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High-precision visual/inertial integrated navigation method in complex multi-media environment

A complex environment and inertia combination technology, applied in the field of integrated navigation, can solve problems such as aggravation and divergence of navigation results, and achieve the effect of avoiding pollution

Inactive Publication Date: 2016-06-29
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

However, because the navigation method is recursive, the accumulation of errors will cause the divergence of the navigation results, and this divergence will be exacerbated in the complex electromagnetic field environment. Therefore, it is necessary to eliminate the influence of the complex electromagnetic field environment on the IMU output data, but it is limited to the current IMU materials. and technology, and cannot completely isolate the influence of the electromagnetic field environment on it, you can use the method of algorithm compensation to eliminate the influence of the electromagnetic field

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Embodiment Construction

[0046] The implementation of the method of the present invention will be described in detail below in conjunction with the accompanying drawings. The principle diagram of the present invention is as figure 2 As shown, the specific steps include:

[0047] Step 1. By calibrating the high-speed binocular CCD camera, establish the positional relationship between the left and right cameras, and establish the VPS visual navigation coordinate system (the visual navigation coordinate system takes the camera installation position as the origin, the X axis points to the west, the Y axis points to the south, and the Z axis points to the south. Axis pointing to the right-handed coordinate system formed by the sky), using a high-speed binocular CCD camera to collect images of underwater vehicles, according to the refractive index of light in air, transparent media, and water and establishing multiple refraction light path equations, to achieve multiple Medium transmission path compensati...

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Abstract

The invention provides a multi-medium complex-environment high-precision vision / inertia combination navigation method which is suitable for combination navigation of an underwater vehicle under a complex electromagnetic environment in a transparent medium. By means of the underwater vehicle for simulating rendezvous and docking of a spaceship and a satellite in a space micro-gravity environment, important test data and test verification are provided for the rendezvous and docking. The whole experiment system is used on ground. By means of buoyancy of water and adjustment of the direction of the ground electromagnetic field and the intensity of the electromagnetic field, the underwater vehicle is in a neutral buoyancy level, thereby satisfying an equivalent test condition of coincidence of space and ground. The multi-medium complex-environment high-precision vision / inertia combination navigation method can be used for controlling the underwater vehicle for simulating rendezvous and docking in space, so that the attitude, the speed, the position and the acceleration information of the underwater vehicle can be measured accurately.

Description

【Technical field】 [0001] The invention provides a high-precision visual / inertial combined navigation method in a multi-media complex environment, and belongs to the technical field of combined navigation. 【Background technique】 [0002] In recent years, simulating the microgravity environment of space on the ground is an important part of the ground test of space vehicles, and using underwater vehicles to simulate the rendezvous and docking of spacecraft and satellites in space microgravity environment provides important measurement data and data for space rendezvous and docking. Test verification. The State Key Laboratory of Aircraft Design of Northwestern Polytechnical University has established a corresponding test system to conduct autonomous rendezvous and docking of underwater vehicles on the ground. Through the buoyancy of water and the adjustment of the direction and strength of the ground electromagnetic field, the underwater vehicle is in a neutral state. Buoyancy...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/16
CPCG01C21/165
Inventor 罗建军张朝飞朱战霞袁建平龚柏春朱蕊
Owner NORTHWESTERN POLYTECHNICAL UNIV
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