Anchor-Free Camera–IMU Positioning With Stationary Bias Correction
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Solution Overview
Problem
Conventional positioning devices face challenges in accurately measuring the position of moving bodies due to bias errors in detection signals from inertial measurement units (IMUs) without requiring external anchors, which incur high installation costs and complicate configurations.
Innovation Solution
A positioning device that includes a camera and an IMU, with a circuit capable of processing detection signals to correct bias errors using a correction value, and performs stationary determination to update the bias error during operation, eliminating the need for external anchors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If external anchors are installed for calibration, then measurement precision is improved, but device complexity and installation cost increase
Solution Approach 1:
The system performs self-calibration using its own sensors and algorithms. The calibration process utilizes the IMU detectors and camera already mounted on the moving body, eliminating the need for external anchor transmitters. The processor executes calibration algorithms that compute correction values based on sensor data collected during movement, enabling the system to calibrate itself without external infrastructure.
Solution Approach 2:
The invention extracts and removes the dependency on external anchor infrastructure by implementing onboard calibration capabilities. The calibration function is taken out from the external environment and integrated into the moving body itself, allowing calibration to be performed using only the mounted sensors and processing unit.
2Measurement precision
If external anchors are installed for calibration, then measurement precision is improved, but installation cost increases
Solution Approach 1:
The system performs self-calibration using its own sensors and algorithms. The calibration process utilizes the IMU detectors and camera already mounted on the moving body, eliminating the need for external anchor transmitters. The processor executes calibration algorithms that compute correction values based on sensor data collected during movement, enabling the system to calibrate itself without external infrastructure.
Solution Approach 2:
The invention replaces expensive, permanent external anchor infrastructure with a cost-effective onboard calibration system. The calibration is achieved using software algorithms and existing sensors, which are significantly cheaper than installing and maintaining external anchor transmitters throughout the operating environment.
3Measurement precision
If bias error correction is performed continuously, then measurement precision is improved, but energy consumption increases
Solution Approach 1:
The calibration process is executed periodically at specific intervals or under specific conditions (e.g., when the moving body is stationary or during designated calibration phases), rather than continuously. This periodic execution reduces processor load and energy consumption while still maintaining measurement precision through regular updates of correction values.
Solution Approach 2:
The system performs calibration in advance during stationary periods or designated setup phases before actual position measurement begins. By completing the computationally intensive calibration process beforehand, the system prepares correction values that can be applied during normal operation without requiring continuous high-energy processing.
Data Source
AI summary
A positioning device includes an camera, a detector, and a circuit. The camera is mounted on a moving body, and captures an image of surroundings of the moving body to acquire a captured image. The detector is mounted on the moving body, detects motion of the moving body, and outputs a detection signal indicating a detection result. The circuit processes the detection signal using a correction value for correcting a bias error included in the detection signal without depending on the motion of the moving body. The circuit computes the position of the moving body based on the captured image acquired by the camera and the detection signal processed. If the circuit determines that the moving body is stationary, the circuit updates the correction value of the bias error based on the detection signal output by the detector.