Visual-inertial combined navigation method

An inertial combination and navigation method technology, applied in the field of navigation, can solve problems such as limited spatial resolution of imaging systems, calibration errors of measurement systems, poor image matching accuracy of visual navigation methods, etc., to achieve autonomous flight capabilities, improve navigation accuracy, and improve The effect of the correction effect

Active Publication Date: 2015-06-24
TSINGHUA UNIV
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  • Abstract
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Problems solved by technology

However, the visual navigation method mainly has the shortcomings of poor image matching accuracy, error in the positioning of image points in the target image, calibration error of the measurement system, and limited spatial resolution of the imaging system, and its application is also limited.

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  • Visual-inertial combined navigation method

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Embodiment Construction

[0021] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention. On the contrary, the embodiments of the present invention include all changes, modifications and equivalents coming within the spirit and scope of the appended claims.

[0022] Refer to the attached figure 1 A visual-inertial integrated navigation method according to an embodiment of the present invention is described. Such as figure 1 As shown, the visual-inertial integrated navigation method includes the following steps:

[0023] In step A, a visual image is collected by an imaging device, feature points / blocks are extracted from the ...

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Abstract

The invention provides a visual-inertial combined navigation method, which comprises the following steps of: acquiring a visual image through imaging equipment, extracting feature points / blocks from the visual image, and matching with corresponding reference points / blocks of a reference image; grouping the feature points / blocks succeeding in matching, and determining a position visual estimation value and a posture visual estimation value of a navigation carrier according to each group of matched feature points / blocks; and fusing the position visual estimation value, the posture visual estimation value and a position inertial estimation value and a posture inertial estimation value which are acquired by an inertial measurement unit, and outputting a visual-inertial combined navigation result. According to the visual-inertial combined navigation method of the embodiment, errors of an inertial navigation system are corrected by using a visual navigation technology, so that the navigation precision is improved, and autonomous flight capability of the navigation carrier is realized.

Description

technical field [0001] The invention relates to the field of navigation, in particular to a visual-inertial combined navigation method. Background technique [0002] The process of guiding a voyage carrier from a starting point to a destination is called navigation. Navigation has a variety of technical approaches, such as radio navigation, astronomical navigation, satellite navigation, infrared navigation, inertial navigation, visual navigation, etc. [0003] Among them, inertial navigation uses accelerometers and gyroscopes to calculate the voyage, infer the current position and the next destination. It has strong autonomy and is not easily disturbed. It is the main navigation method at present. However, the inertial navigation system (INS) cannot fully meet the needs of practical applications due to the accumulation of inherent navigation errors, the navigation accuracy decreases with time, and the equipment cost is high. [0004] In addition, visual navigation uses ima...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/00
Inventor 戴琼海刘宇驰
Owner TSINGHUA UNIV
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