Position posture measuring system accuracy calibration method and device based on monocular vision

A monocular vision and measurement system technology, applied in the field of inertial system precision calibration, can solve the problem of high cost

Active Publication Date: 2018-08-07
BEIHANG UNIV
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Problems solved by technology

[0004] The technical problem of the present invention is: to overcome the deficiencies of the prior art, to propose a method and device for checking the accuracy of the position and attitude measurement system based on monocular vision, and to overcome the shortcomings of traditional checking methods such as high cost

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  • Position posture measuring system accuracy calibration method and device based on monocular vision
  • Position posture measuring system accuracy calibration method and device based on monocular vision
  • Position posture measuring system accuracy calibration method and device based on monocular vision

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[0084] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0085] The invention discloses a method for checking the accuracy of a position and attitude measurement system based on monocular vision. The method is based on monocular vision measurement, uses the coordinate system of a camera with a fixed position as the measurement coordinate system, and obtains the first position of a target fixedly connected to an IMU. One pose data; calibrate the fixed relative pose relationship between the IMU coordinate system and th...

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Abstract

The invention relates to a position posture measuring system accuracy calibration method and a device based on monocular vision. The method comprises the steps of firstly using a monocular vision measuring method based on dynamic three-dimensional reconstruction for acquiring position posture variation of a target coordinate system relative to a camera coordinate system; then using a joint calibration method based on an orthogonal vector and a dynamic filter for acquiring a relative position posture relation between an inertial measurement unit (IMU) coordinate system and the target coordinatesystem, transferring first position posture data under the IMU coordinate system, comparing the first position posture data with position gesture data output by POS, and calibrating the measuring accuracy of the POS. The method and the device provided by the invention realize effective calibration of the position posture accuracy of the POS, have the characteristics of high accuracy and simplicity in implementation, and can be used for calibrating the position posture accuracy of current low-accuracy and high-accuracy inertial products indoors.

Description

technical field [0001] The invention relates to the technical field of inertial system precision calibration, in particular to a method and device for precision calibration of a position and attitude measurement system based on monocular vision. Background technique [0002] In the high-precision motion imaging of high-resolution earth observation, the carrier is affected by many factors such as airflow, high-altitude wind, and the performance of the carrier itself, causing disturbances in the trajectory, speed, and attitude of the carrier, which make the carrier deviate from the ideal motion state. The resulting motion errors will lead to geometric distortion, resolution reduction and contrast loss of remote sensing images. Therefore, high-precision estimation and motion compensation must be performed on the motion information of the carrier, so as to realize the degradation suppression of remote sensing image quality. High-precision POS consists of an inertial measurement...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 朱庄生袁学忠刘刚李建利顾宾王世博刘艳红
Owner BEIHANG UNIV
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