一种单目相机/三轴陀螺仪/里程计紧组合导航算法  

A monocular camera/triaxial gyroscope/odometer tightly coupled navigation algorithm

作　　者：张福斌[1] 刘宗伟[1] ZHANG Fubin;LIU Zongwei(School of Marine Science and Technology,Northwestern Polytechnical University,Xi'an 710072,China)

机构地区：[1]西北工业大学航海学院,西安710072

出　　处：《中国惯性技术学报》2019年第1期36-42,共7页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(61273333)

摘　　要：针对车载基于MEMS-IMU/里程计/GPS组合导航系统在无GPS信号情况下,定位误差发散较快问题,提出一种基于单目相机/三轴陀螺仪/里程计紧组合导航方法,实现了较高精度定位。该方法分为初始化阶段和导航阶段两部分,在初始化阶段,通过三轴陀螺仪和里程计在线估算单目相机的尺度因子;在导航阶段,先通过基于三轴陀螺仪/里程计的航位推算实时解算载体位姿,再将单目相机观测到的带有尺度因子的特征点作为观测量,通过非线性优化方法,估计出载体位姿误差并进行修正。利用四轮小车开展算法验证实验表明,室外非闭环情况下累积误差约为里程的1.9%,在室外闭环情况下累积误差为里程的0.5%。Aiming at the problem of fast divergence of positioning errors in vehicle integrated navigation system based on MEMS-IMU/odometer/GPS when without GPS signal, a method of tightly coupled navigation based on monocular camera/three-axis gyroscope/odometer is proposed, which achieves high precision positioning. The method is divided into two parts: initialization stage and navigation stage. In the initial stage, the scale factor of monocular camera is estimated on-line by three-axis gyroscope and odometer;in the navigation stage, the carrier position and attitude are calculated in real time by three-axis gyroscope/odometer based dead reckoning, and then the feature points with scale factor observed by monocular camera are taken as observation variables, and the carrier position and attitude errors are estimated and corrected by non-linear optimization method. Experiments using four-wheeled car show that the cumulative error is about 1.9% of the mileage in the outdoor non-closed-loop case and 0.5% of the mileage in the outdoor closed-loop case.

关 键 词：单目相机 三轴陀螺仪 里程计 紧组合 非线性优化 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]