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A positioning method and system based on image sensor and inertial sensor

A technology of image sensor and inertial sensor, which is applied in instruments, navigation and navigation through speed/acceleration measurement, can solve the problems of not suitable for robot positioning and enlargement, and achieve the effect of no cumulative error and overcoming drift

Active Publication Date: 2022-08-02
SHANGHAI UNIV
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AI Technical Summary

Problems solved by technology

The disadvantage is that there will be drift with the growth of time, and the relatively small constant error will become infinitely larger after being integrated; the odometer dead reckoning positioning method also has cumulative errors, which is not suitable for long-distance positioning of robots

Method used

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  • A positioning method and system based on image sensor and inertial sensor
  • A positioning method and system based on image sensor and inertial sensor
  • A positioning method and system based on image sensor and inertial sensor

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Embodiment Construction

[0047] The purpose of the present invention is to provide a positioning method and system based on an image sensor and an inertial sensor, so as to provide a high-precision positioning method that does not depend on external conditions and does not have accumulated errors.

[0048] In order to make the above objects, features and advantages of the present invention more clearly understood, the invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0049] For achieving the above object, the present invention provides the following scheme:

[0050] like figure 1 and 2 As shown, the present invention provides a positioning method based on an image sensor and an inertial sensor, and the positioning method includes the following steps:

[0051] Step 101: Obtain the pose information of the feature pattern deployed on the positioning target based on the image sensor.

[0052] In step 101, obtaining the characteri...

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Abstract

The invention discloses a positioning method and system based on an image sensor and an inertial sensor. The positioning method first obtains the image sensor-based pose information and the inertial sensor-based pose information of a feature pattern deployed on a positioning target; then, The image sensor-based pose information and the inertial sensor-based pose information are optimized using the graph optimization method to obtain the orientation information of the positioning target. The present invention uses the position and attitude information based on the image sensor to optimize the position and attitude information based on the inertial sensor, overcomes the technical defect that the inertial sensor will drift with the increase of time and affects the positioning accuracy, and at the same time utilizes the inertial sensor to be free from the external environment. The advantage of the influence is to provide a high-precision positioning method that does not depend on external conditions and does not have accumulated errors.

Description

technical field [0001] The present invention relates to the technical field of positioning, in particular to a positioning method and system based on an image sensor and an inertial sensor. Background technique [0002] Positioning technology has a wide range of application prospects. The existing positioning technologies include GPS, Beidou, GLONASS, inertial navigation, ultrasonic, and odometer. These existing positioning technologies have certain limitations, which cannot meet the complex positioning environment and the growing demand for positioning accuracy. GPS, Beidou and other global positioning systems cannot be used for indoor positioning, and their positioning accuracy does not meet the requirements in small environments; the main advantage of the positioning method based on inertial sensors is that mobile robot positioning can be achieved without relying on external conditions, with short-term accuracy Better. The disadvantage is that there will be drift with t...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/206
Inventor 宋韬朱猛猛郭帅
Owner SHANGHAI UNIV
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