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- 2018
基于联邦滤波进行立体相机/IMU/里程计运动平台组合导航定位
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Abstract:
在无GPS信号的受限环境中，基于序列立体影像的运动平台视觉定位精度较高，能够改正航迹推算方法的误差累积，但在纹理贫乏或光照不足的环境下容易定位失败。为提高受限环境下运动平台定位的精度与稳健性，提出一种基于联邦滤波的立体相机、惯性测量单元（inertial measurement unit，IMU）及里程计组合导航方法。该方法在联邦滤波中利用IMU分别同里程计与立体相机构成子滤波器，有效避免立体视觉定位失效而导致的系统定位失败，提高了定位稳健性。地下巷道实验结果证明，所提方法能有效提高运动平台导航定位的精度，并且在立体视觉定位失效的情况下仍能实现连续定位
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