Visual-Inertial Tightly Coupled Integrated Navigation Method Based on Adaptive Gaussian pf

Abstract

The invention relates to a vision-inertia tightly-coupled integrated navigation method, in particular to a vision-inertia tightly-coupled integrated navigation method based on a self-adaptive gauss PF(Particle Filter). The invention improves the real-time performance and navigation accuracy of the vision-inertia tightly-coupled integrated navigation method. The vision-inertia tightly-coupled integrated navigation method based on the self-adaptive gauss PF is implemented by the following steps: S1, mounting a strapdown inertial navigation system and a binocular visual odometer on a carrier; S2, establishing a linear state equation and a non-linear measurement equation; S3, performing non-linear filtering on a vision-inertia tightly-coupled integrated navigation system by adopting the self-adaptive gauss PF to realize data fusion of the vision-inertia tightly-coupled integrated navigation system; and S4, correcting a calculation result of the strapdown inertial navigation system according to a non-linear filtering result obtained in step S3. The vision-inertia tightly-coupled integrated navigation method based on the self-adaptive gauss PF is suitable for vision-inertia tightly-coupled integrated navigation.

Description

technical field [0001] The invention relates to a visual-inertial tightly coupled integrated navigation method, in particular to a visual-inertial tightly coupled integrated navigation method based on adaptive Gaussian PF. Background technique [0002] In recent years, individual navigation systems based on various principles have been continuously developed, and their performance has been improved day by day. However, any single navigation sub-equipment or sub-system cannot fully meet the increasing navigation requirements, so the application of integrated navigation technology that can realize complementary advantages is constantly expanding, and has received more and more attention. [0003] The strapdown inertial navigation system has the advantages of low cost, small size, full autonomy, good concealment, and high sampling frequency, but its error diverges with time. The visual odometry based on the visual sensor is a new kind of navigation equipment at present, which ...

AI Technical Summary

Problems solved by technology

Gaussian particle filter (Gaussian PF) can optimize the normal distribution parameters of particles through the square root volumetric Kalman filter, so as to obtain higher precision tightly coupled combined filter results. Volume point calculation and weighted summation are carried out in all stages, the calculation amount is relatively large, and the real-time performance is poor

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