TY - JOUR
T1 - Observability-Enhancement Boresight Calibration of Camera-IMU System
T2 - Theory and Experiments
AU - Yang, Xiwen
AU - Cheng, Ziheng
AU - He, Shaoming
N1 - Publisher Copyright:
© 1965-2011 IEEE.
PY - 2023/8/1
Y1 - 2023/8/1
N2 - Airborne target tracking with vision sensors is one of the indispensable and critical components in unmanned aerial vehicles (UAVs). It is critical to calibrate the misalignment angles between the onboard camera and inertial measurement unit (IMU) to improve the accuracy of target tracking. In this article, the observability of boresight misalignment angle estimation using a cooperative target is first analyzed. Based on the observability Gramian, an optimization criterion for maximizing the degree of observability is determined, and the optimal geometries between the UAV and the target are derived. Taking the physical constraints of the UAV into consideration, an online trajectory optimization approach for a UAV with a vision sensor is proposed to achieve in-flight calibration of the misalignment angles. Both numerical simulations and experiments are conducted to validate the proposed method.
AB - Airborne target tracking with vision sensors is one of the indispensable and critical components in unmanned aerial vehicles (UAVs). It is critical to calibrate the misalignment angles between the onboard camera and inertial measurement unit (IMU) to improve the accuracy of target tracking. In this article, the observability of boresight misalignment angle estimation using a cooperative target is first analyzed. Based on the observability Gramian, an optimization criterion for maximizing the degree of observability is determined, and the optimal geometries between the UAV and the target are derived. Taking the physical constraints of the UAV into consideration, an online trajectory optimization approach for a UAV with a vision sensor is proposed to achieve in-flight calibration of the misalignment angles. Both numerical simulations and experiments are conducted to validate the proposed method.
KW - Boresight calibration
KW - camera-IMU system
KW - configuration optimization
KW - observability analysis
UR - http://www.scopus.com/inward/record.url?scp=85146224234&partnerID=8YFLogxK
U2 - 10.1109/TAES.2022.3229652
DO - 10.1109/TAES.2022.3229652
M3 - Article
AN - SCOPUS:85146224234
SN - 0018-9251
VL - 59
SP - 3643
EP - 3658
JO - IEEE Transactions on Aerospace and Electronic Systems
JF - IEEE Transactions on Aerospace and Electronic Systems
IS - 4
ER -