摘要
由于视觉传感器与惯性传感器的高度互补性,视觉和惯性融合是一种常见的姿态测量手段。随着机载、车载等仪器设备的迅速发展,传统静止基座下的姿态测量已无法满足一些实际应用场景的需求。由于受到基座运动信息的干扰,很难对动基座上的目标物进行准确、快速的姿态测量。为了发挥视觉和惯性融合的优势,并实现动态基座下的目标物相对姿态测量,提出了一种基于单目视觉与双陀螺仪的姿态测量系统。分析了测量系统中坐标系的建立以及坐标系之间相对关系,提出了坐标系归一化方案,并利用容积卡尔曼滤波对视觉和惯性结果进行融合,实现了高精度、大范围、快速、稳定的姿态测量。在搭建的视觉和惯性融合姿态测量系统平台上进行了实验验证,结果证明该系统坐标系归一方案与融合算法的有效性。实验结果表明,所搭建系统具有较高的准确度,融合后的俯仰角和方位角的均方根误差(RMSE)均不超过0.1°。
Due to the high complementarity of visual and inertial sensors fusion of visual and inertial data is a common method for attitude measurement.With the development of airborne and vehicle-mounted equipment the traditional attitude measurement on a stationary base cannot meet the needs of some practical application scenarios.Because of the interference of the movement information of the base it is difficult to measure the attitude of the target on the moving base accurately and quickly.In order to make use of the advantages of visual/inertial fusion and realize the relative attitude measurement of a target on moving base this paper proposes an attitude measurement system based on monocular vision and dual gyroscopes.The establishment of coordinate system in measurement system and the relative relationship between coordinate systems are analyzed and the scheme of coordinate system normalization is put forward.The cubature Kalman filter is used to fuse the visual with inertial data to achieve high-precision wide-range fast and stable attitude measurement.The experimental verification is carried out on the platform of vision and inertia fusion attitude measurement system and the results prove the effectiveness of the system coordinate system normalization scheme and fusion algorithm.The experimental results show that the built system has high accuracy and the RMSE of the fused pitch angle and azimuth angle is less than 0.1°.
作者
徐丹旸
宋潇
XU Danyang;SONG Xiao(Henan University of Science and Technology,Luoyang 471000 China)
出处
《电光与控制》
CSCD
北大核心
2023年第1期113-119,共7页
Electronics Optics & Control
