利用人工合成数据进行了仿真实验，因为仿真时真实情况是可知的，便于考察算法的性能。这个仿真只为验证数据关联效果而设计，故方便起见，设载体航行轨迹为直线，从(1m,40m)位置处出发，速度为1m/s，运行时间为100s。载体所携带的传感器的视野呈半圆形，量程为25m，载体姿态预测和测量更新的频率均为1Hz。整个仿真环境中随机散布着120个静止的点特征。-The use of synthetic data simulation, because simulation of the real situation when it is known, easy to study the performance of algorithm. This simulation only in order to verify the effect of data association designed, so the sake of convenience, vector-based navigation for the straight-line trajectory, from (1m, 40m) position, the speed of 1m/s, running time for the 100s. Vector carried by the vision sensor was semicircle, range for the 25m, carrier-profile prediction and measurement of the frequency of updates are 1Hz. The entire simulation environment randomly scattered 120 points static characteristics.