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Tight coupling initialization method for underwater vision inertial navigation pressure positioning

An initialization method and tightly coupled technology, applied in navigation, mapping and navigation, navigation calculation tools, etc., can solve the problems of initialization parameter error, initialization parameter affecting robot positioning accuracy, etc.

Active Publication Date: 2021-07-06
ZHEJIANG LAB
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Problems solved by technology

Obviously, due to the asynchronous time stamp, the pressure measurement associated with the image information is not the most accurate measurement value at that moment, so this method solves a suboptimal solution, resulting in a large error in the initialization parameters of the final solution, while The error of the initialization parameters will largely affect the subsequent positioning accuracy of the robot
For robot applications that need to rely on robot positioning for subsequent high-precision navigation, this kind of error is not allowed

Method used

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  • Tight coupling initialization method for underwater vision inertial navigation pressure positioning
  • Tight coupling initialization method for underwater vision inertial navigation pressure positioning
  • Tight coupling initialization method for underwater vision inertial navigation pressure positioning

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Embodiment Construction

[0029] In order to make the object, technical solution and technical effect of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0030] Such as figure 1 As shown, a tightly coupled initialization method of underwater visual inertial navigation pressure positioning of the present invention comprises the following steps:

[0031] Step (1) Use the slam method based on the direct method or the feature point method to solve the monocular trajectory under the sub-scale, select the key frame within a few seconds to solve, save the pose of the key frame and related map point information, and judge the current map. The number of key frames, specifically includes the following steps:

[0032] (1.1) Perform feature matching between the incoming image of each frame and the previous image, solve the current frame image pose, and triangulate the matched feature points, and save the...

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Abstract

The invention belongs to the field of robot positioning, and particularly relates to a tight coupling initialization method for underwater vision inertial navigation pressure positioning. The method comprises the following steps of obtaining the under-scale robot poses and map feature points through a traditional monocular SLAM method, performing pre-integration on the IMU data between the adjacent images to establish a pre-integration residual error between the images; performing pre-integration on the IMU data between the adjacent images and the pressure measurement to establish a pre-integration residual error between the images and the pressure measurement, solving the initialization parameters of a system through a nonlinear optimization method, updating a map by using the initialization parameters, performing light beam adjustment optimization on the updated system, completing an initialization process, and obtaining a more accurate result. Therefore, the operation of a system is promoted. According to the method, the high-frequency IMU information is used for coupling the image information and the pressure information under different time steps, the coupling degree between the initialization parameters is enhanced, and the solving precision of an initialization algorithm is improved.

Description

technical field [0001] The invention belongs to the field of robot positioning, and in particular relates to a tightly coupled initialization method for underwater visual inertial navigation pressure positioning. Background technique [0002] In the positioning of underwater robots, multi-sensor fusion positioning based on graph optimization is a common method, and such methods often require proper initialization to promote the normal operation of the system. For the fusion of visual inertial navigation and pressure, it is necessary to determine the parameters such as the initial scale of the system, IMU bias and initial attitude. Since the time stamps of the camera, IMU and pressure sensor are often not synchronized, and the frequency of the camera and pressure sensor is low, a common method is to pre-integrate the IMU between two frames of images to establish a pre-integration residual factor, and use the pressure sensor information Associated with adjacent image frames t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G01C21/16G01C21/20G01C25/00
CPCG01C21/165G01C21/20G01C25/00G01C25/005G06T2207/10016G06T2207/30241G06T7/73
Inventor 宋伟胡超朱世强郑涛廖建峰
Owner ZHEJIANG LAB
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