The invention relates to the inertial measurement technology, the vision measurement technology and the combined measurement technology, in particular to a method using the combination of double IMUs (inertial measurement units) and
monocular vision to measure the
pose of a target object under a non-inertial
system, and aims to accurately measure the
pose information, relative to a motion reference
system, of the target object under the non-inertial
system. According to the technical scheme, the method includes: acquiring the relative angle speed and relative acceleration between the target object under the non-inertial system and the motion reference system according to the output differences of the two IMUs, subjecting the relative angle speed to compensation to obtain a relative
pose angle, and subjecting the relative acceleration to integration to obtain a relative position; using the
monocular vision to directly measure the
rotation matrix and position vector, relative to a camera coordinate system, of the multi-feature-
point target of the target object in the non-inertial system, and calculating a relative pose angle through the
rotation matrix; unifying the two measuring results to obtain identical coordinate systems, and using a data fusion method to achieve relative pose measurement. The method is mainly applicable to pose information measuring occasions.