| 摘要: |
| 提出了一种基于改进Kalman滤波的视觉/惯性直接组合导航算法,首先分析了相关坐标系的定义和敏感器的误差模型,然后分别构建了姿态滤波方程和位置滤波方程,接着对滤波方程进行离散化处理以便在计算机中实现运算,最后采用该方法进行了仿真验证,结果表明系统在不同情况下进行组合导航都能够满足任务要求。 |
| 关键词: 改进Kalman滤波 惯性导航 视觉导航 |
| DOI： |
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| 基金项目: |
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| A Visual/Inertial Integrated Navigation Algorithm Based on Improved Kalman Filter |
| QU Zhen-shen,CHU Xiang-yu,ZHAO Xiao-yang,LI Bao-hua |
| (pace Control and Inertial Technology Research Center, Harbin Institute of Technology;Beijing Institute of Spacecraft System Engineering) |
| Abstract: |
| A visual/inertial integrated navigation algorithm based on improved Kalman filter is presented. Firstly, the definition of the relevant coordinate systems and the error models of the sensors are analyzed. Secondly, the attitude filter equation and the position filter equation are established respectively. Then the filter equations are discretized to achieve the operation in the computer. At last, the simulations are performed. The results show that the system can meet the requirements of the task by using the method in different situations提出了一种基于改进Kalman滤波的视觉/惯性直接组合导航算法,首先分析了相关坐标系的定义和敏感器的误差模型,然后分别构建了姿态滤波方程和位置滤波方程,接着对滤波方程进行离散化处理以便在计算机中实现运算,最后采用该方法进行了仿真验证,结果表明系统在不同情况下进行组合导航都能够满足任务要求。 |
| Key words: Improved Kalman filter Inertial navigation Visual navigation |
