Knowledge Resource Center for Ecological Environment in Arid Area
| 项目编号 | 61403398 |
| 惯性/单目视觉的一体化深组合导航关键技术研究 | |
| 杨东方 | |
| 主持机构 | 中国人民解放军火箭军工程大学 |
| 开始日期 | 2015 |
| 结束日期 | 2017 |
| 资助经费 | 240000(CNY) |
| 项目类别 | 青年科学基金项目 |
| 资助机构 | CN-NSFC（国家自然科学基金） |
| 语种 | 中文 |
| 国家 | 中国 |
| 英文简介 | Visual sensors and traditional sensors have strong mutual assistance in circumstance sense ability, working mode and applying situation. The inertial/monocular visual integrated navigation system has the advantage of low cost, less energy consumption and wide applications, especially in some typical areas that the GPS is unavailable or unreliable, such as indoor robotics and so on. This kind of integrated navigation system is becoming the hot spot in navigation area.. According to the order of deeply integrated structure design, performance analysis and experiment validation,this project will research the deeply unify integration technology of inertial and monocular visual system. It mainly contains three aspects: 1) The deeply integrated structure which includes mutual assistance between these two slave systems.In this framework,the pose estimation from INS is used to assist the monocular navigation process,which is able to solve the motion decrease and scale ambiguity. In addition, the assistance from visual sensors is able to solve the initial alignment and error accumulation during the dead-reckoning computation process of INS. 2) In order to improve the model integrity and the absolute observability of navigating states, this project analyzes the navigation states-related constraints between these two slave systems. These constrained conditions can be achieved both in time-domain and space-domain. 3) On the basis of nonlinear constrained filtering theory, this project will design an appropriate filter to solve the filtering problem of this proposed deeply integrated system.. |
| 来源机构 | 中国人民解放军火箭军工程大学 |
| 资源类型 | 项目 |
| 条目标识符 | http://119.78.100.177/qdio/handle/2XILL650/346851 |
| 推荐引用方式 GB/T 7714 | 杨东方.惯性/单目视觉的一体化深组合导航关键技术研究.2015. |
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