基于视觉/DR算法的图书运载车室内定位系统

Indoor Positioning System for Book-carrying Vehicle Based on a Vision/DR Integrated Algorithm

针对图书馆内图书运载车使用环境,提出一种可安装于图书运载车的车辆室内定位系统,采用基于路标的视觉定位为主,航位推算为辅的车辆室内定位方案,确保图书运载车在室内运行时定位信息的连续性和完整性。该系统以摄像机和惯性元件为传感器,通过主控模块采集数据,通过联邦卡尔曼滤波方法,融合视觉定位方法获取的绝对位置,以及DR算法推算获得的相对位置,降低航位推算的累积误差,提高定位信息的精确性。通过实验,验证了本系统的有效性。

The vehicle indoor positioning scheme is mainly based on the landmark visual positioning,and supplemented by the dead reckoning to ensure the continuity and completeness of the positioning information of the book carrier when it is running indoors.The system uses the camera and inertial components as sensors,collects data through the main control module,and by the Federated Kalman filter wave method to combine the absolute position obtained by the visual positioning method and the relative position obtained by the DR algorithm to reduce the cumulative error of the dead reckoning and improve the accuracy of positioning information.