一种基于VINS/FINS组合导航方法  

An Integrated Navigation Method Based on VINS/FINS

作　　者：袁珊 万游 孟佳杰 汪雨婷 钱伟行[1] 古翠红 Yuan Shan;Wan You;Meng Jiajie;Wang Yuting;Qian Weixing;Gu Cuihong(NARI School of Electrical and Automation Engineering,Nanjing Normal University,Nanjing 210023,China)

机构地区：[1]南京师范大学南瑞电气与自动化学院,江苏南京210023

出　　处：《南京师范大学学报（工程技术版）》2021年第3期42-48,共7页Journal of Nanjing Normal University(Engineering and Technology Edition)

摘　　要：针对视觉惯性组合导航系统中微惯性器件精度偏低,以及足部惯性导航系统航向角误差可观测性差的问题,研究了一种基于上述两种系统的信息双向融合的导航定位方案.该方法的系统结构由安装于双足步行机器人躯干部分的惯性导航系统和安装于其足部惯性导航系统两部分组成.惯性导航系统通过视觉同时定位与地图构建数据融合方法可以获得相对准确的航向角,足部惯性导航系统利用零速修正后的位置信息实时修正惯性导航系统中的低精度惯性器件误差,从而构建视觉与惯性信息双向融合的组合导航系统结构.实验结果表明,该组合导航方案可以有效提高双足步行机器人的航向精度和定位精度.Aiming at the problems of low accuracy of micro inertial devices in vision/inertial integrated navigation system(VINS)and poor observability of course angle error of foot inertial navigation system(FINS),a navigation and positioning scheme based on the above two systems is studied.The system structure of this method is composed of two parts:the VINS navigation system installed on the trunk of the biped walking robot and the fins navigation system installed on the foot of the biped robot.VINS can obtain relatively accurate heading angle through visual slam data fusion method.FINS uses the position information after zero speed correction to correct the error of low precision inertial devices in VINS in real time,so as to construct the integrated navigation system structure of bidirectional fusion of vision and inertial infor-mation.The experimental results show that the integrated navigation scheme can effectively improve the navigation and positioning accuracy of biped walking robot indoor environment.

关 键 词：组合导航 双足步行机器人 视觉惯性导航系统 零速修正 信息双向融合 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]