Attitude measurement method of noninertial system vision and dual-gyroscope multirate CKF fusion

A non-inertial system and measurement method technology, applied to navigation, measurement devices, instruments, etc. through speed/acceleration measurement, can solve problems such as unrealistic measurement, and achieve the effect of increasing system reliability and simple structure

Inactive Publication Date: 2018-03-09
TIANJIN UNIV
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[0004] When the carrier has various forms of movement, the measurement system combined with monocular vision a

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  • Attitude measurement method of noninertial system vision and dual-gyroscope multirate CKF fusion
  • Attitude measurement method of noninertial system vision and dual-gyroscope multirate CKF fusion
  • Attitude measurement method of noninertial system vision and dual-gyroscope multirate CKF fusion

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[0052] The present invention will be further described below in conjunction with the accompanying drawings.

[0053] The method adopted in the present invention is to add an auxiliary inertial device installed on the carrier. The auxiliary gyroscope senses the motion information of the carrier, and then obtains the pure angular velocity information through the differential method and uses it for further relative attitude calculation. Visual and inertial data are usually fused using nonlinear Kalman filtering methods. Under nonlinear conditions, the volumetric Kalman filter (Cubature Kalman Filter, CKF) works best in the Gaussian filter domain. Therefore, this program uses CKF to fuse visual and inertial data. In the visual and inertial combined measurement system, there is a problem of inconsistent device sampling frequency, and usually the visual sensor has a low sampling frequency, while the inertial device has a high sampling frequency. In order to solve the problem of i...

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Abstract

The invention discloses an attitude measurement method of fusion of noninertial system vision and dual-gyroscope multirate CKF. The method includes steps of building a measuring system and positioninga coordinate system; performing vision gesture measurement, inertia angle speed differential calculation and coordination system normalization; building a non-linear Kalman filtering system model; carrying out the multirate CKF fusion of residual compensation. The method combines the single-eye vision and the dual-MEMS gyroscope, and combines fixed problems of inconsistent sampling frequencies ofmultiple sensor combination systems, the fusion of multiple sensor data is carried out by using the multirate CKF based on the residue compensation; the high-frequency output of updated measurement system is guaranteed while the high-precision and stability of the measurement system are ensured.

Description

technical field [0001] The present invention relates to visual attitude measurement technology, inertial attitude measurement technology, multi-sensor combination technology, multi-rate nonlinear filtering technology, more specifically, relates to a non-inertial system vision and double gyroscope multi-rate CKF fusion attitude measurement method. Background technique [0002] From the perspective of classical physics, unless an object remains at rest or moves in a straight line at a constant speed, it is non-inertial motion. For vehicles, airplanes, ships, motion simulators, etc., there are various types of motion carriers, and their motion is usually non-inertial motion. At this time, the coordinate system fixed to these carriers is a non-inertial system. [0003] In the inertial coordinate system where the carrier remains stationary, the measurement system based on the combination of monocular vision and single inertial sensor can complete the task of measuring the relativ...

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 孙长库郭肖亭王鹏黄璐
Owner TIANJIN UNIV
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