基于特征的视觉里程计系统主要由特征检测与跟踪模块以及位姿计算模块两部分组成.为分析车载视觉里程计系统中引入车辆运动学约束的位姿计算算法性能,根据摄像机成像及视觉几何学原理,采用Matlab结合车辆动力学仿真软件CarSim建立车载视觉里程计仿真平台.该仿真平台由车辆运动仿真模块、成像仿真模块、数据显示与分析模块组成,仿真平台的测试对象为视觉里程计的位姿估计算法模块.该仿真平台充分考虑车载视觉定位系统的运动特性,为研究车辆运动学约束在视觉里程计系统中的应用提供新的思路和工具.对提出的一种全新的基于车辆运动学约束的位姿估计内层算法,在此仿真平台上进行性能验证.仿真结果表明,该算法在计算精度与效率上都能够满足实时车载视觉定位的要求.-Mainly by the feature detection and tracking module and pose calculation module composed of two parts based on visual odometry system features. In order to analyze the visual odometry system onboard the vehicle kinematic constraints introduced pose calculation algorithm performance, according to the camera image and visual geometry principle, combined with the use of vehicle dynamics simulation software Matlab CarSim establish visual odometry vehicle simulation platform. The simulation platform by the vehicle motion simulation module, imaging simulation module, the data shows the composition and analysis module, the test object simulation platform for visual odometry bit Pose estimation module. The simulation platform fully into account the motion characteristics of automotive vision positioning system, vehicle kinematic constraints apply to study in visual odometry system to provide new ideas and tools for a new vehicle based on the kinematics proposed inner constraints pose estimatio