Gimbal Pose Correction Using Inertial-Visual Navigation
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Solution Overview
Problem
Conventional inertial-GNSS integrated navigation systems face challenges in achieving high accuracy, especially in indoor environments due to interference from electric currents and magnetic fields, and cannot meet the velocity control accuracy requirements for certain applications.
Innovation Solution
A gimbal pose correction method and device that utilize an inertial-visual integrated navigation mode, combining an inertial measurement unit (IMU) with a vision module to compensate for vertical movements, allowing for accurate pose estimation and correction, suitable for both indoor and outdoor environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional inertial-GNSS integrated navigation is used, then the system can operate outdoors, but the reliability deteriorates in indoor environments due to inability to work without GNSS signal
Solution Approach 1:
The patent creates a universal navigation system that can operate in both indoor and outdoor environments by integrating inertial navigation with visual odometry. The visual system replaces GNSS functionality indoors, while the inertial system provides continuous operation capability. This multi-functional integration allows the system to adapt to different environmental conditions without requiring separate navigation solutions for indoor and outdoor scenarios.
2Stability of the object's composition
If conventional inertial-GNSS integrated navigation is used, then the system can provide navigation information, but the stability deteriorates due to susceptibility to interference from electric current and magnetic field
Solution Approach 1:
The patent introduces visual odometry as an intermediary measurement system that is immune to electromagnetic interference. The visual system provides an alternative source of position and velocity information that does not rely on electromagnetic signals like GNSS or magnetic compasses. By fusing visual measurements with inertial data, the system achieves stable navigation performance in environments with electric current and magnetic field interference.
Data Source
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AI summary
The present disclosure provides a gimbal pose correction method and device, where, the gimbal pose correction device includes a vertical compensation device connected to a gimbal, a vision module arranged at the vertical compensation device, and an Inertial Measurement Unit (IMU) arranged at the vertical compensation device. The vertical compensation device is configured to compensate for a movement of the gimbal in a vertical direction. The vision module and the IMU are electrically coupled to the vertical compensation device. The vertical compensation device is configured to obtain a first pose of the gimbal based on the IMU, obtain a second pose of the vertical compensation device based on a vision module, and correct the first pose according to the second pose. The present disclosure uses an inertial-visual integrated navigation mode. According to the second pose obtained by the vision module, the first pose obtained by the IMU can be corrected to obtain a pose satisfying requirements of control bandwidth and accuracy. The inertial-visual integrated navigation mode consistent with the disclosure is not interfered by electric current and magnetic field, and can be suitable for various indoor and outdoor environments.