动载体目标物姿态视觉与双惯性组合测量方法综述  

A Survey on Vision and Dual Inertial Sensors Integration Based Attitude Measurement of Target on Mobile Carrier

作　　者：孙长库[1] 何晶晶 王鹏[1] 付鲁华[1] SUN Changku;HE Jingjing;WANG Peng;FU Luhua

机构地区：[1]天津大学精密测试技术及仪器国家重点实验室,天津300000

出　　处：《电光与控制》2023年第2期1-7,共7页Electronics Optics & Control

基　　金：国家自然科学基金(51875407)。

摘　　要：姿态测量在民用和军用等领域均发挥着极为关键的作用,是实现和发展车载、船载、机载仪器设备的自动化与智能化的重要一环。因此,针对具体的应用场景设计出满足相应需求的姿态测量系统,研究不同类型的测量传感器数据的融合机理,探索优化传感器布局与系统结构,实现精确、稳定、鲁棒、适应性强的姿态测量具有广泛的应用前景和实用价值。介绍了视觉与双惯性组合测量系统的研究进展;总结了组合测量系统中系统结构设计、视觉与惯性传感器外参标定、双惯性传感器差分研究和数据融合算法研究等关键技术的发展现状。根据现有研究情况,对未来的视觉与双惯性组合姿态测量的发展进行了展望。Attitude measurement plays a key role in both civil and military fields.It is an important part of realizing and developing the automation and intelligence of instruments and equipment onboard a vehicle,a ship or an airplane.Therefore,it is of practical value and wide application prospect to design an attitude measurement system that can meet the corresponding requirements for specific application scenarios,study the data fusion mechanism of different types of measurement sensors,explore and optimize the sensor layout and system structure,and realize accurate,stable,robust and adaptable attitude measurement.The research progress of the measurement system based on vision and dual inertial sensors integration is introduced.The development status of key technologies in the integrated measurement system is summarized,such as system structure design,external parameter calibration of visual and inertial sensors,differential research on dual inertial sensors and data fusion algorithms.According to the existing research,the prospect of vision and dual inertial sensors integration attitude measurement is given.

关 键 词：姿态测量 双惯性 视觉 动载体 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]