Inertia pre-integration optimization method based on double-speed numerical integration structure

Abstract

The invention provides an inertia pre-integration optimization method based on a double-speed numerical integration structure, and the inertia pre-integration involved in a common inertia-based combined motion measurement system is a very key link in the system in the application fields of vehicle automatic driving, unmanned aerial vehicle attitude control, motion capture, augmented reality and the like. A double-speed numerical integration structure is introduced into inertia pre-integration of the combined motion measurement system, the double-speed numerical integration structure comprisesa double-speed rotation integration structure, a double-speed speed integration structure and a double-speed position integration structure, and parameters in a linear integration item and a nonlinearintegration item are optimally designed by implementing parameter optimization of the double-speed numerical integration structure. By using the method disclosed by the invention, the motion estimation precision, the calculation real-time performance and the numerical stability of the inertia-based combined motion measurement system can be remarkably improved.

Description

technical field [0001] The invention relates to the technical fields of autonomous navigation and positioning of intelligent vehicles, autonomous navigation and positioning and attitude control of unmanned aerial vehicles, carrier motion capture and augmented reality, and in particular to an optimization method of inertial pre-integration based on a two-speed numerical integration structure. Background technique [0002] In recent years, the autopilot industry and technology have developed rapidly. As one of the cores of autopilot, the navigation and positioning system is a necessary component to realize autopilot. On the other hand, in recent years, UAV technology and industry applications have developed rapidly, and its applications in agricultural plant protection, disaster relief, express delivery, surveying and mapping, aerial photography, news reports, power inspections, film and television shooting and other fields have expanded rapidly. The high dynamics, uncertainty...

AI Technical Summary

Problems solved by technology

However, the studies of Eckenhoff et al. and Nisar et al. have shown that there are obvious high-order nonlinear errors in linearized inertial pre-integration, and the more intense the dynamic motion of the carrier, the more obvious the nonlinear error

In high-intensity dynamic motion environments including strong vibrations and large maneuvers, the nonlinear error of the current linearized inertial pre-integration is more obvious

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