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Method for establishing vision/inertia combined navigation model based on time delay filter

An inertial combination and inertial navigation technology, applied in the field of integrated navigation, can solve the problems of lack of navigation accuracy, time synchronization error of integrated navigation, etc., and achieve the effect of solving time synchronization, solving error accumulation, and improving navigation accuracy

Inactive Publication Date: 2018-07-06
QILU UNIV OF TECH
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Problems solved by technology

[0003] The present invention aims to provide a time-delay filter-based visual / inertial integrated navigation model construction method to solve the lack of navigation accuracy caused by integrated navigation time synchronization error and realize an integrated navigation system with higher precision

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  • Method for establishing vision/inertia combined navigation model based on time delay filter
  • Method for establishing vision/inertia combined navigation model based on time delay filter
  • Method for establishing vision/inertia combined navigation model based on time delay filter

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Embodiment 1

[0020] as attached figure 2 Shown in is that this embodiment builds the step of the integrated navigation model method based on time-delay filter:

[0021] S1. Calculation of inertial navigation system parameters: select the local northeast geographic coordinate system as the navigation coordinate system, the angular velocity of the gyroscope sensitive carrier, and the non-gravity or specific force of the sensitive carrier from the accelerometer, and calculate the carrier’s position through the attitude calculation formula Attitude transformation matrix to obtain the attitude information of the carrier; the navigation calculation formula to obtain the speed of the carrier to the ground and the current position of the carrier;

[0022] S2. Calculation method of visual navigation parameters: firstly, calibrate the camera to obtain the camera imaging model parameters; train the navigation signs through the image processing algorithm, and obtain the mobile robot's motion through ...

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Abstract

The invention relates to a method for establishing a vision / inertia combined navigation model based on a time delay filter. According to the method, when inertia navigation parameters are corrected byusing position and speed information of vision navigation, time delay errors of combined navigation are put into a filtering state equation, and through filtering estimation, not only are inertia navigation parameter errors estimated, but also time synchronization errors of the combined navigation can be obtained. The problem of out-synchronous combined navigation parameter resolution can be solved. The method has functions of inertia navigation resolution, vision navigation parameter resolution, time delay filter establishment, and the like. Compared with the prior art, the method has the advantages of being rigorous in theory, novel in method and efficient in performance.

Description

technical field [0001] The invention relates to the field of integrated navigation, in particular to a method for constructing a visual / inertial integrated navigation model based on a delay filter. Background technique [0002] Inertial Navigation System (INS) has good autonomy and concealment, can continuously provide a variety of high-precision navigation parameters, and has good anti-interference ability. It is a commonly used navigation method. But the disadvantage is that the error accumulates with time, and the navigation accuracy of long-term work is poor. In order to eliminate the accumulated error, it is necessary to introduce other navigation systems to correct the inertial navigation to form an integrated navigation system with higher navigation accuracy. However, in the process of integrated navigation, due to the image acquisition and visual navigation calculation of visual navigation, the output of navigation parameters will be delayed. When the inertial naviga...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 李庆华瞿敏
Owner QILU UNIV OF TECH
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