Calibration method of inertial measurement unit based on camera network measurement
A camera measurement and inertial measurement technology, applied in the fields of computer vision and inertial navigation, can solve the problems of not being able to fully adapt to on-site calibration and low-precision IMU calibration, and not many applications, and achieve the effect of low cost and easy deployment.
Active Publication Date: 2015-07-01
NAT UNIV OF DEFENSE TECH
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Problems solved by technology
The research on this kind of IMU calibration method needs to be further in-depth, and it cannot fully meet the needs of on-site calibration and low-precision IMU calibration, and there are not many applications in actual systems.
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[0019] 1. Establishment of camera measurement IMU calibration coordinate system
[0020] The camera measurement IMU calibration coordinate system is established by calibrating the camera network, establishing a camera measurement coordinate system (hereinafter referred to as m system) related to the local geographic coordinate system (n system), and using the camera to represent key physical quantities such as horizontal reference and gravity direction.
[0021] Such as figure 2 As shown, the vertical line is used to visualize the direction of gravity. In order to enhance the visualization effect, the suspension line can be painted with color, marked on the suspension line, or LED line lights can be used as the suspension line. The horizontal plane-gravity direction coordinate system can be established by using the plumb line. If there is a north reference, a total station can be used to determine the relationship between the control point and the north reference, so that th...
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The invention provides a calibration method of an inertial measurement unit (IMU) based on camera network measurement. The method comprises: by construction of the camera measure network, establishing a videogrammetric coordinate system relative with local geographical coordinates, providing a cooperate sign on the surface of an IMU carrier, tracking and measuring the cooperate sign by a camera, calculating the position and the attitude of the IMU, further getting projections of gravitational acceleration and input excitation of rotation angle or angular velocity in an IMU carrier system, by comparison between the input excitation and outputs of an accelerometer and a gyroscope in the IMU, optimally calculating IMU calibration parameters and realizing IMU calibration. The camera network system is used to measure the IMU input excitations, and replaces a turntable which plays a role in input excitation measurement in calibration process of a conventional IMU, and the method can be taken as an IMU calibration method in the absence of the turntable. The method is low in cost and easy to arrange, and the method has advantages in on-site IMU calibration and IMU calibration of a low cost inertial navigation system.
Description
technical field [0001] The invention relates to the technical fields of inertial navigation and computer vision, and specifically refers to a method for calibrating IMU parameters by using a camera network to measure the acceleration and rotation input excitation of an inertial measurement unit (IMU). Background technique [0002] At present, the commonly used calibration method of IMU is the calibration method with the turntable as the core, which has many disadvantages. For example, calibration can only be carried out in a precise laboratory, with high requirements and complicated calibration process, which is difficult to be used for on-site calibration of inertial navigation system; calibration cost Higher, even several times the development and production costs of low-cost inertial devices (such as MEMS IMU). [0003] The current IMU calibration methods based on no turntable or low-precision turntable are mainly divided into two categories: model observation calibration...
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IPC IPC(8): G01C25/00
Inventor 张红良张小虎朱宪伟于起峰
Owner NAT UNIV OF DEFENSE TECH