Visual inertia tight coupling odometer based on UWB online anchor points and metering method

Abstract

The invention belongs to the field of four-rotor unmanned aerial vehicle navigation and control, and aims to solve the problem of positioning and navigation of a four-rotor unmanned aerial vehicle in a GNSS denial environment. The position of the anchor point in a world coordinate system can be accurately obtained on line. The invention discloses a visual inertia tight coupling odometer based on UWB online anchor points and a metering method. A radio wave distance measuring module UWB made of an ultra-wideband technology obtains the distance between two modules according to a TW-ToF measuring principle, and after part of noise is filtered out through an outlier detection unit, the distance is used as input to be sent into a tight coupling optimization unit; an IMU inertial measurement result is also used as an input to be sent into the tight coupling optimization unit; and an embedded airborne processor utilizes the tight coupling optimization unit to process the distance measuring value between the UWB modules, the IMU measuring value and the binocular camera measuring value, and the position and attitude information of the unmanned aerial vehicle is analyzed in a tight coupling optimization mode. The method is mainly applied to four-rotor unmanned aerial vehicle navigation and control occasions.

Description

technical field [0001] The invention belongs to the field of four-rotor unmanned aerial vehicle navigation and control, and relates to embedded systems and sensor networks, in particular to a four-rotor unmanned aerial vehicle positioning system and related algorithms in a GNSS (global navigation satellite system) denied environment. It specifically relates to a visual-inertial tightly coupled odometry based on UWB online anchor point calibration. Background technique [0002] In recent years, quadrotor drones have the characteristics of small size, light weight, good concealment, and are suitable for multi-platform and multi-space use. They have the advantages of flexible vertical take-off and landing on the ground and warships, and do not need catapults or launchers. , has shown great application value in military and civilian fields. In the civilian field, street scene shooting, power inspection, traffic monitoring, express delivery, post-disaster rescue, etc. can be com...

AI Technical Summary

Problems solved by technology

In 2018, National University of Singapore Jiaxin Li et al. used EKF (Extended Kalman filter) algorithm to integrate IMU (Inertialmeasurementunit) and UWB measurement Data, improve UWB sensor positioning alone has lag, low estimation accuracy and other issues

However, the above-mentioned method based on UWB enhancement requires manual measurement and calculation in advance to obtain the relative pose between the initial moment of the UAV and the anchor point, so each experiment needs to be calibrated once, and the operating conditions of indoor experiments are relatively harsh, while outdoor experiments are more limited. Here, in addition, the above method does not fuse the IMU information with the UWB ranging information, so this method also has improvements in terms of accuracy

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