Indoor location method of monocular vision fusing inertial navigation information
-
摘要: 针对单目视觉定位方法定位精度高但数据源不稳定,而惯性测量组件可稳定获取定位数据却存在累计误差的问题,提出了一种融合惯导信息的单目视觉室内定位方法．该方法利用四参数拟合模型将图像数据转换成定位定姿数据,并在惯导数据解算过程中引入互补滤波修正陀螺仪读数,最后将处理后的数据作为观测值输入到扩展卡尔曼滤波器中,得到最优位置信息．实验结果表明,该方法能够有效地提高室内定位的精度和稳定性.Abstract: Aiming at the problem of high positioning accuracy but unstable data sources in monocular vision positioning method, and accumulative errors in inertial measurement unit (IMU) which can obtain positioning data steadily, a monocular vision indoor positioning method is proposed, which integrates inertial navigation information. The method uses fourparameter fitting model to convert the image data into positioning and attitude data, and introduces complementary filtering to correct the gyroscope reading in the inertial data solving process. Finally, the processed data is input to extended Kalman filter. as observation value to obtain the optimal position in formation. The experimental results show that the method can effectively improve the accuracy and stability of indoor positioning.
-
Key words:
- monocular visual localization /
- IMU /
- extended kalman filtering /
- complementary filtering /
- data fusion
-
[1] 季宇虹, 王让会. 全球导航定位系统GNSS的技术与应用［J］. 全球定位系统, 2010, 35(5):69-75. [2] DWIYASA F, LIM M H. A survey of problems and approaches in wirelessbased indoor positioning［C］／／2016 International Conference on Indoor Positioning and Indoor Navigation (IPIN),2016. DOI: 10.1109／IPIN.2016.7743591. [3] 邸凯昌, 万文辉, 赵红颖, 等. 视觉SLAM技术的进展与应用［J］. 测绘学报, 2018, 47(6): 770-779. [4] 李丰阳, 贾学东, 董明. 惯性／视觉组合导航在不同应用场景的发展［J］. 导航定位学报, 2016, 4(4): 30-35. [5] LI H X, WEN X, GUO H, et al. Research into kinect／inertial measurement units based on indoor robots［J］. Sensors, 2018, 18(3): 839-849. DOI: 10.3390／s18030839. [6] 管斌, 李涛, 吴美平,等. 一种应用磁强计提高导航系统航向精度的方法［J］. 传感器与微系统, 2010, 29(8): 37-40. [7] 詹长书, 邢博坤, 朴光宇,等. 两轮自平衡小车的控制策略设计［J］. 森林工程, 2015, 31(4): 73-76,82. [8] 熊敏君, 卢惠民, 熊丹, 等. 基于单目视觉与惯导融合的无人机位姿估计［J］. 计算机应用, 2017, 37(S2): 127-133. [9] 陈小林.单目视觉系统的姿态解算算法研究［J］.仪器仪表学报,2014,35(6):45-48. [10] 万树平. 基于信噪比的多传感器数据融合方法［J］. 传感技术学报, 2008, 21(1): 178-181. [11] 胡辉, 颜瑜军, 欧敏辉. 一种基于EKF的GPS／SM组合定位算法［J］. 全球定位系统, 2016,41(2):7-13,19. -
点击查看大图
计量
- 文章访问数: 297
- HTML全文浏览量: 59
- PDF下载量: 120
- 被引次数: 0
下载:
