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Moving-base-object relative attitude measuring method based on dual-IMU-and-visual fusion and system

A technology of relative attitude and measurement method, which is applied to measurement devices, navigation through velocity/acceleration measurement, mapping and navigation, etc. It can solve the problems that fusion results are difficult to meet measurement requirements and truncation errors, and achieve easy installation and movement. The effect of truncation error and simple overall structure

Inactive Publication Date: 2017-04-26
TIANJIN UNIV
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Problems solved by technology

The nonlinearization process will bring truncation error. For systems with strong nonlinear characteristics, the truncation error caused by first-order linearization often makes the fusion results obtained by EKF difficult to meet the measurement requirements.

Method used

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  • Moving-base-object relative attitude measuring method based on dual-IMU-and-visual fusion and system
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  • Moving-base-object relative attitude measuring method based on dual-IMU-and-visual fusion and system

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Embodiment Construction

[0046] The present invention will be further described below through specific embodiments and drawings. The embodiments of the present invention are to better enable those skilled in the art to better understand the present invention, and do not limit the present invention in any way.

[0047] Such as figure 1 As shown, the method for measuring the relative posture of an object on a moving base based on dual IMU and vision fusion of the present invention includes the following steps:

[0048] Step 1: Low precision IMU deviation compensation

[0049] The measurement output of the gyroscope in the inertial sensor has zero deviation, dynamic drift, etc. The zero deviation is calibrated in the initial calibration stage and the calibration coefficient is given. In the measurement process, the calibrated zero deviation coefficient is used to compensate the zero deviation in the original measured output value of the gyroscope; the drift error of the gyroscope is compensated by feedback cor...

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Abstract

The invention relates to multi-sensor-fusion relative attitude measurement, in particular to a moving-base-object relative attitude measuring method based on dual-IMU-and-visual fusion. The method includes the steps of low-accuracy IMU deviation compensation, dual-IMU moving-base-object relative attitude measuring, visual-object relative attitude measuring, multisensory time synchronization and vision-and-dual-IMU data fusion based on IEKF. By means of the moving-base-object relative attitude measuring method, the problems that the relative attitude of movement objects cannot be measured through a single IMU on a moving base, angle integration errors are diverged in an unrestraint mode along with time in inertial measurement, and as sight lines are shielded, characteristic marking points are difficult to indentify to allow the attitude output frequency to be low are solved.

Description

Technical field [0001] The invention relates to multi-sensor fusion relative attitude measurement, in particular to a method and system for measuring the relative attitude of an object on a moving base based on dual IMU and vision fusion. Background technique [0002] In the spatial attitude measurement of the moving target object relative to the reference object, the available measurement methods include inertial method, visual method and other methods. Among them, the advantages of the visual attitude measurement method are high accuracy and good stability. In the process of visual attitude measurement, the field of view of the camera must cover the entire range of motion of the object, or the camera can capture enough positioning feature points during the entire measurement process. If the camera field of view is required to cover the entire motion range of the object, there is a contradiction between the measurement range and the measurement accuracy requirements. In order t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/16G01C21/20
CPCG01C21/005G01C21/165G01C21/20
Inventor 孙长库郭肖亭王鹏
Owner TIANJIN UNIV
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