Data fusion algorithm for accurate positioning based on GNSS, vision and IMU

A technology of precise positioning and data fusion, applied in the field of navigation and positioning, it can solve problems such as GNSS satellite signal loss, and achieve the effect of improving positioning performance and eliminating local accumulated errors.

Pending Publication Date: 2022-06-21
TONGJI UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to improve the positioning performance of the GNSS navigation and positioning system and solve the problem of GNSS satellite signal loss in complex scenarios

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  • Data fusion algorithm for accurate positioning based on GNSS, vision and IMU
  • Data fusion algorithm for accurate positioning based on GNSS, vision and IMU
  • Data fusion algorithm for accurate positioning based on GNSS, vision and IMU

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Embodiment Construction

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] The invention discloses a data fusion algorithm for precise positioning based on GNSS, vision and IMU. The flow chart of the specific embodiment of the present invention is as follows figure 1 shown:

[0021] Step S1: Mount a GNSS satellite signal receiver, a monocular camera and an IMU module on the mobile device, and collect GNSS signals with a frequency of 10 Hz, image data with a frame rate of 30 fps, and IMU data with a frequency of 200 Hz during the moving process, as the whole process. Input to the positioning algorithm. The raw data of GNSS includes ephemeris, pseudorange Doppler shift Clock and other information, the input data of the camera is a continuous sequence of image frames, and the input data of the IMU is the linear acceleration α and rotational angular velocity ω information of a series of objects.

[0022] Step S2: Initialize and align ...

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Abstract

The invention discloses a data fusion algorithm for accurate positioning based on GNSS, vision and IMU. A GNSS (Global Navigation Satellite System) positioning technology is easily limited by external observation conditions, the satellite signal receiving capability is sharply weakened in sheltered areas such as viaducts and urban canyons, and the requirements of positioning and navigation cannot be met. Pure vision position estimation cannot solve the scale problem, and a matching relation cannot be established in a weak texture scene and a rapid motion scene, so that tracking is easy to lose; the IMU can reflect dynamic changes in a short time (millisecond), but accumulative errors of the IMU can be continuously increased under long-time operation (second). According to the complementarity among different sensor data sources, the global positioning precision of the GNSS is improved by using local data sources (vision and IMU), local accumulative errors are eliminated by using the global data sources of the GNSS, and short-term high-precision global positioning is kept by depending on local vision and IMU data when satellite signals are shielded. And the performance and robustness of the positioning navigation system are integrally improved.

Description

technical field [0001] The present invention relates to the field of navigation and positioning, in particular to a navigation and positioning system based on GNSS, vision and IMU. Background technique [0002] High-precision and robust positioning technology is crucial to high-tech industries such as national security, artificial intelligence, and the Internet of Things. After continuous research and development in the industry, a variety of different positioning systems have been produced accordingly, including GNSS global navigation satellite system, INS inertial navigation system, VO visual odometry, CNS astronomical navigation system, etc. [0003] In recent years, with the rapid development of the location service industry, a single positioning system has been unable to meet users' needs for reliable positioning results. The GNSS global navigation satellite system can obtain the positioning trajectory in the real world, but it is easily limited by external observation...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/48G01S19/49G01S19/37G01C21/20G01C21/16
CPCG01S19/485G01S19/49G01S19/37G01C21/20G01C21/165G01C21/1656
Inventor 王睿侯治
Owner TONGJI UNIV
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