性能,能够保证导航系统的稳定性,具有一定的应用价值.
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