光学精密工程2024，Vol.32Issue(7)：1023-1033,11.DOI:10.37188/OPE.20243207.1023
自适应视觉惯性地磁紧耦合定位系统
Adaptive visual inertial geomagnetic tightly coupled positioning system
摘要
Abstract
To solve the problem of missing absolute heading data and attitude drift in the visual-inertial navigation system,and to enhance its positioning accuracy,an adaptive visual-inertial-geomagnetic tightly integrated positioning system was developed for environments with unknown magnetic fields.Initially,the calibration process for the internal and external parameters of standard tri-axis magnetometers is detailed.Following this,a strategy for generating global and frame-to-frame constrained residuals from geomagnetic data is outlined.The system dynamically adjusts fusion weights based on variations in magnetic intensity and employs a nonlinear optimization approach for the visual-inertial-geomagnetic integration to estimate its motion state accurately.Outdoor tests conducted on a university campus demonstrated that the system remains stable amidst magnetic disturbances from buildings and vehicles,achieving positioning accuracy better than 0.8%(RMSE).When compared to VINS,this system reduces position error by an average of 24%,showcasing impressive real-time capabilities.Incorporating magnetometers and adaptive fusion tech-niques significantly boosts the performance of existing visual-inertial navigation systems,offering reliable real-time positioning for autonomous systems.关键词
组合导航/地磁场/自适应系统/非线性优化Key words
integrated navigation/geomagnetic field/adaptive system/nonlinear optimization分类
电子信息工程引用本文复制引用
付鹏,万振华,王琨锋,赵开春..自适应视觉惯性地磁紧耦合定位系统[J].光学精密工程,2024,32(7):1023-1033,11.基金项目
教育部联合基金资助项目(No.6141A02022606) （No.6141A02022606）
