Inertial/Visual Odometer Integrated Navigation and Positioning Method Based on Measurement Model Optimization
A visual odometry and measurement model technology, which is used in surveying and navigation, navigation and navigation through speed/acceleration measurement, and can solve the problem of neglecting the accumulation of visual odometry positioning errors, difficulty in accurate modeling, and different motion estimation methods problems, to achieve the effect of ensuring effective utilization, improving accuracy, and wide applicability
Active Publication Date: 2021-06-22
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology
The motion estimation methods of various representative algorithms are different, and the relationship between the maneuvering of the moving body and the output pose noise is difficult to accurately model
Considering the complementarity of the two, integrated navigation based on inertial navigation and visual odometry has received extensive attention, but most of the existing integrated navigation of IMU and visual odometry directly use the combination of attitude and position, ignoring the positioning error of visual odometry Cumulative and maneuver-related features
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[0034] Step 1) establish the state equation of the inertial / visual odometer integrated navigation algorithm:
[0035] First define the coordinate system: the geographic coordinate system selects "East-North-Sky" as the navigation system (n), and the carrier coordinate system (b) selects "Right-Front-Up". The state quantity that needs to be estimated is shown in the formula:
[0036]
[0037] In the formula, X is the state vector, is the mathematical platform error angle in the SINS, The three-axis mathematical platform error angle of x, y, z respectively; δv n is the velocity error of the carrier, The velocity error of the carrier on the x, y, and z axes under the geographic system; δp n is the position error of the carrier, δL, δλ, and δh are the longitude, latitude, and height errors respectively; ε b is the random constant drift of the gyroscope, are the random constant drifts of the x, y, and z axes of the gyroscope; is the first-order Markov process drift o...
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The invention discloses an inertial / visual odometer combined navigation and positioning method based on measurement model optimization. First, the state equation of the combined navigation system is established, and the error of the inertial sensor is expanded into a system state variable, including the random constant drift of the gyroscope, the gyroscope The first-order Markov process drift of the accelerometer and the first-order Markov process drift of the accelerometer; then, the visual odometer is used as an angular velocity, linear velocity and position sensor to obtain measurement data and then construct a measurement equation; finally, in the process of carrier motion Real-time feedback correction is performed on the navigation error, and the navigation result of the inertial navigation system after error correction is obtained. The method of the invention can effectively utilize the angular velocity, linear velocity and position information of the visual odometer during the movement of the carrier, realize effective fusion with inertial navigation, improve the accuracy and reliability of the combined navigation system, and is suitable for engineering applications.
Description
technical field [0001] The invention relates to an inertial / visual odometer combined navigation positioning method based on measurement model optimization, and belongs to the technical field of inertial / visual odometer combined navigation. Background technique [0002] In recent years, with the development of intelligent moving bodies such as drones, unmanned vehicles and robots, higher requirements have been placed on the performance of navigation systems. [0003] In the prior art, navigation systems widely used in intelligent moving bodies are mostly realized by inertial device (IMU-accelerometer and gyroscope) / satellite integrated navigation system. However, considering the environment where satellite signals are interfered or failed in cities, jungles, and indoors, it will be difficult for the IMU / satellite integrated navigation system to provide accurate navigation information. Visual odometry technology is a six-degree-of-freedom motion estimation method based on rel...
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IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 罗玮熊智李一博于永军邢丽万众许建新陈明星熊骏王钲淳张苗段胜青徐丽敏景羿铭孙瑶洁李文龙
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS