面向室内导航和定位的需求，本文提出了一种基于编码图形和单目视觉传感器相结合的室内移动载体位置测量方法。首先，优化设计了一系列用于移动载体空间位置计算的编码影像，利用轮廓匹配、矩计算和映射匹配相结合的方式实现空编图形的识别与定位。其次，针对编码图形中心像方坐标观测值提取残差，构建了基于单位权和Tukey权因子模型的空间后方交会方法，基于两种权重因子分别计算了移动载体的观测值残差权重，分析了不同残差的观测值对结果的影响程度。然后，构建了4组实验环境，从不同角度获取了观测影像，并进行了数据处理与分析。最后，通过实验验证，表明基于2种权因子模型的方法均能够实现载体位置的计算，但基于Tukey权因子方法具有更高的精度，平面精度提高了29.76%—49.42%，高程精度提高了29.17%—74.07%。本文方法能够为室内空间移动载体提供高精度的导航和定位测量服务。

Localization is one of the core technologies of indoor surveying and mapping services. To achieve an accurate indoor navigation and positioning, many indoor navigation and positioning technologies have been introduced. Given that visual sensors can generate an abundant amount of information at low cost and can be easily implemented, the space navigation and positioning method based on vision sensors has become a research hotspot. This paper proposes a robust method for measuring the mobile platform position measurement based on the coding graphic images that are captured by a monocular vision sensor. First, a series of coding graphics for the positioning of the carrier are designed. Coding graphics can be accurately identified through contour matching, and the coordinates of the center of graphics can be obtained by means of moment calculation and coding matching. However, due to the shooting angle, the coding image is deformed, thereby resulting in the residual errors of the image coordinates. Second, the Tukey weight factor model is used to calculate the weight according to the residual of the observed value. The value with a residual error of less than 1 will be fully utilized, the value with a residual error ranging from 1 to 2 will be used with reduced weight, and the values with a residual error outside the range of 2 will be suppressed. Third, the space resection methods based on Tukey and unit weights are adopted and used to calculate the position information of the mobile vehicle. Finally, experimental environments are then built, where 22 coding graphics are randomly pasted on the wall, and the coordinates of the coding graphics with accuracies of greater than 1 cm are measured by the total station. Four groups of images are captured, with each group having 9, 12, 11, and 17 available coding graphics of each group. The experiment results indicate that the proposed methods (based on unit weight and Tukey weights can be used to calculate the position of mobile carriers in a room. The method based on Tukey weight obtained better results and improved the plane and elevation accuracies by 29.76%–49.42% and 29.17%–74.07%, respectively. In general, the coding graphics designed in this paper can be accurately identified and positioned, the Tukey weight factor model can effectively identify the observed value residuals, and the space resection method based on the Tukey weight factor model can be used to calculate the position information of the vehicle and obtain better estimates. Therefore, the proposed method can provide high-precision navigation and positioning measurement services for indoor space mobile carriers.