摘要
Aiming at the lack of absolute heading information in the visual inertial navigation system leading to accuracy decreasing, a visual-inertial positioning algorithm based on magnetic heading constraints is proposed. Firstly, a visual-inertial-geomagnetic navigation system model is established. The inertial data is processed by pre-integration to simplify calculation during state update and improve real-time performance. Secondly, after aligning the visual inertial data, the geomagnetic observation data is introduced as a constraint to obtain the real heading information. Then the initialization of the navigation system is completed. Finally, the objective function is constructed by fusing the visual, inertial and geomagnetic data through the nonlinear optimization algorithm. The proposed algorithm is verified in the outdoor environment by building an on-board experimental platform. The experimental results show that compared with VINS-mono, the average root-mean-square error of the positioning in visual inertial navigation system with magnetic constraint is reduced by about 25%.
| 投稿的翻译标题 | Visual/inertial positioning algorithm based on magnetic heading constraint |
|---|---|
| 源语言 | 繁体中文 |
| 页（从-至） | 188-194 |
| 页数 | 7 |
| 期刊 | Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology |
| 卷 | 30 |
| 期 | 2 |
| DOI | |
| 出版状态 | 已出版 - 4月 2022 |
关键词
- Loop detection
- Magnetic constraint
- Nonlinear optimization
- Simultaneous localization and mapping (SLAM)
- Tightly coupled