Method using combination of double IMUs (inertial measurement units) and monocular vision to measure pose of target object under non-inertial system

Abstract

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.

Description

technical field [0001] The invention relates to inertial measurement technology, visual measurement technology, and combined measurement technology, in particular to a method for combining dual IMUs and monocular vision to measure the pose and posture of an object in a non-inertial system. Background technique [0002] In the inertial relative pose measurement method, inertial sensors such as accelerometers and gyroscopes are directly fixed on the measured object and the motion reference system, and various inertial sensors can also be combined into an inertial measurement unit (IMU) before installation. The sensor outputs the sensitive acceleration and angular velocity, and the relative angular velocity and relative acceleration are obtained according to the output of multiple sensors. Then use Newton's law to get the relative position and angle information. Therefore, the principle is simple, the response is fast, and the instantaneous pose measurement accuracy is high un...

AI Technical Summary

Problems solved by technology

However, visual measurement is easily disturbed by obstructions and ambient light. When the target and the reference system move at the same time, the target is more likely to move out of the camera's field of view. At the same time, its algorithm based on image processing also makes a single visual measurement unable to meet the fast real-time positioning of the target.

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