视觉/惯性/UWB组合导航技术综述  

A review of integrated navigation technology based on visual/inertial/UWB fusion

作　　者：李雪强 李建胜[1] 王安成 李凯林 杨子迪 LI Xueqiang;LI Jiansheng;WANG Ancheng;LI Kailin;YANG Zidi(Institute of Geospatial Information,Information Engineering University,Zhengzhou 450000,China;Troops 61618,Beijing 100080,China)

机构地区：[1]信息工程大学地理空间信息学院,郑州450000 [2]61618部队,北京100080

出　　处：《测绘科学》2023年第6期49-58,共10页Science of Surveying and Mapping

基　　金：电波环境特性及模化技术重点实验室基金项目(6142403210201)。

摘　　要：针对应用于各类移动平台导航的视觉惯性里程计(VIO)在回环检测失败时,系统状态估计存在严重漂移且缺乏全局一致性的问题,在全球导航卫星系统(GNSS)拒止情况下,将室内定位技术超宽带(UWB)代替GNSS加入到视觉惯性里程计可以校正累积误差,提高系统定位精度和稳定性。该文聚焦视觉/惯性/UWB多传感器融合技术,介绍了视觉/惯性/UWB组合导航系统的基本组成,对多传感器时空标定进行了回顾,并梳理了视觉/惯性/UWB数据融合算法,最后对组合系统未来的发展趋势进行了展望。Aiming at the problem of serious drift and lack of global consistency in the system state estimation of visual-inertial odometry(VIO)applied to navigation of various mobile platforms when loopclosure detection failed,adding indoor positioning technology ultra-wideband(UWB)instead of global navigation satellite system(GNSS)to the visual-inertial odometry could correct the cumulative error and improve the positioning accuracy and stability of the system in the case of GNSS rejection.Therefore,focusing on multi-sensor fusion technology based on visual,inertial and UWB,this paper introduced the basic structure of the visual/inertial/UWB integrated navigation system.Then this paper reviewed the multi-sensor calibration,and summarized the visual/inertial/UWB data fusion algorithm.Finally,the future development trend of the integrated system was prospected.

关 键 词：超宽带 视觉 惯性 多传感器融合 

分 类 号：P228[天文地球—大地测量学与测量工程]