基于磁航向约束的视觉惯性定位算法

Translated title of the contribution: Visual/inertial positioning algorithm based on magnetic heading constraint

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)

Abstract

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%.

Translated title of the contributionVisual/inertial positioning algorithm based on magnetic heading constraint
Original languageChinese (Traditional)
Pages (from-to)188-194
Number of pages7
JournalZhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology
Volume30
Issue number2
DOIs
Publication statusPublished - Apr 2022

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