Bottom vision and inertial navigation information fusion directional compass

Abstract

The invention discloses a bottom vision and inertial navigation information fusion directional compass, and belongs to the technical field of positioning devices. The directional compass includes a data acquisition unit and a processor; the data acquisition unit includes an inertial measurement unit and a bottom-view mounted camera, the inertial measurement unit is used for collecting the three-axis angular velocity and the acceleration of a carrier in a three-dimensional space, and the camera is used for acquiring the image sequence of the bottom of the carrier; and the processor obtains an attitude angle by using data acquired by the inertial measurement unit, obtains a course angle by using data acquired by the camera, and fuses the attitude angle with the course angle to obtain the final course angle of the carrier. The directional compass has a high reliability and a strong real-time performance, can work in an environment with magnetic interference and aerial works, and can be used for measuring the course angles of robots and unmanned aerial vehicles.

Description

technical field [0001] The invention relates to the technical field of positioning equipment, in particular to an orientation compass that combines down-looking vision and inertial navigation information. Background technique [0002] In recent years, drones have played an important role in dangerous and boring tasks and harsh working environments, such as: aerial photography, plant protection, disaster rescue, power inspection, etc. As a new force, drones have received more and more attention and investment from research institutions and governments. The autonomous navigation function is an important basis for the UAV to achieve the above tasks, and to achieve reliable and accurate autonomous navigation, the UAV must be able to accurately obtain heading information, that is, have a good orientation function. [0003] According to the particularity of UAV missions and the characteristics of fast flight speed, the heading measurement system needs to have very reliable and hi...

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a multi-source information fusion directional compass, which can obtain reliable, stable and high-precision UAV course angle information, and overcome the shortcomings of the existing compass technology, such as large environmental factors and unreliable data. , while avoiding the use of panoramic cameras with large distortion and complex preprocessing

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